A TOF and Kalman filtering joint algorithm for IEEE802.15.4a UWB Locating

TOA (Time of Arrival) algorithm can be used to locate. However, the source of random error is from the clock out of sync, nodes' crystal frequency drift also causes inaccurate clock. So it needs to estimate channel parameters accurately, and eliminate the clock offset. But in the complex indoor environment, such as obstacles which cause the serious multipath propagation, one positioning method is not enough, reducing various errors is also an important thing. In this paper, the TOF (Time of Flight) and Kalman filtering joint algorithm will weaken the clock offset and positioning error. The simulation shows the feasibility of the proposed algorithm.