Investigation of UWB RF signal technology for solving indoor positioning problem
The article considers the process of developing a local positioning system using an ultra-wideband radio signal system and its integration with a strapdown inertial navigation system (SINS). A system based on Ultra-Wide Band (UWB) technology is used as a radio navigation system. An overview of the developed experimental integrated navigation system model is presented. Algorithms for calculating the position using the propagation time of the radio signal are used to obtain a navigation solution. An analysis of the accuracy of Single-Sided Two-Way Ranging and Double-Sided Two-Way Ranging algorithms using a UWB radio module is presented. The modeling errors of the inertial navigation system were performed. The maximum permissible parameters of the sensitive element errors were obtained for integration with the radio navigation system. The scheme of integration of the navigation solution of the UWB and SINS systems is determined.
 Yao L., Wu Y., Yao Lei, Liao Z.Z. An integrated IMU and UWB sensor based indoor positioning system. 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN). IEEE Publ., 2017, pp. 1–8. DOI: 10.1109/IPIN.2017.8115911
 Sahinoglu Z., Gezici S., Guvenc I. Ultra-wideband positioning systems. New York, Cambridge University Press Publ., 2008, pp. 74–92.
 Agafonov S.Yu., Sivers M.A. Trudy uchebnykh zavedeniy svyazi — Proceedings of Telecommunication Universities, 2019, no. 2. Available at: https://cyberleninka.ru/article/n/integratsiya-sputnikovyh-radionavigatsionnyh-sistem-i-sistem-pozitsionirovaniya-vnutri-pomescheniya (accessed February 23, 2021).
 Hol J.D. Sensor fusion and calibration of inertial sensors, vision, ultra-wideband and GPS. Linköping studies in science and technology. Dissertations, no. 1368. Sweden, Linköping, Linköping University Electronic Press Publ., 2011.
 Xu Y., Shen T., Chen X.-Y., Bu L.-L. International Journal of Automation and Computing, 2018, vol. 16, no. 5, pp. 604–613. DOI: 10.1007/s11633-018-1157-4
 Sidorenko J., Scherer-Negenborn N., Arens M., Schatz V. Decawave UWB clock drift correction and power self-calibration. Sensors, 2019, vol. 19, no. 13, paper ID 2942. DOI: 10.3390/s19132942
 Kulmer J., Grebien S., Grosswindhager B., Rath M., Bakr M.S., Leitinger E., Witrisal K. Using DecaWave UWB transceivers for high-accuracy multipath-assisted indoor positioning. 2017 Conference: IEEE ICC Workshop on Advances in Network Localization and Navigation (ANLN) at: Paris, France. IEEE, 2017, pp. 1239−1245. DOI: 10.1109/ICCW.2017.7962828
 Decawave. DW1000 User Manual 2.18. Available at: https://www.decawave.com/dw1000/usermanual (accessed March 30, 2021).
 Yuksel Y. Kaygisiz H.B. Stochastic Errors of Low-Cost MEMS Inertial Units. 2011. Available at: http://www. instk.org/web/static/bibliography/Introduction to Sensor Errors. pdf
 IEEE Std 952™-1997 (R2008). IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros. USA, New York, NY, The Institute of Electrical and Electronics Engineers, Inc. Publ., 2008, pp. 952−1997.
 Salychev O. S. MEMS-based inertial navigation: Expectations and reality. Moscow, BMSTU Publ., 2012, 208 p.