Abstract
The chapter studies the positioning techniques based on ultra wideband (UWB) and low cost inertial measurement unit (IMU) with a focus on the fundamental theories of integrated positioning based on UWB and IMU. Details are provided for multilateral positioning theory of UWB, UWB calibration method, IMU error analysis, inertial navigation algorithm, and Kalman filter (KF) theory. Particularly, to mitigate the influence of non-line-of-sight (NLOS) propagation on positioning accuracy, a NLOS mitigation method based on fuzzy theory is presented. Meanwhile, the detailed data fusion processes of loosely coupled and tightly coupled systems are introduced and performance evaluation is conducted using experimental data.
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