{"title":"A fusion positioning system with environmental-adaptive algorithm: IPSO-IAUKF fusion of UWB and IMU for NLOS noise mitigation","authors":"Yiyang Lyu , Mingsheng Wei , Shidang Li , Di Wang","doi":"10.1016/j.measen.2025.101864","DOIUrl":null,"url":null,"abstract":"<div><div>Accurate positioning in non-line-of-sight (NLOS) scenarios persists as a critical challenge for ultra-wideband (UWB) systems. This paper proposes a collaborative positioning framework that integrates an inertial measurement unit (IMU). An improved particle swarm optimization and adaptive unscented Kalman filter (IPSO-IAUKF) algorithm based on environmental assessment is also designed. The threefold contributions include: (1) A tightly coupled positioning system architecture is constructed by deeply integrating UWB ranging with IMU motion measurements; (2) An improved particle swarm optimization (IPSO) algorithm is proposed to optimize the initial coordinate estimation of UWB using a dynamic inertia weight strategy; (3) An adaptive Unscented Kalman Filter (UKF) framework is designed, incorporating an environmental state discrimination threshold and a real-time noise matrix update mechanism to dynamically optimize the covariance matrix, thereby enhancing positioning robustness in complex noise environments. Multi-scenario trajectory simulations and practical experiments are conducted based on the established positioning model. Numerical simulation results demonstrate that the proposed fusion framework achieves a 52.6 % improvement in positioning accuracy compared to standalone UWB solutions, with a 44.6 % enhancement in noise resistance under NLOS interference compared to traditional fusion algorithms. Further practical tests reveal that the IPSO-IAUKF algorithm achieves average positioning accuracy improvements of 52.1 %, 45.5 %, and 46.0 % in two typical noise environments compared to conventional UKF and algorithms 1 and 2 used in this paper, respectively, while the maximum positioning error decreases by 44.6 %, 23.9 %, and 29.7 %, respectively. These results verify the superiority of this method in complex scenarios.</div></div>","PeriodicalId":34311,"journal":{"name":"Measurement Sensors","volume":"38 ","pages":"Article 101864"},"PeriodicalIF":0.0000,"publicationDate":"2025-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Measurement Sensors","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2665917425000583","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 0
Abstract
Accurate positioning in non-line-of-sight (NLOS) scenarios persists as a critical challenge for ultra-wideband (UWB) systems. This paper proposes a collaborative positioning framework that integrates an inertial measurement unit (IMU). An improved particle swarm optimization and adaptive unscented Kalman filter (IPSO-IAUKF) algorithm based on environmental assessment is also designed. The threefold contributions include: (1) A tightly coupled positioning system architecture is constructed by deeply integrating UWB ranging with IMU motion measurements; (2) An improved particle swarm optimization (IPSO) algorithm is proposed to optimize the initial coordinate estimation of UWB using a dynamic inertia weight strategy; (3) An adaptive Unscented Kalman Filter (UKF) framework is designed, incorporating an environmental state discrimination threshold and a real-time noise matrix update mechanism to dynamically optimize the covariance matrix, thereby enhancing positioning robustness in complex noise environments. Multi-scenario trajectory simulations and practical experiments are conducted based on the established positioning model. Numerical simulation results demonstrate that the proposed fusion framework achieves a 52.6 % improvement in positioning accuracy compared to standalone UWB solutions, with a 44.6 % enhancement in noise resistance under NLOS interference compared to traditional fusion algorithms. Further practical tests reveal that the IPSO-IAUKF algorithm achieves average positioning accuracy improvements of 52.1 %, 45.5 %, and 46.0 % in two typical noise environments compared to conventional UKF and algorithms 1 and 2 used in this paper, respectively, while the maximum positioning error decreases by 44.6 %, 23.9 %, and 29.7 %, respectively. These results verify the superiority of this method in complex scenarios.