Anchor selection for UWB indoor positioning

On the positioning accuracy, the geometric distribution of anchor nodes in wireless sensor networks has notable impacts. To select the optimum node combination, conventional methods that depend on geometric dilution of precision demand to spend time on calculating every possible combination of nodes. In military urban and emergency response operations, the time is a crucial issue, and a precise positioning system with a clear indoor covering is a highly prerequisite tool to enhance the safety. It should be seamless, low, frugal, power efficacious, low cost, and supply less meter-level accuracy. In this paper, the main goal is to reduce the anchors installation time and to obtain a precise localization system. To obtain this goal, a novel algorithm to build an accurate indoor positioning system is created using a mean square error (MSE) of an estimated position of a mobile station (MS) located by different groups of installed anchor nodes online using least square (LS) method then selecting the group having less MSE value (anchor selection method) to relocate the MS using a weighted LS method. The results were highly acceptable for indoor localization because the module attained an MSE localization accuracy in a hard non–line of sight environment below 0.5 m2 also the time of installing the anchor nodes will be reduced. This paper includes the description of the algorithm and the results of the conducted experiments.