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.