Debiasing of position estimations of UWB-based TDoA indoor positioning system

Paolo Grasso, Mauro Innocente

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

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When localising an object in a confined environment using an indoor positioning system (IPS) based on ultra-wideband (UWB) technology and an asynchronous time difference of arrival (TDoA) algorithm, systematic errors do occur. Theoretical estimation of these errors can be very hard to make. This study introduces a novel filtering algorithm for reducing the bias of position estimations, therefore increasing their accuracy. The problem is tackled for a two-dimensional IPS by formulating a debiasing filter using statistics of real data. Generalisation to the three-dimensional case should be straightforward.
Original languageEnglish
Title of host publicationProceedings of the 2020 UK-RAS Conference: ‘Robots into the Real World‘
PublisherUK-RAS Network
Number of pages3
Publication statusPublished - May 2020
EventUK-RAS Conference 2020: ‘Robots into the Real World‘ - Online, Lincoln, United Kingdom
Duration: 17 Apr 202017 Apr 2020
Conference number: 3rd


ConferenceUK-RAS Conference 2020
Country/TerritoryUnited Kingdom


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