Application of variational Bayesian-based cubature information filter for UWB/INS tightly coupled positioning system

• DOI: 10.1088/1361-6501/adbb10
• Publication Date: 2025-02-27T22:50:30Z
• Authors: Sen Wang; Peipei Dai; Tianhe Xu; Wenfeng Nie; Yangzi Cong; Fan Gao; Jianping Xing

Abstract Accurate and reliable positioning is a crucial foundation for achieving sufficient autonomy intelligence in systems. The ultra-wideband (UWB) technology has significant potential applications the challenging complex field of indoor positioning, often integrated with inertial navigation system (INS) to enhance overall performance system. This paper proposes novel variational Bayesian-based cubature information filter that enhances accuracy tightly coupled UWB/INS approach aims provide continuous across various scenarios. proposed applies non-holonomic constraint elevation direction, thereby enhancing system’s performance. Real-world experimental results demonstrate delivers continuous, accurate, stable positioning. In UWB line-of-sight scenario, achieves root mean square errors 0.085 m, 0.091 0.125 m east, north, horizontal directions, respectively; corresponding non-line-of-sight scenario are 0.286 0.237 0.372 m. Furthermore, when scheme mitigating errors, demonstrates enhancement accuracy. conclusion, effectively validate effectiveness accurate environments, demonstrating its application scenarios.