UWB/INS-based robust anchor-free relative positioning scheme for UGVs

With the development of new distributed cluster applications such as distributed radar and UGV cooperation, the concept of relative positioning springs up-different from the classic positioning application, relative positioning focuses on the real-time determination of relative position relationships in multi-node networks without pre-deployment anchor, prior map and GNSS. Under such application conditions, relative localization also requires high real-time performance, and high accuracy in short baseline scenes, and can solve the positioning failure caused by occlusion and other factors. A high-precision relative positioning scheme based on UWB-INS fusion is proposed in this paper: a robust relative positioning algorithm based on iterative extended Kalman filter is optimized by modeling the system error state, and the adaptive residual elimination algorithm is introduced to ensure the robustness of positioning service. A series of experiments show that the scheme proposed in this paper can provide centimeter-level real-time positioning service for multi-node dynamic networks without anchors and maps, and is expected to become a potential effective relative positioning technology scheme.