物联网学报2026，Vol.10Issue(1)：69-80,12.DOI:10.11959/j.issn.2096-3750.2026.00558
基于UWB融合定位的室内自动泊车系统设计与国产化验证
Indoor autonomous parking via UWB fusion positioning:system design and domestic chip validation
摘要
Abstract
To address the problems of low positioning accuracy and difficult parking in indoor parking garages,an IoT-based autonomous parking system enabled by ultra-wideband(UWB)cooperative localization was developed.The system adopted a"infrastructure-vehicle"distributed architecture built on robot operating system 2(ROS2),supporting multi-vehicle management and global trajectory distribution.To improve UWB stability under non-line-of-sight(NLOS)and multipath conditions,a multi-stage fusion method was proposed,consisting of ranging preprocessing,spherical position-ing,and an improved adaptive extended Kalman filter(IAEKF).For planning and control,feasible trajectories were gener-ated by integrating an improved A* algorithm with smooth curve refinement,and a credibility-aware model predictive control(MPC)strategy was introduced to enhance tracking robustness under fluctuating localization quality.Experimen-tal results showed that the proposed system outperforms five localization methods in both positioning accuracy and con-trol robustness in complex environments.Moreover,with the proposed fusion algorithm applied to the domestic UWB chip MK8000,the overall performance approached that of systems based on the DW1000 chip,demonstrating the feasibil-ity of a low-cost and domestically deployable autonomous parking solution.关键词
UWB/自动泊车/室内定位/非视距/路径跟踪Key words
UWB/automatic parking/indoor localization/non-line-of-sight/trajectory tracking分类
信息技术与安全科学引用本文复制引用
吴琼,吴屹昂,秦东,樊平毅,宋书林,陈赟..基于UWB融合定位的室内自动泊车系统设计与国产化验证[J].物联网学报,2026,10(1):69-80,12.基金项目
江西省科技发展计划项目(No.20242BCC32016) （No.20242BCC32016）
国家自然科学基金资助项目(No.61701197) （No.61701197）
国家重点研发计划项目(No.2021YFA1000500(4)) （No.2021YFA1000500(4）
111计划(No.B23008) （No.B23008）
江苏省基础研究计划项目(No.BK20252084) （No.BK20252084）
智能网联汽车创新技术联合实验室开放项目 The Jiangxi Province Science and Technology Development Programme(No.20242BCC32016),The National Natural Science Foundation of China(No.61701197),The National Key Research&Development Program of China(No.2021YFA1000500(4)),The 111 Project(No.B23008),The Basic Research Program of Jiangsu(No.BK20252084),The Open Project of the Joint Laboratory for Intelligent Connected Vehicle Innovative Technologies （No.20242BCC32016）
