UWB Positioning Technology in Advancing Robotic Fish Navigation

This study integrates ultra-wideband (UWB) positioning technology with bionic robotic fish to enhance its navigation. First, we address the multi-path interference of UWB and robot oscillation interference using statistical methods and sliding window technology for outlier elimination, coupled with a low-pass FIR filter to mitigate high-frequency noise. Second, a trajectory tracking strategy, fusing UWB positioning and inertial measurement unit (IMU) pose signals, employs PID control for trajectory tracking. Kinematic modeling-based simulations substantiate this strategy. Critically, experiments not only validate the tracking effectiveness but also compare how signal processing elevates control stability, highlighting the potential of UWB technology in robotic fish navigation.