Research on UWB / IMU Combined Location Based on Unscented Kalman Filter Algorithm

姚露; 聂晓根; 黄汉阳; 赵毅

doi:10.13433/j.cnki.1003-8728.20230271

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Research on UWB / IMU Combined Location Based on Unscented Kalman Filter Algorithm

更新时间：2026-04-23

- Research on UWB / IMU Combined Location Based on Unscented Kalman Filter Algorithm
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 6, Pages: 1033-1040(2025)
- 作者机构：
  
  1. 福州大学先进制造学院,福建,泉州,362000
  2. 福州大学机械工程及自动化学院,福州,350108
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230271
  CLC：
- Published：2025
- 稿件说明：
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姚露, 聂晓根, 黄汉阳, et al. Research on UWB / IMU Combined Location Based on Unscented Kalman Filter Algorithm[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(6): 1033-1040.
DOI：

姚露, 聂晓根, 黄汉阳, et al. Research on UWB / IMU Combined Location Based on Unscented Kalman Filter Algorithm[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(6): 1033-1040. DOI： 10.13433/j.cnki.1003-8728.20230271.

摘要

为提高UWB 定位技术在复杂环境工作时的定位精度，提出基于无迹卡尔曼滤波（UKF）算法的UWB/IMU信息融合方法。分别利用UWB定位技术和IMU惯性测量技术解算出机器人的位置信息，采用UKF算法对位置信息数据进行融合，得到机器人的最终位置信息，分别应用MATLAB仿真软件和构建的实验平台进行仿真和试验。MATLAB仿真结果表明，UWB定位误差在 ± 1 m之间且波动较大，而UWB/IMU融合定位的误差在 ±0.25 m以内，基本稳定在 ±0.2 m；根据实验，在动态定位过程中，采用基于UKF算法的组合定位方法得到的数据误差稳定在4～8 cm之间，而仅采用UWB定位得到的数据误差波动较大，最大达到17 cm，表明采用组合定位的数据误差较小，可以达到厘米级精度，数据稳定。

Abstract

In order to improve the positioning accuracy of UWB positioning technology in complex environments

a UWB/IMU information fusion method based on unscented Kalman filter (UKF) algorithm is proposed. The UWB positioning technology and IMU inertial measurement technology are respectively used to calculate the position information of the robot. The UKF algorithm is used to fuse the position information data to obtain the final position information of the robot. Matlab simulation software and the constructed experimental platform are respectively used for simulation and test. Simulation results show that the positioning error of UWB is within ± 1 m and fluctuates greatly

while the positioning error of UWB/IMU fusion is within ± 0.25 m and basically stable within ± 0.2 m; According to the experiment

in the process of dynamic positioning

the data error obtained by the combined positioning method based on the UKF algorithm is stable between 4-8 cm

while the data error obtained by only using the UWB positioning fluctuates greatly

up to 17 cm

indicating that the data error obtained with the combined positioning is small

and can reach the centimeter level accuracy

and the data is stable.

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