A New Positioning System Based on UWB and INS Fusion Information

Abstract

Accurate location information has received considerable attention, especially in unmanned aerial vehicle (UAV) area. However, the traditional positioning system using Global Positioning System (GPS) and Inertial Navigation System(INS) fusion information remains unstable. This paper introduces a new positioning system based on the ultra wideband (UWB) technology, which can achieve a ranging accuracy of centimeter level. We use a classical filter algorithm based on the Kalman filter, which fusing the information provided by UWB and INS to obtain an accurate location information. Simulation results show that the proposed algorithm outperforms the fusion of GPS and INS. UAV experiment results show that this algorithm can provide an accurate and stable location information.