A Coupled Positioning Method Based on UWB Quadrilateration and Map Matching in Unstructured Environments

This paper proposes a coupled positioning method integrating Ultra-wide band (UWB) quadrilateration and map matching to achieve high-precision localization in unstructured environments, leveraging the high sampling rate of UWB and the high accuracy of map matching. First, building upon trilateration by incorporating a fourth redundant base station, a quadrilateration ranging mean algorithm is employed to achieve primary localization of the target object. Subsequently, utilizing these coordinates as spatial constraints to delineate a localized search area, secondary positioning coordinates are obtained through map-matching localization. Finally, high-precision secondary coordinates serve as absolute references to calibrate UWB ranging errors, enhancing localization accuracy and establishing a closed-loop coupling positioning mechanism. Comparative experimental analyses demonstrate a mean positioning error of 7.9 cm, meeting the 10 cm accuracy requirement for L4/L5 autonomous driving in unstructured environments, thereby providing a robust reference framework for autonomous navigation and operational tasks.