An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering

摘要

In this article, a multisensor joint localization system is proposed based on modified cubature Kalman filtering, which aims to improve the accuracy of state estimation under a moderate computational burden in the presence of high process noise. Specifically, first, the covariance of process noise is matched based on adaptive filtering. The inertial measurement unit (IMU), odometer (ODM), and ultra-wideband (UWB) information acquired by the associated sensors is then employed to augment the system state and are fused to lower the influence of process noise. In the presented localization setting, all sensors (IMU/ODM/UWB) are set to work in parallel under the federated Kalman filter (FKF) framework, which can correct the cumulative error of the internal sensor and and can improve the computational efficiency. Two sets of numerical simulations were performed to show that the proposed method can obtain accurate state estimation with a slightly increased computational burden.