Ultra-wideband (UWB) is a carrier-less communication technology that transmits data using narrow pulses of non-sine waves on the nanosecond scale. The UWB positioning system uses the multi-lateral positioning algorithm to accurately locate the target, and the positioning accuracy is seriously affected by the non-line-of-sight (NLOS) error. The existing non-line-of-sight error compensation methods lack multidimensional consideration. To combine the advantages of various methods, a two-stage UWB-INS fusion localization algorithm is proposed. In the first stage, an NLOS signal filter is designed based on support vector machines (SVM). In the second stage, the results of UWB and Inertial Navigation System (INS) are fused based on Kalman filter algorithm. The two-stage fusion localization algorithm achieves a great improvement on positioning system, it can improve the localization accuracy by 79.8% in the NLOS environment and by 36% in the (line-of-sight) LOS environment.
UWB-INS Fusion Positioning Based on a Two-Stage Optimization Algorithm
2023-01-01
Tehnički vjesnik ; ISSN 1330-3651 (Print) ; ISSN 1848-6339 (Online) ; Volume 30 ; Issue 1
Article (Journal)
Electronic Resource
English
DDC: | 629 |
European Patent Office | 2023
|Positioning Information Fusion Methods
British Library Conference Proceedings | 2003
|Positioning information fusion methods
IEEE | 2003
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