Improved Strong Tracking Cubature Kalman Filter for UWB Positioning.

For the problems of Non-Line-of-Sight (NLOS) observation errors and inaccurate predictive dynamics model in wireless ultra-wideband (UWB) positioning systems, an improved strong tracking cubature Kalman filter (ISTCKF) positioning algorithm is proposed in this paper. The main idea of the algorithm is as follows. First, the observations are reconstructed based on the weighted positioning results obtained from the predictive dynamics model and the least squares algorithm.