Research on the seamless positioning method of an unmanned system based on UWB/IMU/GNSS fusion for indoor and outdoor

This paper studies the multi-sensor fusion positioning methods of Ultra-wideband (UWB), Global Navigation Satellite System (GNSS) and Inertial measurement unit (IMU), and constructs a seamless positioning system based on UWB/IMU/GNSS multi-sensor fusion. In this paper, the indoor location information provided by UWB is fused with IMU location data through extended Kalman filter, which solves the problems of signal loss, track interruption and jump in positioning information when unmanned systems enter indoor environment, and also improves the positioning accuracy of the overall system. In the experiment of the indoor and outdoor scenes of the unmanned vehicle system, the trajectory diagram of each sensor combination positioning mode is counted, and the error of positioning information is analyzed and studied. The results show that the overall positioning error of this method is small, it can provide stable and reliable whole-time positioning information, and achieve the high-precision seamless positioning required by unmanned systems.