An indoor location algorithm based on Kalman filter fusion of ultra-wide band and inertial measurement unit

Abstract

Indoor positioning technology has been widely used in today’s life, but due to the influence of multipath effect, the positioning signal is attenuated or even interrupted seriously, resulting in obvious reduction or even failure of positioning accuracy. Therefore, the emerging multi-sensor joint positioning has become the general trend of the development of positioning technology, in which Ultra-Wide Band (UWB) and Inertial Measurement Unit (IMU) have their own features in positioning and navigation. So this paper combines the advantages of UWB and IMU to achieve accurate positioning in complex environment. Firstly, the signal transmission law in complex environment is obtained by distinguishing Line of Sight (LOS) from NLOS (Non Line of Sight) environment. Secondly, the maximum likelihood estimation algorithm is used to eliminate the influence of NLOS on the transmitted signal, and then the extended Kalman filter information fusion strategy is used. The ranging information of UWB and the angle information of IMU are fused to realize the accurate positioning of UWB in complex environment. Finally, the experimental results show that the performance of the joint positioning proposed in this paper is obviously better than that of a single sensor compared with single UWB and single IMU positioning. It provides more solutions for accurate indoor positioning of multi-sensor fusion.