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所属单位：自动化学院

发表刊物：Sensors

摘要：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号：1424-8220

是否译文：否

发表时间：2019-09-02

合写作者：Liu, Dehui,Lv, Chade

通讯作者：曾庆喜