{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:18:14Z","timestamp":1760239094320,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2020,10,1]],"date-time":"2020-10-01T00:00:00Z","timestamp":1601510400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["871260","779776"],"award-info":[{"award-number":["871260","779776"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014440","name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","doi-asserted-by":"publisher","award":["PGC2018-095709-B-C21"],"award-info":[{"award-number":["PGC2018-095709-B-C21"]}],"id":[{"id":"10.13039\/100014440","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Govern Balear","award":["PROCOE\/4\/2017"],"award-info":[{"award-number":["PROCOE\/4\/2017"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Ultra-Wide-Band (UWB) positioning systems are now a real option to estimate the position of generic agents (e.g., robots) within indoor\/GPS-denied environments. However, these environments can comprise metallic structures or other elements which can negatively affect the signal transmission and hence the accuracy of UWB-based position estimations. Regarding this fact, this paper proposes a novel method based on point-to-sphere ICP (Iterative Closest Point) to determine the 3D position of a UWB tag. In order to improve the results in noise-prone environments, our method first selects the anchors\u2019 subset which provides the position estimate with least uncertainty (i.e., largest agreement) in our approach. Furthermore, we propose a previous stage to filter the anchor-tag distances used as input of the ICP stage. We also consider the addition of a final step based on non-linear Kalman Filtering to improve the position estimates. Performance results for several configurations of our approach are reported in the experimental results section, including a comparison with the performance of other position-estimation algorithms based on trilateration. The experimental evaluation under laboratory conditions and inside the cargo hold of a vessel (i.e., a noise-prone scenario) proves the good performance of the ICP-based algorithm, as well as the effects induced by the prior and posterior filtering stages.<\/jats:p>","DOI":"10.3390\/s20195613","type":"journal-article","created":{"date-parts":[[2020,10,1]],"date-time":"2020-10-01T09:04:12Z","timestamp":1601543052000},"page":"5613","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4215-3764","authenticated-orcid":false,"given":"Francisco","family":"Bonnin-Pascual","sequence":"first","affiliation":[{"name":"Department of Mathematics and Computer Science, University of the Balearic Islands, 07122 Palma de Mallorca, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8253-7455","authenticated-orcid":false,"given":"Alberto","family":"Ortiz","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Computer Science, University of the Balearic Islands, 07122 Palma de Mallorca, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1109\/SURV.2009.090103","article-title":"A Survey of Indoor Positioning Systems for Wireless Personal Networks","volume":"11","author":"Gu","year":"2009","journal-title":"IEEE Commun. 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