Mobile Robot Integrated Navigation Algorithm Based on Template Matching VO/IMU/UWB

Abstract

As the most promising indoor positioning technology, UWB has been widely used in the field of robot positioning. However, in a complex indoor environment, UWB faces problems such as non-line-of-sight, multipath, signal attenuation and scattering. Aiming at the shortcomings of single UWB positioning, this paper proposes a mobile robot integrated navigation algorithm based on template matching VO/IMU/UWB. First, a template matching VO based on IMU assistance is designed, and then the position information calculated by the VO and the UWB position information are calculated. The difference is used as the input of the Kalman filter for filtering estimation. Finally, the estimated The position error corrects the VO position information to obtain the final positioning result of the combined system. Experiments show that the proposed integrated navigation method can significantly improve the positioning accuracy of UWB.