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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...

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Autores principales: Zou, Airu, Hu, Wenwu, Luo, Yahui, Jiang, Ping
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
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.
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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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