Hybrid IMU/UWB Cooperative Localization Algorithm in Single-Anchor Networks

Aiming at the problem of positioning failure caused by the insufficient number of anchor nodes in wireless sensor network (WSN), this work introduces the Inertial Measurement Unit (IMU) into WSN and proposes a hybrid IMU/ultra-wideband (UWB) multisource fusion cooperative positioning algorithm for single-anchor networks. In this work, the UWB measurement information is used to construct the spatial relationship between neighbors, and the IMU measurement information is employed to obtain the position offset of the target in adjacent time. Benefiting from the IMU, multiple ranging information of the same target at adjacent times are combined in a time-space-changing manner. Then, the sum-product algorithm is proposed to derive the joint posterior distribution of nodes in sequential estimation. Furthermore, the target nodes position is estimated through peer-to-peer communication and measurement, and the cumulative error of IMU is corrected at the same time. Simulation results show that the proposed algorithm can solve the position problem in single-anchor networks.