Fig. 1. UWB ranging flow chart

Fig. 2. Comparison diagram between actual distances and measured distances

Fig. 3. UWB ranging fitting curve

Fig. 4. Comparison diagram of actual error and error after fitting

Fig. 5. UWB ranging sample data

Fig. 6. Flow chart of the outlier detection method based on the modified Mahalanobis distance

Fig. 7. Ranging samples based on the modified Mahalanobis distance outliers detection method

Fig. 8. Carrier coordinate system

Fig. 9. Navigation coordinate system

Fig. 10. Functional block diagram of tight-coupling fusion based on pseudorange

Fig. 11. UWB base station layout and establishment of the navigation coordinate system

Fig. 12. Positioning label and trolley

Fig. 13. Rectangular trajectory

Fig. 14. Comparison diagram of UWB positioning results and actual trajectory

Fig. 15. Comparison diagram of positioning trajectories of the two positioning methods

Fig. 16. Comparison diagram of positioning errors of the two positioning methods

Fig. 17. CDF comparison diagram of positioning errors of the two positioning methods