Resumen
To reduce the influence of non-line-of-sight (NLOS) errors in the ultra-wideband (UWB) positioning process, a UWB positioning algorithm based on fuzzy inference and adaptive anti-NLOS Kalman filtering (KF) was proposed in this paper. First of all, the NLOS errors of the channel impulse response (CIR) signal characteristics were estimated by the fuzzy inference algorithm and then initially mitigated. Next, an adaptive anti-NLOS KF algorithm was developed to perform a second mitigation on the ranging errors after mitigation of the NLOS errors with the fuzzy inference, thereby further raising the range estimation accuracy. At last, the range estimation information after error mitigation was taken as the ranging information of the LS positioning algorithm for target localization. In the static positioning experiment, the probability of producing an error range of less than 19.1 cm with the positioning algorithm combining fuzzy inference with adaptive anti-NLOS KF was 0.93, which was much better than the positioning algorithm based on fuzzy inference and the adaptive anti-NLOS KF positioning algorithm. In the dynamic positioning experiment, compared with the adaptive anti-NLOS KF positioning algorithm, the RMSE was reduced by 43.31% in the overall positioning. Furthermore, compared with those of the positioning algorithm based on fuzzy inference, the RMSEs in overall positioning were lowered by 12.89%. The positioning accuracy was improved significantly.