NLoS Measurement Elimination in UWB Signals Using Anomaly Detection

Ultrawideband range sensors are utilized for localization in varius application areas in autonomous systems. One of the most prominent sources of error is that the sensors are not in the line-of-sight of each other and the signals travel along different paths causing error. An approach to correct for this problem is the detection of line-of-sight and non-line-of-sight signals. In this work, non-line-of-sight signals are detected and eliminated using anomaly detection. In the proposed approach is tested using simulations and different probability distributions. The obtained results show that the localization errors are decreased.