Accurate Joint Estimation of Position and Orientation Based on Angle of Arrival and Two-Way Ranging of Ultra-Wideband Technology

作者：Di Zhang, Hongyue Xu, Zhan Li, Ye Li, Guangqiang Yin, Xinzhong Wang · 发表于：Electronics · 年份：2025 · DOI：10.3390/electronics14030429 · 被引用次数：5 · 研究领域：Indoor and Outdoor Localization Technologies、Underwater Vehicles and Communication Systems、Target Tracking and Data Fusion in Sensor Networks

In wireless sensor networks (WSNs), ultra-wideband (UWB) technology is essential for robot localization systems, especially for methods of the simultaneous estimation of position and orientation. However, current approaches frequently depend on rigid body models, which require multiple base stations and lead to substantial equipment costs. This paper presents a cost-effective UWB SL model utilizing the angle of arrival (AOA) and double-sided two-way ranging (DS-TWR). To improve localization accuracy, we propose a self-localization algorithm based on constrained weighted least squares (SL-CWLS), integrating a weighted matrix derived from a measured noise model. Additionally, we derive the constrained Cramér–Rao lower bound (CCRLB) to analyze the performance of the proposed algorithm. Simulation results indicate that the proposed method achieves high estimation accuracy, while real-world experiments validate the simulation results.