A Hybrid Indoor/Outdoor Positioning and Orientation Solution Based on INS, UWB and Dual-Antenna RTK-GNSS

Based on a micro-electromechanical system (MEMS) inertial measurement unit (IMU), ultra-wide band (UWB) and global navigation satellite system (GNSS), a hybrid indoor/outdoor positioning and orientation system is described in this paper. The dual-antenna real time kinematic (RTK) attitude measurement technique was employed to improve the precision of orientation. Considering the possibility that GNSS and UWB signals may be lost due to the influence of indoor/outdoor different complex environments, a federated Kalman filter was used. The experimental result shows that the hybrid system can obtain stable and reliable vehicle position and orientation information and can effectively resist the influence of unreliable GNSS and UWB signals caused by environmental changes.