An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study

The combination of ultra-wide band (UWB) and inertial measurement unit (IMU) positioning is subject to random errors and non-line-of-sight errors, and in this paper, an improved positioning strategy is proposed to address this problem. The Kalman filter (KF) is used to pre-process the original UWB m...

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Veröffentlicht in:Sensors (Basel, Switzerland) Jg. 23; H. 13; S. 5918
Hauptverfasser: Zou, Airu, Hu, Wenwu, Luo, Yahui, Jiang, Ping
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Switzerland MDPI AG 26.06.2023
MDPI
Schlagworte:
Accuracy
Algorithms
extended Kalman filter
Global positioning systems
GPS
Heavy construction
Judgment
Localization
Methods
Mutation
non-line-of-sight
Photogrammetry
Sensors
Software
tightly coupled positioning
ultra-wide band
non-line-of-sight
ultra-wide band
extended Kalman filter
tightly coupled positioning
ISSN:1424-8220, 1424-8220
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Zusammenfassung:The combination of ultra-wide band (UWB) and inertial measurement unit (IMU) positioning is subject to random errors and non-line-of-sight errors, and in this paper, an improved positioning strategy is proposed to address this problem. The Kalman filter (KF) is used to pre-process the original UWB measurements, suppressing the effect of range mutation values of UWB on combined positioning, and the extended Kalman filter (EKF) is used to fuse the UWB measurements with the IMU measurements, with the difference between the two measurements used as the measurement information. The non-line-of-sight (NLOS) measurement information is also used. The optimal estimate is obtained by adjusting the system measurement noise covariance matrix in real time, according to the judgment result, and suppressing the interference of non-line-of-sight factors. The optimal estimate of the current state is fed back to the UWB range value in the next state, and the range value is dynamically adjusted after one-dimensional filtering pre-processing. Compared with conventional tightly coupled positioning, the positioning accuracy of the method in this paper is improved by 46.15% in the field experimental positioning results.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s23135918