IMPLEMENTATION AND IMPROVEMENT OF INDOOR WEARABLE UWB/INS INTEGRATION POSITIONING METHOD
Keywords: UWB, INS, Kalman Filter, Positioning, DOP
Abstract. Aiming at the problem that the Ultra-Wide-Band (UWB) positioning accuracy is reduced in the Non-Line-of-Sight (NLOS) environment, a UWB positioning accuracy evaluation mechanism is introduced. This paper analyzes the geometric distribution of UWB equipment theoretically to evaluate the positioning accuracy of the UWB system. Furthermore, it optimizes the geometric distribution of UWB and optimizes the UWB positioning algorithm model to improve the positioning accuracy. A set of UWB positioning accuracy estimation process is proposed. Through theoretical analysis and simulation, a model of the influence of the geometric distribution of base stations on the UWB positioning precision is established. The obtained model provides a reference for setting and adjusting the measurement noise in the Kalman filter for UWB/Inertial Navigation System (INS) integration positioning, which improves the combined positioning accuracy.