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In this article, the four-anchor time difference of arrival (TDoA)-based three-dimensional (3D) positioning by particle filtering is addressed. The implemented particle filter uses 1000 particles to represent the probability density function (pdf) of interest, i.e., the posterior pdf of the target node's state (position). A resampling procedure is used to generate particles in the prediction step, and TDoA measurements are used to determine the importance, i.e., weight, of each particle to enable updating the posterior pdf and estimating the position of the target node. The simulation results show the feasibility of this approach and the possibility to employ it in indoor positioning applications under the assumed working conditions using, e.g., the ultra-wideband (UWB) wireless technology. Therefore, it is possible to enable unmanned air vehicle (UAV) positioning applications, e.g., inventory management in large warehouses, without the need for an excessive number of anchor nodes.

Particle Filtering for Three-Dimensional TDoA-Based Positioning Using Four Anchor Nodes