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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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10346922/ https://www.ncbi.nlm.nih.gov/pubmed/37447768 http://dx.doi.org/10.3390/s23135918 |
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author | Zou, Airu Hu, Wenwu Luo, Yahui Jiang, Ping |
author_facet | Zou, Airu Hu, Wenwu Luo, Yahui Jiang, Ping |
author_sort | Zou, Airu |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-10346922 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-103469222023-07-15 An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study Zou, Airu Hu, Wenwu Luo, Yahui Jiang, Ping Sensors (Basel) Article 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. MDPI 2023-06-26 /pmc/articles/PMC10346922/ /pubmed/37447768 http://dx.doi.org/10.3390/s23135918 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zou, Airu Hu, Wenwu Luo, Yahui Jiang, Ping An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study |
title | An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study |
title_full | An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study |
title_fullStr | An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study |
title_full_unstemmed | An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study |
title_short | An Improved UWB/IMU Tightly Coupled Positioning Algorithm Study |
title_sort | improved uwb/imu tightly coupled positioning algorithm study |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10346922/ https://www.ncbi.nlm.nih.gov/pubmed/37447768 http://dx.doi.org/10.3390/s23135918 |
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