An IMU-based uwb positioning abnormal value processing method, comprising the following steps: S1, obtaining IMU data of an unmanned aerial vehicle; S2, fusing an accelerometer and a gyroscope, and calculating a pose angle of the unmanned aerial vehicle; S3, calculating accelerations of X, Y and Z axes and displacements on the X, Y and Z axes within ∆t time according to the pose angle of the unmanned aerial vehicle obtained in step S2, and estimating a displacement value Q of the unmanned aerial vehicle; S4, carrying out anomaly detection on a uwb measurement value according to the displacement value Q obtained in step S3 and distance data of a uwb sensor, and if the uwb measurement value is abnormal, proceeding to step S5; and S5, performing data fusion on the abnormal uwb measurement value, and correcting the uwb measurement value. According to the method, the problems of inaccurate abnormal value determination, low abnormal value correction precision and the like in the existing original data preprocessing process are solved, and the measurement hardware data accuracy is improved. Moreover, there is no need to additionally provide additional hardware devices, the stability of measurement data of the uwb sensor in a complex environment is enhanced, effective and accurate measurement output data is provided for subsequent uwb positioning calculation, and the stability, rapidity and real-time performance of uwb positioning are improved.
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