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Affiliation of Author(s):自动化学院

Title of Paper:UWB/binocular VO fusion algorithm based on adaptive kalman filter

Journal:Sensors

Abstract: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. © 2019 by the authors. Licensee MDPI, Basel, Switzerland.

ISSN No.:1424-8220

Translation or Not:no

Date of Publication:2019-09-02

Co-author:Liu, Dehui,Lv, Chade

Correspondence Author:zeng qingxi