A 3D UWB Hybrid Localization Method Based on BSR and L-AOA

In this paper, the reliability of the base station(BSR) and the low-cost Angle of arrival(L-AOA) positioning method are proposed to optimize the positioning result of the time difference of arrival(TDOA) positioning method, and then the result is substituted into the Taylor algorithm as the initial value for iterative optimization. The experimental results in non-line-of-sight environment show that the proposed method improves the localization accuracy by about 20% compared with that of TDOA only. In addition, we also apply this algorithm to the mixed algorithms of TDOA and Taylor, under with the same error environment, the positioning accuracy is improved by about 10%.