Gauss-AUKF based UWB/IMU fusion localization approach

IF 4.4 3区计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS

Ad Hoc Networks Pub Date : 2025-04-13 DOI:10.1016/j.adhoc.2025.103855

Mingsheng Wei , Lide Liu , Shidang Li , Di Wang , Wenshuai Li

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引用次数: 0

Abstract

To address the challenge of accurate positioning for ultra-wideband (UWB) systems in complex environments, this paper proposes a multi-sensor fusion localization method based on Gaussian-Adaptive Unscented Kalman Filtering (Gauss-AUKF) for UWB/IMU integration. The method rejects extreme values by performing Gaussian filtering optimization processing on the UWB range information to suppress the range error. And the UWB ranging information is fused with the data acquired by the inertial measurement unit (IMU) using an adaptive Unscented Kalman filter.An adaptive factor is introduced in the fusion process to minimize systematic errors and filter divergence by updating the measure noise covariance matrix in a real-time manner. The proposed method is validated through numerical simulations and experimental tests on a mobile robot equipped with a UWB hardware platform. The performance is evaluated in line-of-sight (LOS) and non-line-of-sight (NLOS) UWB scenarios, and compared with the traditional Extended Kalman Filter (EKF) , the Unscented Kalman Filter (UKF). The results demonstrate that the proposed approach significantly enhances localization accuracy in both LOS and NLOS conditions. The algorithm proposed in this paper has good performance in all three different NLOS environments.

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基于Gauss-AUKF的UWB/IMU融合定位方法

为了解决复杂环境下超宽带（UWB）系统的精确定位问题，提出了一种基于高斯-自适应无气味卡尔曼滤波（gass - aukf）的超宽带/IMU集成多传感器融合定位方法。该方法通过对超宽带距离信息进行高斯滤波优化处理，抑制距离误差，抑制极值。利用自适应Unscented卡尔曼滤波将超宽带测距信息与惯性测量单元（IMU）采集的数据进行融合。在融合过程中引入自适应因子，通过实时更新测量噪声协方差矩阵来减小系统误差和滤波发散。通过数值仿真和实验测试，验证了该方法的有效性。在视距（LOS）和非视距（NLOS）超宽带场景下对其性能进行了评估，并与传统的扩展卡尔曼滤波器（EKF）、无气味卡尔曼滤波器（UKF）进行了比较。结果表明，该方法在近距离和非近距离条件下都能显著提高定位精度。本文提出的算法在三种不同的NLOS环境下都具有良好的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Ad Hoc Networks 工程技术-电信学

CiteScore

10.20

自引率

4.20%

发文量

131

审稿时长

4.8 months

期刊介绍： The Ad Hoc Networks is an international and archival journal providing a publication vehicle for complete coverage of all topics of interest to those involved in ad hoc and sensor networking areas. The Ad Hoc Networks considers original, high quality and unpublished contributions addressing all aspects of ad hoc and sensor networks. Specific areas of interest include, but are not limited to: Mobile and Wireless Ad Hoc Networks Sensor Networks Wireless Local and Personal Area Networks Home Networks Ad Hoc Networks of Autonomous Intelligent Systems Novel Architectures for Ad Hoc and Sensor Networks Self-organizing Network Architectures and Protocols Transport Layer Protocols Routing protocols (unicast, multicast, geocast, etc.) Media Access Control Techniques Error Control Schemes Power-Aware, Low-Power and Energy-Efficient Designs Synchronization and Scheduling Issues Mobility Management Mobility-Tolerant Communication Protocols Location Tracking and Location-based Services Resource and Information Management Security and Fault-Tolerance Issues Hardware and Software Platforms, Systems, and Testbeds Experimental and Prototype Results Quality-of-Service Issues Cross-Layer Interactions Scalability Issues Performance Analysis and Simulation of Protocols.