A New RWLS Positioning Method Basing on Distance Information

In ultra-wideband (UWB) localization, the ranging precision will determine the localization performance directly. However not all the range measurements(RMs) have the same precision. In this paper, we propose a new weighted least square(WLS) positioning method, which will design the weighted values of each RM according to its reliability. We show the ranging reliability is closely related to the distance between the mobile station(MS) and anchor nodes(ANs). Moreover, if design each weighted value fusing distance with non-line-of-sight(NLOS) identification result, the localization performance will be enhanced. Simulation results show our method performs better than those commonly used WLS methods.