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Ultra-wideband (UWB) technology is suitable for indoor positioning owing to its high resolution and penetration. However, the current UWB positioning methods not only fail to fully analyze errors, but do not have the ability to eliminate gross and large random errors. In this article, the errors of UWB indoor positioning are analyzed comprehensively, and the basic function model is given. An indoor positioning method based on a double difference UWB with ranging observations is proposed and realized. In the proposed method, two UWB rover stations and a common base station are introduced, and the known baseline length between two rovers is used as the constraint condition for quality control. The observations and coordinate estimations are constrained by the prior and posteriori, respectively, and the weight of ranging observations with large residuals is reduced. Two groups of static experiments are designed. After adopting the proposed method, the plane error of one rover is 3.4 cm and 2.1 cm, and plane error of another rover is 3.3 cm and 2.0 cm, respectively. The positioning precision is improved by more than 80% compared with the traditional method. In the dynamic experiment, the coordinates of the starting and ending point obtained by the proposed method are basically consistent with the truth value, and the positioning results are close to the reference trajectory. The experimental results show that the proposed method can eliminate systematic and large random errors and improve the positioning precision effectively.

A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint