Abstract
There are many obstacles in the UWB indoor positioning, such as installation location limitation of base stations, non-line-of-sight and so forward. In this paper, the high-precision indoor positioning model was discussed, and then the UWB indoor positioning method was given based on the heterogeneous data constraints, such as PDR, map and vision. Three indoor positioning models, the kinematic adaptive robust EKF UWB model based on the gain matrix, the UWB/PDR/Map coupled model, and the UWB/Vision fusion model were built and assessed, respectively. Afterward, the precision and the potential application scenarios of the three models were discussed via the practical tests. The test results showed that, with our method, the overall positioning accuracy reached around ¡À0.2 m under the conditions of the full or partial UWB signal coverage, available or interrupted line-of-sight, or undergoing other situational challenges such as the sparse texture and the continuous variation of the light strength.
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