# Study on the Deployment of Ultra-Wideband Positioning Base Stations in Pig Farms
## 5 Conclusions  
The UWB positioning effect in different deployment environments is investigated through MATLAB R2021a simulation positioning experiments and UWB measurement experiments. The impact of base stations' deployment height, distance between base stations, and shape of the base station deployment on the UWB positioning effect is analyzed. Additionally, the effects of base station deployment on the DOP value and positioning error are simulated and analyzed. Static measurement experiments further analyze the effects of base station deployment on each point location's positioning effect, as well as variance and root-mean-square error. Based on these analyses, the following conclusions can be drawn:  
1. In the simulation experiment, within the enclosed area surrounded by base stations, there is an inverse relationship between proximity to the center and HDOP value, as well as proximity to the base stations and VDOP/PDOP values. Moreover, VDOP and PDOP values within this closed area are smaller than the average. Conversely, outside of this enclosed area, DOP values increase with distance from the center. The optimal height range for base stations is determined to be between 175 cm and 275 cm. Additionally, a spacing of more than 300 cm between base stations yields better positioning accuracy. When arranging base stations in a square formation, superior positioning results can be achieved compared to a rectangular layout where longer sides exhibit better performance than shorter sides. 2. In the actual experiment, when the base stations are arranged in a square configuration with a side length of 300 cm, adjusting the height of the base stations has an impact on the positioning accuracy. Specifically, at heights of 0 cm and 275 cm, there is significant and fluctuating positioning deviation observed. However, optimal results are achieved when the height of the base stations ranges from 175 cm to 225 cm. 3. When the base stations are arranged in a square configuration with a height of 175 cm, the positioning effect can be influenced by adjusting the spacing between base stations. Smaller spacing leads to significantly larger root-mean-square errors at individual points; when the spacing is less than 300 cm, there is a calibration deviation of more than 100 cm within the base stations themselves, resulting in calibration failure and inaccurate positioning. Spacing equal to or greater than 300 cm provides a wider UWB accuracy range, with increased stability in positioning as spacing increases. 4. When the base stations are deployed in a triangular, square, and rectangular configuration with a height of 175 cm and a spacing of 600 cm, the variance of the X and Y coordinates is consistently smaller for the square configuration, indicating superior stability in positioning. Conversely, both the triangular and rectangular configurations exhibit larger deviations among individual points. Furthermore, when deployed as a rectangle, it is observed that longer sides yield better positioning accuracy compared to shorter sides. 5. The deviation of the midpoint within the closed graph of the base station deployment is minimized, resulting in an enhanced positioning effect. 6. During the positioning process, the UWB system generates discrete coordinate points in the host computer software, which can be further optimized using a Kalman filter to refine the trajectory. 7. The results of the two experiments demonstrate that the positioning accuracy can be enhanced and optimized by adjusting the vertical deployment height, inter-base station spacing, and geometric configuration of base stations. In conclusion: Different heights of the base stations: the appropriate height is between 175 cm and 225 cm. Different distance of the base stations: spacing in the range of 300 cm and above is better. Different shape of the base station arrangements: when the base stations are deployed as a square, the DOP is the smallest and the positioning effect is the best.