Uncertainty-Aware Gaussian Mixture Model for UWB Time Difference of Arrival Localization in Cluttered Environments
Wenda Zhao,Abhishek Goudar,Mingliang Tang,Xinyuan Qiao,Angela P. Schoellig,Wenda Zhao,Abhishek Goudar,Mingliang Tang,Xinyuan Qiao,Angela P. Schoellig
Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the performance of UWB TDOA-based localization deteriorates due to the biased and non-Gaussian noise distributions induced by obstacles. In this work, we present a bi-level optimization-based joint localization and noise m...
