Research on Indoor 3D Positioning Model Using Improved Triangular Centroid Position Algorithm Based on UWB

The indoor positioning technology of an ultra-wideband (UWB) can play an excellent supplementary role in satellite navigation and has broad application prospects. However, if strong interference exists, the measurement data based on UWB will fluctuate abnormally, which seriously affects the accuracy of positioning. In view of the above problems, based on the combination of mathematical modeling, this paper starts from the subject data, and proposes a positioning method suitable for non-interference/interference conditions and an abnormal data identification method to improve the positioning accuracy. The specific scheme includes data preprocessing model establishment and solution, positioning model establishment and solution, migration application of positioning model, interfering data identification model establishment and solution, and movement track positioning model establishment and solution.