Accuracy analysis for object positioning on a circular trajectory based on the UWB location system

This paper focuses on the different filtering methods of movement around a circle whose acquisition was made using system based on the Ultra-wideband (UWB) technology. The main aim of this study is to get the most accurate way of filtering circular motion for the UWB system for statistical terms. Filtration presented in this paper can be used to locate objects using ultra-wideband technology, and thanks to the use of motion at speed up to 50km/h, it will be possible to use test results to reflect drones or autonomous vehicles, particularly where standard locations systems (e.g. GPS) is not available - such as tunnels, underground car parks, shopping centers. This document proposes an approach based on the filtration points that was assigned to the buckets placed in three-dimensional space on the expected trajectory of the circular object movement. During the data processing the following filters have been used: median, arithmetic mean, Savitzky-Golay in combination with arithmetic mean, and moving average in combination with arithmetic mean. The number of used measurement buckets, as well as their size, was also analyzed. The results were compared with the use of the length of the line, that traces the localized object in correlation with the number of measured buckets used.