{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T23:04:28Z","timestamp":1770419068027,"version":"3.49.0"},"reference-count":54,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2022,10,28]],"date-time":"2022-10-28T00:00:00Z","timestamp":1666915200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004663","name":"the Ministry of Science and Technology of the People\u2019s Republic of China","doi-asserted-by":"publisher","award":["2020YFF0303604"],"award-info":[{"award-number":["2020YFF0303604"]}],"id":[{"id":"10.13039\/501100004663","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004663","name":"the Ministry of Science and Technology of the People\u2019s Republic of China","doi-asserted-by":"publisher","award":["20200115-8"],"award-info":[{"award-number":["20200115-8"]}],"id":[{"id":"10.13039\/501100004663","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Guangzhou Association for Science and Technology","award":["2020YFF0303604"],"award-info":[{"award-number":["2020YFF0303604"]}]},{"name":"the Guangzhou Association for Science and Technology","award":["20200115-8"],"award-info":[{"award-number":["20200115-8"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Affected by the spatial environment, the accuracy and stability of ultra-wideband (UWB) positioning in a narrow space are significantly lower than those in the general indoor environment, which limits navigation and positioning services in a complex scene. To improve the positioning accuracy and stability of a narrow space, this study proposed a positioning algorithm by combining Kalman filter (KF) and dilution of precision (DOP). Firstly, we calculated the DOP values of the target narrow space by changing the location of the test nodes throughout the space. Secondly, the initial coordinate values of the test nodes were calculated by the weighted least squares (WLS) positioning algorithm and were used as the observation values of KF. Finally, the DOP values were adaptively introduced into KF to update the coordinates of the nodes to be tested. The proposed algorithm was tested in two narrow scenes with different length\u2013width ratios. The experimental results showed that the DOP values of the narrow space were much higher than that of the wide space. Furthermore, even if the ranging error was low, the positioning error was high in the narrow space. The proposed fusion positioning algorithm reported a higher positioning accuracy in the narrow space, and the higher DOP values of the scene, the greater the accuracy improvement of the algorithm. This study reveals that no matter how the base stations are configured, the DOP values of the narrow space are much higher than that of the wide space, thus causing larger positioning errors. The proposed positioning algorithm can effectively suppress the positioning error caused by the narrow spatial structure, so as to improve the positioning accuracy and stability.<\/jats:p>","DOI":"10.3390\/rs14215409","type":"journal-article","created":{"date-parts":[[2022,10,30]],"date-time":"2022-10-30T09:01:42Z","timestamp":1667120502000},"page":"5409","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Combining Dilution of Precision and Kalman Filtering for UWB Positioning in a Narrow Space"],"prefix":"10.3390","volume":"14","author":[{"given":"Yunjian","family":"Guo","sequence":"first","affiliation":[{"name":"School of Geography, South China Normal University, Guangzhou 510631, China"},{"name":"MOE Key Laboratory of Laser Life Science, College of Biophotonics, South China Normal University, Guangzhou 510631, China"}]},{"given":"Weihong","family":"Li","sequence":"additional","affiliation":[{"name":"School of Geography, South China Normal University, Guangzhou 510631, China"},{"name":"SCNU Qingyuan Institute of Science and Technology Innovation, Qingyuan 511500, China"},{"name":"Guangdong Shida Weizhi Information Technology Co., Ltd., Qingyuan 511500, China"}]},{"given":"Guang","family":"Yang","sequence":"additional","affiliation":[{"name":"Beidou Research Institute, South China Normal University, Guangzhou 510631, China"}]},{"given":"Zhenhang","family":"Jiao","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430072, China"}]},{"given":"Jiachen","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Geography, South China Normal University, Guangzhou 510631, China"},{"name":"MOE Key Laboratory of Laser Life Science, College of Biophotonics, South China Normal University, Guangzhou 510631, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,10,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1016\/j.cosrev.2018.09.001","article-title":"Indoor Location Identification Technologies for Real-Time IoT-Based Applications: An Inclusive Survey","volume":"30","author":"Oguntala","year":"2018","journal-title":"Comput. Sci. Rev."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2568","DOI":"10.1109\/COMST.2019.2911558","article-title":"A Survey of Indoor Localization Systems and Technologies","volume":"21","author":"Zafari","year":"2019","journal-title":"IEEE Commun. Surv. Tutor."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"109041","DOI":"10.1016\/j.comnet.2022.109041","article-title":"A Comprehensive Review of Indoor\/Outdoor Localization Solutions in IoT Era: Research Challenges and Future Perspectives","volume":"212","author":"Asaad","year":"2022","journal-title":"Comput. Netw."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"6513","DOI":"10.1109\/JIOT.2019.2907707","article-title":"Low-Power Centimeter-Level Localization for Indoor Mobile Robots Based on Ensemble Kalman Smoother Using Received Signal Strength","volume":"6","author":"Zhuang","year":"2019","journal-title":"IEEE Internet Things J."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"103399","DOI":"10.1016\/j.autcon.2020.103399","article-title":"Mobile Indoor Mapping Technologies: A Review","volume":"120","author":"Otero","year":"2020","journal-title":"Autom. Constr."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1026","DOI":"10.1109\/JSAC.2010.100907","article-title":"NLOS Identification and Mitigation for Localization Based on UWB Experimental Data","volume":"28","author":"Gifford","year":"2010","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Alarifi, A., Al-Salman, A., Alsaleh, M., Alnafessah, A., Al-Hadhrami, S., Al-Ammar, M.A., and Al-Khalifa, H.S. (2016). Ultra Wideband Indoor Positioning Technologies: Analysis and Recent Advances. Sensors, 16.","DOI":"10.3390\/s16050707"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"3929","DOI":"10.1109\/TVT.2016.2550626","article-title":"Frequency-Domain In-Vehicle UWB Channel Modeling","volume":"65","author":"Chandra","year":"2016","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"3743","DOI":"10.1109\/TSP.2019.2916016","article-title":"Joint Time-of-Arrival Estimation for Coherent UWB Ranging in Multipath Environment with Multi-User Interference","volume":"67","author":"Wang","year":"2019","journal-title":"IEEE Trans. Signal Process."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Zhao, Y., and Wang, M. (2022). The LOS\/NLOS Classification Method Based on Deep Learning for the UWB Localization System in Coal Mines. Appl. Sci., 12.","DOI":"10.3390\/app12136484"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"4456","DOI":"10.1016\/j.asr.2021.09.028","article-title":"Multi-Source Fusion Positioning Algorithm Based on Pseudo-Satellite for Indoor Narrow and Long Areas","volume":"68","author":"Yu","year":"2021","journal-title":"Adv. Space Res."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1016\/j.proeng.2013.08.062","article-title":"Analysis of Influencing Factors on Flashover in the Long-Narrow Confined Space","volume":"62","author":"Zhao","year":"2013","journal-title":"Procedia Eng."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Sadeghi, S., Soltanmohammadlou, N., and Nasirzadeh, F. (2022). Applications of Wireless Sensor Networks to Improve Occupational Safety and Health in Underground Mines. J. Safety Res., in press.","DOI":"10.1016\/j.jsr.2022.07.016"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"106980","DOI":"10.1016\/j.measurement.2019.106980","article-title":"Modeling and Measurements for Wireless Communication Networks in Underground Mine Environments","volume":"149","author":"Ranjan","year":"2020","journal-title":"Measurement"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"2032","DOI":"10.1109\/TAES.2012.6237577","article-title":"On the GDOP and Accuracy for Indoor Positioning","volume":"48","author":"Sharp","year":"2012","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Jian, S., Yongling, F., Lin, T., and Shengguang, L. (2015, January 10\u201314). A Survey and Application of Indoor Positioning Based on Scene Classification Optimization. Proceedings of the 2015 IEEE 12th Intl Conf on Ubiquitous Intelligence and Computing and 2015 IEEE 12th Intl Conf on Autonomic and Trusted Computing and 2015 IEEE 15th Intl Conf on Scalable Computing and Communications and Its Associated Workshops (UIC-ATC-ScalCom), Beijing, China.","DOI":"10.1109\/UIC-ATC-ScalCom-CBDCom-IoP.2015.282"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1058","DOI":"10.1016\/S1004-4132(08)60197-8","article-title":"Geometric Dilution of Precision for GPS Single-Point Positioning Based on Four Satellites","volume":"19","author":"Wang","year":"2008","journal-title":"J. Syst. Eng. Electron."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"3048","DOI":"10.1016\/j.asr.2018.08.029","article-title":"Some Remarks on Geometric Dilution of Precision (GDOP) at User Level in Multi-GNSS Positioning","volume":"62","author":"Li","year":"2018","journal-title":"Adv. Space Res."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Feng, G., Shen, C., Long, C., and Dong, F. (2015, January 1\u20134). GDOP Index in UWB Indoor Location System Experiment. Proceedings of the 2015 IEEE Sensors, Valencia, Spain.","DOI":"10.1109\/ICSENS.2015.7370254"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"225076","DOI":"10.1109\/ACCESS.2020.3045189","article-title":"Analysis of the Applicability of Dilution of Precision in the Base Station Configuration Optimization of Ultrawideband Indoor TDOA Positioning System","volume":"8","author":"Wang","year":"2020","journal-title":"IEEE Access"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"886","DOI":"10.1016\/S1665-6423(14)70595-4","article-title":"On Optimal Placement of Short Range Base Stations for Indoor Position Estimation","volume":"12","author":"Bais","year":"2014","journal-title":"J. Appl. Res. Technol."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Syafrudin, M., Walter, C., and Schweinzer, H. (2014, January 27\u201330). Robust Locating Using LPS LOSNUS under NLOS Conditions. Proceedings of the 2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Busan, Korea.","DOI":"10.1109\/IPIN.2014.7275531"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"5458","DOI":"10.1109\/TIE.2012.2236994","article-title":"Industrial Applications of the Kalman Filter: A Review","volume":"60","author":"Auger","year":"2013","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_24","unstructured":"Basar, T. (2001). A New Approach to Linear Filtering and Prediction Problems. Control Theory: Twenty-Five Seminal Papers (1932\u20131981), IEEE."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1239","DOI":"10.1016\/j.jfranklin.2021.12.022","article-title":"Improving the Modelling Efficiency of Hammerstein System Using Kalman Filter and Its Parameters Optimised Using Social Mimic Algorithm: Application to Heating and Cascade Water Tanks","volume":"359","author":"Janjanam","year":"2022","journal-title":"J. Frankl. Inst."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Li, Q., Li, R., Ji, K., and Dai, W. (2015, January 1\u20133). Kalman Filter and Its Application. Proceedings of the 2015 8th International Conference on Intelligent Networks and Intelligent Systems (ICINIS), Tianjin, China.","DOI":"10.1109\/ICINIS.2015.35"},{"key":"ref_27","unstructured":"Jia, Y., Zhang, W., Fu, Y., Yu, Z., and Zheng, S. (2022). The Simulation Research of Multi-Model Adaptive KF and Target Tracking. Proceedings of the 2021 Chinese Intelligent Systems Conference, Springer."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"110966","DOI":"10.1016\/j.measurement.2022.110966","article-title":"A Precise Ultra-Wideband Ranging Method Using Pre-Corrected Strategy and Particle Swarm Optimization Algorithm","volume":"194","author":"Li","year":"2022","journal-title":"Measurement"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"502","DOI":"10.1016\/j.cherd.2018.11.020","article-title":"Nonlinear State Estimation with Delayed Measurements Using Data Fusion Technique and Cubature Kalman Filter for Chemical Processes","volume":"141","author":"Zhao","year":"2019","journal-title":"Chem. Eng. Res. Des."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"102562","DOI":"10.1016\/j.apor.2021.102562","article-title":"A New Multi-Sensor Hierarchical Data Fusion Algorithm Based on Unscented Kalman Filter for the Attitude Observation of the Wave Glider","volume":"109","author":"Liu","year":"2021","journal-title":"Appl. Ocean Res."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"0603904","DOI":"10.1109\/TASC.2021.3101751","article-title":"Application of Improved Kalman Filter in Under-Ground Positioning System of Coal Mine","volume":"31","author":"Cheng","year":"2021","journal-title":"IEEE Trans. Appl. Supercond."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"3133","DOI":"10.1109\/JIOT.2020.2965115","article-title":"Kalman-Filter-Based Integration of IMU and UWB for High-Accuracy Indoor Positioning and Navigation","volume":"7","author":"Feng","year":"2020","journal-title":"IEEE Internet Things J."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1473","DOI":"10.1007\/s12046-016-0562-z","article-title":"A Heuristic Reference Recursive Recipe for Adaptively Tuning the Kalman Filter Statistics Part-1: Formulation and Simulation Studies","volume":"41","author":"Ananthasayanam","year":"2016","journal-title":"S\u0101dhan\u0101"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"875","DOI":"10.1002\/acs.2995","article-title":"Highly Computationally Efficient State Filter Based on the Delta Operator","volume":"33","author":"Zhang","year":"2019","journal-title":"Int. J. Adapt. Control Signal Process."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1303","DOI":"10.1016\/j.jfranklin.2021.12.019","article-title":"Reduction of Prediction Error Sensitivity to Parameters in Kalman Filter","volume":"359","author":"Tabacek","year":"2022","journal-title":"J. Frankl. Inst."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"108174","DOI":"10.1016\/j.asoc.2021.108174","article-title":"Evolved Extended Kalman Filter for First-Order Dynamical Systems with Unknown Measurements Noise Covariance","volume":"115","author":"Herrera","year":"2022","journal-title":"Appl. Soft Comput."},{"key":"ref_37","first-page":"82","article-title":"UWB Base Station Layout Optimization in Underground Parking Lots","volume":"15","author":"Wang","year":"2021","journal-title":"J. Highw. Transp. Res. Dev. Engl. Ed."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1016\/j.actaastro.2017.09.039","article-title":"Pulsar Navigation Using Time of Arrival (TOA) and Time Differential TOA (TDTOA)","volume":"142","author":"Xiaolin","year":"2018","journal-title":"Acta Astronaut."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"466","DOI":"10.1016\/j.procs.2021.12.271","article-title":"UWB Positioning Analysis and Algorithm Research","volume":"198","author":"Zhang","year":"2022","journal-title":"Procedia Comput. Sci."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"8785","DOI":"10.1016\/j.jfranklin.2019.06.016","article-title":"Improving the Weighted Least Squares Estimation of Parameters in Errors-in-Variables Models","volume":"356","author":"Xu","year":"2019","journal-title":"J. Frankl. Inst."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Svecova, M., Kocur, D., and Zetik, R. (2008, January 24\u201325). Object Localization Using Round Trip Propagation Time Measurements. Proceedings of the 2008 18th International Conference Radioelektronika, Prague, Czech Republic.","DOI":"10.1109\/RADIOELEK.2008.4542689"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"1379","DOI":"10.1007\/s10291-017-0621-x","article-title":"Effect of PDOP on Performance of Kalman Filters for GNSS-Based Space Vehicle Position Estimation","volume":"21","author":"Biswas","year":"2017","journal-title":"GPS Solut."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"108164","DOI":"10.1016\/j.sigpro.2021.108164","article-title":"An Efficient Outlier Rejection Technique for Kalman Filters","volume":"188","author":"Navon","year":"2021","journal-title":"Signal Process."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"107914","DOI":"10.1016\/j.sigpro.2020.107914","article-title":"Numerically Stable Minimum Error Entropy Kalman Filter","volume":"181","author":"Wang","year":"2021","journal-title":"Signal Process."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"294","DOI":"10.1016\/j.sigpro.2018.08.006","article-title":"Fractional Central Difference Kalman Filter with Unknown Prior Information","volume":"154","author":"Liu","year":"2019","journal-title":"Signal Process."},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"103637","DOI":"10.1016\/j.dsp.2022.103637","article-title":"Position Error vs. Signal Measurements: An Analysis towards Lower Error Bound in Sensor Network","volume":"129","author":"Qiu","year":"2022","journal-title":"Digit. Signal Process."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"1955","DOI":"10.1109\/TPDS.2013.281","article-title":"A Study of Localization Accuracy Using Multiple Frequencies and Powers","volume":"25","author":"Zheng","year":"2014","journal-title":"IEEE Trans. Parallel Distrib. Syst."},{"key":"ref_48","doi-asserted-by":"crossref","unstructured":"Sharma, R., and Badarla, V. (2018, January 16\u201319). Geometrical Optimization of A Novel Beacon Placement Strategy for 3D Indoor Localization. Proceedings of the 2018 IEEE International Conference on Advanced Networks and Telecommunications Systems (ANTS), Indore, India.","DOI":"10.1109\/ANTS.2018.8710138"},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"117723","DOI":"10.1016\/j.eswa.2022.117723","article-title":"Indoor Scenario-Based UWB Anchor Placement Optimization Method for Indoor Localization","volume":"205","author":"Pan","year":"2022","journal-title":"Expert Syst. Appl."},{"key":"ref_50","first-page":"17","article-title":"Experimental Studies on the Relationship between HDOP and Position Error in the GPS System","volume":"29","author":"Specht","year":"2022","journal-title":"Metrol. Meas. Syst."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"111342","DOI":"10.1016\/j.measurement.2022.111342","article-title":"Realistic Stochastic Modeling Considering the PDOP and Its Application in Real-Time GNSS Point Positioning under Challenging Environments","volume":"197","author":"Li","year":"2022","journal-title":"Measurement"},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"365","DOI":"10.1016\/j.comcom.2021.10.031","article-title":"Multi-Algorithm UWB-Based Localization Method for Mixed LOS\/NLOS Environments","volume":"181","author":"Djosic","year":"2022","journal-title":"Comput. Commun."},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"103309","DOI":"10.1016\/j.autcon.2020.103309","article-title":"Top 10 Technologies for Indoor Positioning on Construction Sites","volume":"118","author":"Li","year":"2020","journal-title":"Autom. Constr."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"686","DOI":"10.1109\/TVT.2018.2883810","article-title":"A Novel NLOS Mitigation Algorithm for UWB Localization in Harsh Indoor Environments","volume":"68","author":"Yu","year":"2019","journal-title":"IEEE Trans. Veh. Technol."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/14\/21\/5409\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:04:50Z","timestamp":1760144690000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/14\/21\/5409"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,28]]},"references-count":54,"journal-issue":{"issue":"21","published-online":{"date-parts":[[2022,11]]}},"alternative-id":["rs14215409"],"URL":"https:\/\/doi.org\/10.3390\/rs14215409","relation":{},"ISSN":["2072-4292"],"issn-type":[{"value":"2072-4292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10,28]]}}}