Adaptive UWB/IMU integrated localization method with motion constraints
To solve the problems that ultra-wideband(UWB)distance measurement in harsh indoor environments is susceptible to the non-line-of-sight(NLOS)propagation of signal and the instability of the UWB/inertial measurement unit(IMU)integrated localization system,the paper proposes an improved UWB/IMU integrated localization method based on fuzzy adaptive filter.By constructing motion constraints and using Kalman filter,the raw UWB distance measurements are processed in real time,which can effectively deal with the missing and abnormal UWB distance measurements and reduce NLOS errors.In the stage of data fusion,a data fusion strategy based on fuzzy adaptive filter is proposed,where the statistic is constructed from the predicted residual vector,and the adaptive factor is computed based on a fuzzy inference system.Finally,the high-precision adaptive UWB/IMU integrated localization is realized.The experimental results of dynamic localization in a typical indoor scenario show that the localization trajectory of this method is in good agreement with the real trajectory,and 90％of the radial position error is within 0.25 m,and its average value is only 0.128 m,which is better than the other three methods in terms of localization accuracy.
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