Indoor robot navigation by coupling IMU, UWB, and encode

Accurate position information of the robot is required in many applications. In this work, a novel INS/range-only based UWB/Encode integrated navigation model is proposed. In this model, the positions of range-only based UWB and INS are used for the position estimation of integrated model; the velocities of encode and INS are used for the velocity estimation of integrated model. Then, a filter with a 4-element vector is used to fuse the measurements of INS, UWB, and encode. Meanwhile, the position of RN is also able to be estimated by the range-only based UWB model. The simulation shows that the performance of the proposed model is better than the traditional model in position accuracy.