Derimedved_DF(2025)

1. Analysis and Improvement of Indoor Positioning Accuracy for UWB Sensors

Yao et al., MDPI Sensors, 2021
Student: Derimedved Mikhail
Scientific Adviser: Bogatyrev Vladimir
Anatolievich
Group: 7762

2. Outline

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The issue
Mathematical model
Optimal configuration (Solution)
Research methods
Results
Conclusions
Future Implementation

3. The issue

UWB provides high range measurement accuracy - up to 10 cm
or less, but in practice, even with precise sensors, we get large
coordinate errors
● Most of the works are focused
either on 2D
● or a simplified 3D, where all
anchors are at the same height
What about 3D positioning accuracy?

4. Mathematical model

Error covariance matrix formula: Q= (