Research on Fusion and Location Method of Indoor Targeted Spraying Robots Based on UWB\IMU

For targeted spraying equipment in greenhouse environments, due to the poor positioning signal of global navigation satellite system (GNSS), automatic mobile operation cannot be realized. In this study, a method based on ultrawide band (UWB) and inertial measurement units is proposed. The integrated positioning method of inertial measurement unit (IMU) achieves positioning accuracy at the centimeter level in the visual range. The system adopts a loose coupling mode and extended Kalman filter according to the three-axis attitude angular velocity and acceleration information from the IMU, and the positioning coordinates from the UWB base station (EKF) correct the UWB error in real time and calculate the accurate position, speed and attitude information of the robot. The test results show that when the robot travels in a preset straight line at a speed of 1 m/s, the UWB/IMU fusion navigation positioning error is less than 2 cm, which significantly improves the navigation accuracy and provides a basis for the realization of automatic operation of the targeted spraying robot.