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UWB-based Indoor Navigation with Uncertain Anchor Nodes Positioning

Global Navigation Satellite Systems (GNSS) is the positioning technology of choice outdoors, but its performance clearly degrades in harsh propagation conditions, or even more critical for the applications of interest here, these systems are not available in GNSS-denied environments such as indoors. Among the different alternatives for autonomous indoor localization and navigation, Ultra-WideBand ranging is a promising solution to achieve high positioning accuracy. The key points impacting such performance are i) anchors' geometry, and ii) a perfectly known anchors' position. In this contribution, we provide an analysis on the navigation performance loss induced by a possible anchor's position mismatch, and propose a method to estimate both the mobile trajectory (position and velocity) and the uncertain anchor's position. A numerical simulation study is given to support the discussion.