{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,6]],"date-time":"2025-12-06T16:46:33Z","timestamp":1765039593211,"version":"build-2065373602"},"reference-count":22,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2021,9,23]],"date-time":"2021-09-23T00:00:00Z","timestamp":1632355200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100013794","name":"Department of Education, Shanxi Province","doi-asserted-by":"publisher","award":["201903D121169"],"award-info":[{"award-number":["201903D121169"]}],"id":[{"id":"10.13039\/501100013794","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To solve the problem of heavy workload and high cost when acquiring the position of Ultra-Wideband (UWB) mobile base stations in sports fields, a fast self-positioning algorithm for UWB mobile base stations algorithm based on Time of Flight (TOF) is proposed. First, according to the layout of the base stations in the sports field, the local coordinate system is determined, and an equation based on the ranging information between the base stations is established; the Least Square method is used to calculate the coordinates of each base station, and the Newton Iteration method is used to converge the positioning results. Then the origin and propagation law of positioning error, as well as the method of reducing the positioning error are analyzed. The simulation data and experimental results show that the average positioning accuracy of the mobile base station is within 0.05 m, which meets the expected accuracy of the base station position measurement. Compared with traditional manual measurement methods, base station self-positioning can effectively save deployment time and reduce workload.<\/jats:p>","DOI":"10.3390\/s21196359","type":"journal-article","created":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T22:16:38Z","timestamp":1632780998000},"page":"6359","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["TOF-Based Fast Self-Positioning Algorithm for UWB Mobile Base Stations"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9746-8619","authenticated-orcid":false,"given":"Yuxiang","family":"Han","sequence":"first","affiliation":[{"name":"National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China"}]},{"given":"Xiaoming","family":"Zhang","sequence":"additional","affiliation":[{"name":"National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China"},{"name":"Key Laboratory of Instrumentation Science & Dynamic Measure, Ministry of Education, North University of China, Taiyuan 030051, China"}]},{"given":"Zhengxi","family":"Lai","sequence":"additional","affiliation":[{"name":"Shenzhen ImyFit Technology Co., Ltd., Shenzhen 518107, China"}]},{"given":"Yuchen","family":"Geng","sequence":"additional","affiliation":[{"name":"National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,9,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"022063","DOI":"10.1088\/1742-6596\/1515\/2\/022063","article-title":"Research of data transmission system based on UWB technology","volume":"1515","author":"Krasnov","year":"2020","journal-title":"J. Phys. Conf. Ser."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"4467","DOI":"10.1007\/s11277-017-4734-x","article-title":"Precise Indoor Positioning Using UWB: A Review of Methods, Algorithms and Implementations","volume":"97","author":"Mazhar","year":"2017","journal-title":"Wirel. Pers. Commun."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"012044","DOI":"10.1088\/1742-6596\/1971\/1\/012044","article-title":"Indoor Positioning Experiment Based on Phase Ranging with Bluetooth Low Energy (BLE)","volume":"1971","author":"Lu","year":"2021","journal-title":"J. Phys. Conf. Ser."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"238","DOI":"10.1016\/j.future.2020.03.043","article-title":"An effective random statistical method for Indoor Positioning System using WiFi fingerprinting","volume":"109","author":"Ninh","year":"2020","journal-title":"Future Gener. Comput. Syst."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1452","DOI":"10.1109\/TUFFC.2018.2841501","article-title":"An Indoor Airborne Ultrasonic Wireless Communication Network","volume":"65","author":"Jiang","year":"2018","journal-title":"IEEE Trans. Ultrason. Ferroelectr. Freq. Control"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"2404","DOI":"10.1016\/j.istruc.2020.10.036","article-title":"Emerging RFID technology in structural engineering\u2014A review","volume":"28","author":"Duan","year":"2020","journal-title":"Structures"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"108396","DOI":"10.1016\/j.measurement.2020.108396","article-title":"High-rate GPS positioning for tracing anthropogenic seismic activity: The 29 January 2019 mining tremor in Legnica-G\u0142og\u00f3w Copper District, Poland","volume":"168","author":"Lizurek","year":"2021","journal-title":"Measurement"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1080\/14498596.2019.1642250","article-title":"Combined BeiDou-2 and BeiDou-3 instantaneous RTK positioning: Stochastic modeling and positioning performance assessment","volume":"65","author":"Miao","year":"2020","journal-title":"J. Spat. Sci."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Alarifi, A., Al-Salman, A., Alsaleh, M., Alnafessah, A., Al-Hadhrami, S., Al-Ammar, M., and Al-Khalifa, H. (2016). Ultra Wideband Indoor Positioning Technologies: Analysis and Recent Advances. Sensors, 16.","DOI":"10.3390\/s16050707"},{"key":"ref_10","unstructured":"Yang, Y. (2019). An Automatic Configuration Method of UWB Indoor Positioning Base Station. (CN201910302367.1), Chinese Patent, (In Chinese)."},{"key":"ref_11","unstructured":"Zhang, M. (2020). An Iterative Self Localization and Calibration Method for UWB Base Stations. (CN202010475320.8), Chinese Patent, (In Chinese)."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Yu, W., Zhao, X., and Sun, G. (2017, January 5\u20138). Self-calibration of anchor positions for indoor localization. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao.","DOI":"10.1109\/ROBIO.2017.8324479"},{"key":"ref_13","unstructured":"Vashistha, A., Ling, R.W.C., and Choi, L.L. (2016, January 4\u20137). A TDOA Measurement Technique for Asynchronous Indoor Localization System using UWB-IR. Proceedings of the 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Madrid, Spain."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"22292","DOI":"10.1109\/ACCESS.2018.2829020","article-title":"Self-Calibrating Ultra-Wideband Network Supporting Multi-Robot Localization","volume":"6","author":"Hamer","year":"2018","journal-title":"IEEE Access"},{"key":"ref_15","first-page":"347","article-title":"A naive time of flight ranging scheme for wireless sensor networks","volume":"25","author":"Baba","year":"2020","journal-title":"Int. J. Commun. Netw. Distrib. Syst."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Wang, A., and Song, Y. (2018, January 28\u201331). Improved SDS-TWR Ranging Technology in UWB Positioning. Proceedings of the 2018 International Conference on Sensor Networks and Signal Processing (SNSP), Xi\u2019an, China.","DOI":"10.1109\/SNSP.2018.00049"},{"key":"ref_17","first-page":"32","article-title":"Design of lndoor Parking Areas High-precision Localization System Based on UWB","volume":"18","author":"Minzhe","year":"2018","journal-title":"Microcontrollers Embed. Syst."},{"key":"ref_18","first-page":"9049","article-title":"Fast ranging method in cooperative positioning","volume":"2019","author":"Xu","year":"2019","journal-title":"J. Eng."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1007\/BF02519180","article-title":"A numerical experiment of integrated geodesy","volume":"64","author":"Barzaghi","year":"1990","journal-title":"Bull. G\u00e9od\u00e9sique"},{"key":"ref_20","first-page":"76","article-title":"Research on Range Errors Obey Generalized Normal Distribution","volume":"2011","author":"Fu","year":"2011","journal-title":"SCI-TECH Innov. Product."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1061\/JHTRCQ.0000778","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_22","first-page":"38","article-title":"Pulse power spectrum analysis and communication per-formance based on UWB in coal mine well","volume":"19","author":"Hao","year":"2009","journal-title":"Heilongjiang Inst. Sci. Technol."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/19\/6359\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T07:04:01Z","timestamp":1760166241000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/19\/6359"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,23]]},"references-count":22,"journal-issue":{"issue":"19","published-online":{"date-parts":[[2021,10]]}},"alternative-id":["s21196359"],"URL":"https:\/\/doi.org\/10.3390\/s21196359","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2021,9,23]]}}}