International Core Journal of Engineering 2020-26 | Page 97

Positioning result graph
800
Three-line
Three-and-four-line anchor2
Five-line
Actual path
700 anchor1
[4]
600
500
[5]
400
300
[6]
200
100
anchor0
0
0
100
anchor3
200
300
400
500
600
X-axis/cm
700
800
900
[7]
1000
[8]
Fig. 4. Dynamic positioning result
In addition, NLOS is one of the main factors affecting the
ranging accuracy in a multi-path environment. We identify
the NLOS and detect the direct path in the received signal
correctly. Then we add the identification result to the
positioning algorithm to further improve the ranging
positioning performance. This is the next job.
[9]
[10]
[11]
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