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Ultrawideband (UWB) is considered as a promising technology in indoor positioning due to its accurate time resolution and good penetration through objects. Since the functional model of UWB positioning is nonlinear, iterative algorithms are often considered for solving the nonlinear problem. With a rough initial value, we can obtain the optimal solution by the way of continuous iteration. As an iterative descent method of high efficiency, the Gauss–Newton method is widely used to estimate the position. However, in the UWB indoor positioning, since the location information of the user is rather limited, it is not easy to get a good initial value for iteration. Besides, the positioning system is prone to become ill-posed. These factors make the Gauss–Newton method not easy to converge to a global optimal solution or even diverge, especially under ill-conditioned positioning configuration. Furthermore, the linearization of the positioning functional model results in biased least-squares estimation. The Gauss–Newton method only includes the first-order Taylor expansion of distance equations. The bias comes from neglected higher order terms. In this study, the closed-form Newton method which considers the high order partial derivatives is introduced and proposed. The simulation and measurement experiments are implemented to analyze the performance of the closed-form Newton method in UWB positioning. Both the initial value factor and geometric configuration factor are discussed. Experimental results are given to demonstrate that the closed-form Newton method can converge to the global optimal solution with better convergence and higher efficiency regardless of whether the initial iteration value is reasonable or not. Meanwhile, the closed-form Newton method can improve the accuracy of positioning results, particularly when the anchors are not uniformly and symmetrically distributed, or the ranging error is relatively large. The study shows that closed-form of the Newton method has better convergence and positioning performance than the Gauss–Newton method, especially under ill-conditioned positioning configuration or relatively low measurement precision, even though it adds a little computational cost.

Performance Analysis of Parameter Estimator Based on Closed-Form Newton Method for Ultrawideband Positioning