This thesis investigates the capability of Ultra-Wide Band (UWB) communication technology to be used for indoor real-time positioning. The integration of an inertial measurement unit (IMU) to increase positioning accuracy was also evaluated. We designed and implemented a novel evaluation method for positioning systems that compares each of the position estimates with the ground truth position at the same moment. We experimentally verified the accuracy of an UWB positioning system in line-of-sight (LOS) conditions to be, on average, 10.97 cm for a robot moving at around 0.16 m/s on a track of length 6.7 m. In the case of non-line-of-sight (NLOS) conditions, accuracy on a track of length 9.7 m for the same moving robot was, on average, 58.47 cm. Data fusion of IMU and UWB measurements using an extended Kalman filter increased average positioning accuracy to 51.96 cm, an 18.8% increase over UWB measurements alone, in NLOS conditions. In LOS conditions, we observed that data fusion of IMU and UWB measurements decreases the average positioning accuracy (from 10.97 cm to 14.17 cm) compared to use of UWB only position estimation.
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