Relative-Position Estimation Based on Loosely Coupled UWB–IMU Fusion for Wearable IoT Devices  

作　　者：A.S.M.Sharifuzzaman Sagar Taein Kim Soyoung Park Hee Seh Lee Hyung Seok Kim 

机构地区：[1]Sejong University,Seoul,05006,Korea [2]Samsung Advanced Institute of Technology,Suwon,16678,Korea

出　　处：《Computers, Materials & Continua》2023年第4期1941-1961,共21页计算机、材料和连续体（英文）

基　　金：supported by Samsung Advanced Institute of Technology and partly supported by the National Research Foundation of Korea (NRF)grant funded by the Korean government (MSIT) (2022R1F1A1063662).

摘　　要：Relative positioning is one of the important techniques in collaborativerobotics, autonomous vehicles, and virtual/augmented reality (VR/AR)applications. Recently, ultra-wideband (UWB) has been utilized to calculaterelative position as it does not require a line of sight compared to a camerato calculate the range between two objects with centimeter-level accuracy.However, the single UWB range measurement cannot provide the relativeposition and attitude of any device in three dimensions (3D) because oflacking bearing information. In this paper, we have proposed a UWB-IMUfusion-based relative position system to provide accurate relative positionand attitude between wearable Internet of Things (IoT) devices in 3D. Weintroduce a distributed Euler angle antenna orientationwhich can be equippedwith the mobile structure to enable relative positioning. Moving average andmin-max removing preprocessing filters are introduced to reduce the standarddeviation. The standard multilateration method is modified to calculate therelative position between mobile structures. We combine UWB and IMUmeasurements in a probabilistic framework that enables users to calculatethe relative position between two nodes with less error. We have carried outdifferent experiments to illustrate the advantages of fusing IMU and UWBranges for relative positioning systems. We have achieved a mean accuracy of0.31m for 3D relative positioning in indoor line of sight conditions.

关 键 词：Relative position UWB IMU TRILATERATION IOT bayesian filter 

分 类 号：TN92[电子电信—通信与信息系统]