The following paper presents an adaptive anchor pairs selection method for ultra-wideband (UWB) Time Difference of Arrival (TDOA) based positioning systems. The method divides the area covered by the system into several zones and assigns them anchor pair sets. The pair sets are determined during calibration based on localization root mean square error (RMSE). The calibration assumes driving a mobile platform equipped with a LiDAR sensor and a UWB tag through the specified zones. The robot is localized separately based on a large set of different TDOA pairs and using a LiDAR, which acts as the reference. For each zone, the TDOA pairs set for which the registered RMSE is lowest is selected and used for localization in the routine system work. The proposed method has been tested with simulations and experiments. The results for both simulated static and experimental dynamic scenarios have proven that the adaptive selection of the anchor nodes leads to an increase in localization accuracy. In the experiment, the median trajectory error for a moving person localization was at a level of 25 cm.

翻译：本文提出了一种用于超宽带（UWB）到达时间差（TDOA）定位系统的自适应锚点对选择方法。该方法将系统覆盖区域划分为多个子区域，并为每个子区域分配锚点对集合。这些锚点对集合在校准阶段基于定位均方根误差（RMSE）确定。校准过程假设搭载激光雷达（LiDAR）传感器和UWB标签的移动平台在指定区域内行驶。机器人分别基于大量不同TDOA对进行单独定位，并以LiDAR作为参考。对于每个子区域，选择注册RMSE最低的TDOA对集，并用于常规系统运行中的定位。所提方法已通过仿真和实验进行了验证。静态仿真和实验动态场景的结果均表明，自适应选择锚节点能够提升定位精度。在实验中，运动人员定位的轨迹误差中位数约为25厘米。