Electronic Science and Technology ›› 2022, Vol. 35 ›› Issue (8): 41-46.doi: 10.16180/j.cnki.issn1007-7820.2022.08.007

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UWB/PDR Integrated Indoor Pedestrian Positioning

GUO Wei,ZHANG Xuanxiong   

  1. School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China
  • Received:2021-03-08 Online:2022-08-15 Published:2022-08-10
  • Supported by:
    National Natural Science Foundation of China(U1734211)


In view of the problems of the UWB positioning system's positioning accuracy decline and the accumulated error of the pedestrian trajectory estimation algorithm caused by the NLOS in the complex indoor scene, a UWB/PDR integrated indoor positioning algorithm is proposed in this study. The PDR algorithm is applied to estimate the step length and heading of pedestrian. Then, the UWB’s ranging information is used to calculate the absolute position. Finally, a Kalman Filter is used to fuse measurements from the UWB and PDR. Experimental results show that the proposed combined positioning system can effectively solve the problem of excessive errors caused by UWB NLOS effects, improve positioning accuracy and system robustness, and the overall positioning error is below 12 cm.

Key words: indoor positioning, UWB, NLOS, PDR, Kalman filter, gait detection, DS-TWR

CLC Number: 

  • TP393