Integration of UWB and IMU for precise and continuous indoor positioning

摘要

The application of Ultra-Wide-Band (UWB) for indoor positioning is booming owing mainly to its much higher precision than other common sensors. However, its positioning precision, stability and particularly continuity are still largely restricted by non-line-of-sight (NLOS) errors caused by the complicated motion behavior and infrastructure in indoor environments. In this paper, we study the integration of low-cost inertial measurement unit (IMU) with UWB in order to provide reliable and continuous positioning solutions especially in the situation of NLOS and insufficient or unavailable UWB signals. The algorithms of integrated IMU and UWB positioning are investigated and the relevant demo platform is developed. The kinematic experiment is carried out. The results reveal that compared to UWB-only positioning, incorporating IMU with UWB can significantly improve the positioning continuity as well as the positioning accuracy to a certain extent.