Sensors, Vol. 19, Pages 4044: UWB/Binocular VO Fusion Algorithm Based on Adaptive Kalman Filter

Sensors, Vol. 19, Pages 4044: UWB/Binocular VO Fusion Algorithm Based on Adaptive Kalman Filter
Sensors doi: 10.3390/s19184044
Authors:
Qingxi Zeng
Dehui Liu
Chade Lv

Among the existing wireless indoor positioning systems, UWB (ultra-wideband) is one of the most promising solutions. However, the single UWB positioning system is affected by factors such as non-line of sight and multipath, and the navigation accuracy will decrease. In order to make up for the shortcomings of a single UWB positioning system, this paper proposes a scheme based on binocular VO (visual odometer) and UWB sensor fusion. In this paper, the original distance measurement data of UWB and the position information of binocular VO are merged by adaptive Kalman filter, and the structural design of the fusion system and the realization of the fusion algorithm are elaborated. The experimental results show that compared with a single positioning system, the proposed data fusion method can significantly improve the positioning accuracy.

Source: Sensors - September 18, 2019 Category: Biotechnology Authors: Qingxi Zeng Dehui Liu Chade Lv Tags: Article Source Type: research