Research on High-Precision Positioning of Mobile Machinery and Personnel Based on UWB Fusion

Abstract

Accurate positioning of mobile machinery and personnel is essential for safe operation and intelligent management in industrial environments. However, complex indoor scenes with metallic obstacles, non-line-of-sight propagation, and multi-target interference make reliable localization difficult. To address these challenges, this paper proposes a fusion positioning system integrating Ultra-Wideband (UWB), Inertial Measurement Unit (IMU), and Bluetooth Low Energy (BLE) for dynamic tracking of Automated Guided Vehicles (AGVs) and operational personnel. The system includes distributed anchor deployment, multi-sensor time synchronization, coordinate calibration, Extended Kalman Filter (EKF) based state estimation, and adaptive suppression of non-line-of-sight errors. Experimental results show that the proposed fusion scheme significantly improves positioning accuracy and robustness compared with standalone UWB positioning, with the average error controlled within 15 cm in dynamic scenarios. The proposed method is of practical significance for industrial automation, collision warning, and trajectory supervision. It is also closely related to the conference technical fields of control systems and electrical engineering, particularly intelligent control, navigation and guidance, detection and automation, and measurement and signal processing.