Abstract
Ultra-wideband (UWB) is a radio technology that is usually used for indoor localization. To complete the 3D localization task in a room, more than three UWB anchors should be installed without occlusion, then a UWB tag can be localized. An Inertial Measurement Unit (IMU) is usually fused to provide smoother results. However, the requirements for the installation of UWB anchors limit their application in a floor with multiple rooms and corridors. In this paper, we propose a localization method that needs fewer anchors in this environment. In addition to the range information from UWB anchors, non-holonomic constraints from the carrier and reference trajectory from the special environmental structure are added as observations of the error-state Extended Kalman Filter (EKF) system. The proposed method can complete the localization task in the corridor-like areas using a single UWB anchor, so fewer UWB anchors are needed in a floor with multiple rooms and corridors. The real-world experiment video is available at https://youtu.be/DT-02Id_94A.
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