Research of indoor location algorithm based on centroid-taylor
基于质心-Taylor的UWB室内定位算法研究

A novel Centroid-Taylor cooperative position scheme in NLOS environment is proposed by researching the indoor positioning models and algorithms of ultra wideband (UWB). The Centroid algorithm that is not sensitive to location error is used for initial rough location, and then the value of the rough location is used as the initial value of Taylor algorithm for precise positioning. It inverts the nodes positioning completely into reference nodes. It can increase the quality of initial value for Taylor algorithm, also decrease the number of reference nodes in order to reduce system hardware costs. Simulation results show that this method has superior positioning performance, especially the great improvement of system under the large ranging error caused by NLOS.