Continuous Anchor-Confidence-Weighted UWB/IMU Localization for Unmanned Ground Vehicles in Structured Indoor Environments
TL;DR
Results indicate that the method proposed in this study improves localization accuracy, robustness, and temporal continuity under position-dependent anchor visibility and mixed LOS/NLOS conditions.
Abstract
Highlights What are the main findings? UWB/IMU localization in structured indoor environments is limited by position-dependent anchor visibility and mixed LOS/NLOS ranging. A virtual-iteration-derived soft continuous confidence encoding and weighting method is developed for WLS and AKF localization. What are the implications of the main findings? Soft WLS reduces the calibration-point RMSE from 0.490 m to 0.343 m relative to Hard WLS. Soft-weighted AKF lowers the mean weighted range-consistency residual by 42.4% relative to Hard-weighted EKF. Abstract In Global Navigation Satellite System (GNSS)-denied indoor environments, ultra-wideband (UWB) localization of unmanned ground vehicles (UGVs) is challenged by position-dependent anchor visibility and mixed line-of-sight (LOS)/non-line-of-sight (NLOS) ranging. This study proposes a soft continuous confidence weighting method within an adaptive Kalman filter (AKF)-based UWB/inertial measurement unit (IMU) localization framework. The vehicle model uses motor pulse increments and IMU yaw-rate measurements as inputs and outputs vehicle position and heading estimates. Virtual forward–backward iteration converts inconsistencies between the current UWB ranges and tag–anchor geometry into terminal virtual-anchor displacements. A half-Gaussian function then maps each displacement to a continuous confidence coefficient. The resulting coefficients are incorporated into weighted least-squares (WLS) and AKF localization, while the UWB measurement-noise covariance is adaptively updated using the range innovations. The proposed method was evaluated through static calibration and dynamic localization experiments. These experiments compared soft and hard weighting schemes and assessed the contribution of AKF fusion. These results indicate that the method proposed in this study improves localization accuracy, robustness, and temporal continuity under position-dependent anchor visibility and mixed LOS/NLOS conditions.