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Weighted Pseudo-Range Method of Positioning in Local Ultra-Wide Band Navigation Systems

Navigation systems play an important role in solving a large number of military and civilian tasks. The actual standard for use in open space are GNSS GLONASS, GPS, Galileo, Beidou and their various functional additions. At the same time, it is relevant to solve the problem of indoor navigation and navigation in areas of poor GNSS coverage. One of the most promising approaches to solving such problems is an ultra-wideband local navigation system. In this paper, we describe a variant of constructing such a system with one-way-ranging architecture that does not limit a number of consumers in its operation zone and implements a Time of Arrival (ToA) or Time Difference of Arrival (TDoA) method of determining coordinates with a sub-meter accuracy including strong multipath conditions. The pseudo-range positioning method is described. Weighted pseudo-range method and weighted delta-range method are investigated.