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To solve the problem of heavy workload and high cost when acquiring the position of Ultra-Wideband (UWB) mobile base stations in sports fields, a fast self-positioning algorithm for UWB mobile base stations algorithm based on Time of Flight (TOF) is proposed. First, according to the layout of the base stations in the sports field, the local coordinate system is determined, and an equation based on the ranging information between the base stations is established; the Least Square method is used to calculate the coordinates of each base station, and the Newton Iteration method is used to converge the positioning results. Then the origin and propagation law of positioning error, as well as the method of reducing the positioning error are analyzed. The simulation data and experimental results show that the average positioning accuracy of the mobile base station is within 0.05 m, which meets the expected accuracy of the base station position measurement. Compared with traditional manual measurement methods, base station self-positioning can effectively save deployment time and reduce workload.

TOF-Based Fast Self-Positioning Algorithm for UWB Mobile Base Stations