UWB-Inertial Fusion Location Algorithm Based on Kalman Filtering

摘要

With the development of industry and commerce, the demands for indoor positioning are increasing. Indoor positioning requires higher reliability, speed and accuracy of the positioning system. However, a single positioning system has its own advantages and disadvantages, which makes it difficult to meet the positioning requirements at the same time. Therefore, this paper proposes a fusion positioning technology that combines ultra-wideband UWB (Ultra-wide Bandwidth) positioning technology and inertial navigation technology using Kalman filter in the case of line of sight. Through the simulation experiment on matlab, by comparing fusion positioning technology with the single UWB positioning technology and the single inertial navigation technology, it is found that the fusion positioning technology improves the positioning accuracy, and meanwhile increases the stability of the system.