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Applying Kalman filter to UWB positioning with DS-TWR method in LOS/NLOS scenarios

In this paper, a Kalman Filter is proposed to overcome the errors in Non-Line-Of-Sight environment and improve the accuracy of Double-Side Two-way ranging and trilateration localization results in both Line-Of-Sight and Non-Line-Of-Sight scenarios. The study is applied on the Decawave DMW1001 module. The results indicate that Kalman Filter can be used to enhance the indoor positioning system using DS-TWR and trilateration method, and the best improvement of error is 18.18% in the localization phase of LOS environment.