In the next stage, measurements were taken in real terms using a system built from four stationary ultra-wideband (UWB) modules and one mobile built-in land vehicle. The measurement data contained both the raw distance data and the locations obtained from the system tracking application. At this stage, preliminary verification of the designed tracking algorithms was carried out using raw distance data between the modules and the object to create own tracking application. The results of the above operations for different trajectories are presented in the form of appropriate graphical imagery. They confirm the possibility to track the trajectory of a land object using distance measurement from ultra-wideband modules based on the own implemented algorithms. The determination of location is made with high accuracy while improving parameters in relation to factory algorithms at the time of maneuver.
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