부산대학교 도서관

This paper carried out a series of experiments in both the LOS and NLOS scenes, which was based on an unmanned mobile platform, UWB and INS. Throughout experiments, this paper analyzes the ranging error from UWB, verifying that it obeys rice distribution in LOS and lognormal distribution in NLOS respectively; By using TOA combined with GN algorithm, the impact of the number of NLOS links on the positioning error is summarized; Taking the correlation between Links into consideration, their degradation processes was studied; To the end, this paper proposes a DF algorithm based on EKF, whose the positioning error of RMSE is proved to be lower than traditional algorithm.