A UWB/IMU Complementary Indoor Pedestrian Positioning Method Based on Pose Recognition

Indoor positioning is critical for the safe and efficient operation of substations. The complexity and the high requirements for positioning accuracy of the internal environment in the substation make the choice of indoor positioning technology a significant concern. Ultra-wideband (UWB) positioning is widely favored due to its high accuracy and strong resistance to interference, but it is susceptible to non-line-of-sight (NLOS) propagation of signals. In contrast, inertial positioning does not rely on external environmental factors and relies solely on acceleration and angular velocity data obtained by inertial sensors to calculate positioning results. However, due to sensor defects, inertial positioning can lead to error accumulation and an inability to maintain long-term positioning accuracy. To address these challenges, we propose a UWB/IMU complementary indoor pedestrian positioning method based on pose recognition. The main concept of this method is to use a combination of one primary and one secondary channel in parallel, with the advantages of each being complementary. The UWB positioning results are determined using the weighted least squares (WLS) algorithm, while the inertial positioning results are obtained using the pedestrian dead reckoning (PDR) algorithm. The combination of UWB and IMU positioning results through complementary methods leverages the strengths of both technologies to mitigate their individual weaknesses, resulting in a better positioning effect than a single positioning technology. The effectiveness of the proposed algorithm is verified through experimental results conducted in an actual scene.