计算技术与自动化2026，Vol.45Issue(1)：26-32,7.DOI:10.16339/j.cnki.jsjsyzdh.202601004
基于AKF的UWB与IMU融合定位示教/再现导航算法研究
Research on Teaching/Playback Navigation Algorithm for UWB and IMU Fusion Positioning Based on Adaptive Kalman Filter
摘要
Abstract
A teaching/playback navigation algorithm for the ultra wide band(UWB)and the inertial measurement unit(IMU)fusion positioning based on the adaptive Kalman filter(AKF)is proposed in this paper.Firstly,the automated guided vehicle(AGV)kinematics and the UWB measurement models are constructed.Then,a dual adaptive noise covariance adjustment strategy is designed:the measurement noise covariance R is dynamically optimized through the chi-square test of the innovation sequence,and the process noise covariance Qis adaptively adjusted according to the motion state sensed by the IMU and the UWB signal loss status.This addresses the limitation of fixed parameters in traditional Kalman filter.A soft-ware and hardware system is built based on the above filtering algorithm,and a teaching/playback navigation algorithm is designed.In the teaching phase,the AGV is manually controlled to acquire the teaching trajectory.In the playback phase,the segmented PI control is used to achieve accurate tracking of the teaching trajectory.Experiments show that the improved teaching/playback algorithm has excellent robustness and trajectory tracking accuracy.关键词
自适应卡尔曼滤波/UWB与IMU融合/示教/再现/AGV导航Key words
adaptive Kalman filter/UWB and IMU fusion/teaching/playback/AGV navigation分类
信息技术与安全科学引用本文复制引用
毕涛,刘笠,黄亚飞,张猛,刘帅..基于AKF的UWB与IMU融合定位示教/再现导航算法研究[J].计算技术与自动化,2026,45(1):26-32,7.基金项目
国网江苏省电力有限公司孵化项目(JF2025006) （JF2025006）
