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UWB asynchronous location algorithm based on variable and adaptive step size

In this paper, a new fast convergence adaptive algorithm with variable step size is proposed for UWB asynchronous location. This new proposed algorithm is derived on the distance between the targets and measurement point, which adjusts adaptively the step size with the change of gradient descent. Numerical experiment shows that algorithm is stable in the effective rectangular area and the positioning error may be up to millimetres order of magnitude. Meanwhile the proposed algorithm decreases a computation as well as minimizes the processing delaying compared with the fixed step size, furthermore, the proposed algorithm overcomes the fluctuating that closed to the targets. Results of simulation show that the proposed method has better location accuracy, high convergence speed and low computation than the related decentralized approaches described previous.