Research on UWB/IMU Combined Positioning of Unmanned Vehicle Based on NLOS Error Correction
ZHANG Ge
Abstract：The emerging Internet of Things(IoT)applications,such as smart manufacturing and smart agriculture devices,are driving the urgent demand for low-cost,high-precision indoor positioning and navigation solutions.Aiming at the problem of low positioning accuracy of UWB signals due to non-line-of-sight(NLOS)errors in complex indoor environments,a novel ul-tra-wideband(UWB)and inertial measurement unit(IMU)fusion positioning method based on extended Kalman filter is proposed.By constructing the system measurement equation based on the differential distance measurements between UWB and IMU,incorpo-rating novel state vectors and covariance matrices,this algorithm corrects the non-line-of-sight(NLOS)errors in UWB positioning during fusion with IMU.Additionally,it constrains and updates the position,velocity,and attitude of IMU using UWB data,exploit-ing the complementary characteristics of IMU and UWB to achieve high-precision indoor localization.Experimental results demon-strate that this approach achieves centimeter-level accuracy in indoor environments,meeting the precision requirements for indoor localization of unmanned vehicles,and exhibiting advantages in addressing signal loss and suppressing path deviations.
Keywords：UWBIMUNLOS errorfusion localizationunmanned vehicle
Publication Date：2024-12-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 55-60 )