A Robust Indoor Vehicle Localization Strategy Based on UWB and INS

High-precision indoor vehicle localization technology has recently been a research hotspot for indoor location services. This paper investigate the indoor combined positioning technology based on Ultra wide band (UWB) and inertial navigation system(INS), aiming to overcome the limitations of UWB in non-line of sight (NLOS) environment and cumulative errors of INS. For dealing with NLOS errors conveniently, we propose a two-layer NLOS error weakening method. Firstly, k-mediods clustering method is used to preprocess the obtained distance measurements, and some of the measurements containing NLOS errors are replaced with the measurements undisturbed by NLOS transmission. The processed result is processed again with gray Kalman filter, which reduces the process noise and NLOS error. A hybrid Gaussian fitting approach is suggested to determine the propagation conditions and simulate the likelihood of propagation through the residual after calculating the difference between the distance that was filtered and the distance that was measured. The two-sided correction technique changed the findings of the fitting method and the improved particle filtering method. The adaptive Kalman filter was then used to combine the INS and UWB location results to get the final location data. Simulation and experimental results show that the proposed algorithm owns higher localization accuracy and dependability.