Accurate Localization for Indoor and Outdoor Scenario by GPS and UWB Fusion

摘要

Robot positioning system is difficult to locate in large area and complex environment. In order to compensate for the impact of indoor and outdoor scene changes, an indoor and outdoor positioning system based on GPS / UWB is proposed, which can realize seamless positioning between buildings in mixed scenes. In view of this, this paper integrates UWB and GPS information into the Ceres nonlinear optimization framework. In the outdoor scene, GPS is used for positioning. In the indoor scene, UWB is used to improve the accuracy of indoor positioning. In the mixed scene, UWB and GPS are used to improve the positioning accuracy and realize indoor and outdoor seamless positioning.