An Indoor Positioning Method Based on UWB Fusion IMU
By employing an indoor positioning method that integrates UWB and IMU, utilizing IMU attitude calculation, UWB iterative weighted least squares algorithm, and ultrasonic altimeter measurement, combined with an unscented Kalman fusion algorithm, the cumulative error and insufficient accuracy of IMU and UWB single positioning technologies in indoor environments are resolved, achieving high-precision indoor positioning.
CN116380052BActive Publication Date: 2025-10-31CHONGQING UNIV OF POSTS & TELECOMM +1
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Patent Information
- Application Number
- CN202211595905.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-12-13
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2042-12-13
AI Technical Summary
Technical Problem
Existing IMU and UWB single positioning technologies suffer from cumulative errors and insufficient positioning accuracy in indoor environments, making it difficult to meet high-precision requirements, especially in complex environments.
Method used
An indoor positioning method using UWB fusion IMU is adopted, which improves positioning accuracy by combining IMU attitude calculation, UWB iterative weighted least squares algorithm and ultrasonic altimetry with unscented Kalman fusion algorithm.
Benefits of technology
By reducing the cumulative error of the IMU and enhancing the anti-interference capability of UWB, the accuracy and reliability of indoor positioning are improved.
✦ Generated by Eureka AI based on patent content.
Abstract
This invention belongs to the field of indoor positioning technology, specifically relating to an indoor positioning method based on UWB fusion with IMU. The method includes: calculating attitude based on an IMU positioning model to obtain position information; obtaining the optimal horizontal position using an iterative weighted least squares algorithm based on the UWB model; obtaining a height array in three-dimensional spatial coordinates through trigonometric operations, removing the maximum and minimum values from the height array, and averaging the remaining data to obtain stable height coordinate data; acquiring the optimal height data via ultrasound; combining the optimal horizontal position and the height data to obtain position information; and obtaining accurate position information by performing a tight-combined unscented Kalman fusion of the IMU position information and the IMU position information. This invention uses UWB to reduce the problem of IMU integral errors increasing over time and also adds ultrasound to increase the anti-interference capability of UWB, thereby improving positioning accuracy and obtaining a more precise positioning location.
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