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Indoor Positioning Method Based on UWB and Low-Cost MEMS IMU Fusion
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Zhiling ZHOU1, Dongliang GUAN1, *, Qinghua ZHANG2, Haiwen SUN1, Lei ZHOU1, Yimin XIA1
Journal of Geodesy and Geodynamics | 2025, 45(12) : 1240 - 1245, 1259
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Journal of Geodesy and Geodynamics | 2025, 45(12): 1240-1245, 1259
Indoor Positioning Method Based on UWB and Low-Cost MEMS IMU Fusion
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Zhiling ZHOU1, Dongliang GUAN1, *, Qinghua ZHANG2, Haiwen SUN1, Lei ZHOU1, Yimin XIA1
Affiliations
  • 1 School of Geomatics Science and Technology, Nanjing Tech University, 30 South-Puzhu Road, Nanjing 211816, China
  • 2 School of Geography, Nanjing Normal University, 1 Wenyuan Road, Nanjing 210023, China

    • ZHOU Zhiling, postgraduate, majors in indoor and outdoor fusion positioning, E-mail:

About Author:

ZHOU Zhiling, postgraduate, majors in indoor and outdoor fusion positioning, E-mail:

Published: 2025-12-15 doi: 10.14075/j.jgg.2025.02.047
Outline
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A combined positioning method that integrates ultra wide band (UWB) with low-cost micro-electro-mechanical systems (MEMS) inertial measurement unit (IMU) is proposed. Initially, UWB ranging data is optimized using ranging bias correction and Kalman filtering. Subsequently, the complementary strengths of multiple sensors are leveraged through a UWB/IMU fusion model. Experimental results demonstrate that the optimized UWB achieves an improvement in average positioning accuracy from 15.70 cm to 13.75 cm, with the RMSE decreasing from 22.45 cm to 19.70 cm. In non-line-of-sight (NLOS) scenarios, even when UWB signals experience abrupt changes or are lost, the fused system can still provide continuous and reliable positional information, with an average accuracy of 13.23 cm and an RMSE of 17.90 cm.

UWB  /  low-cost IMU  /  NLOS  /  integrated navigation  /  indoor positioning
周志凌, 管栋良, 张清华, 孙海文, 周磊, 夏逸旻. UWB与低成本MEMS IMU组合的室内定位方法研究. 大地测量与地球动力学, 2025 , 45 (12) : 1240 -1245, 1259 . DOI: 10.14075/j.jgg.2025.02.047
Zhiling ZHOU, Dongliang GUAN, Qinghua ZHANG, Haiwen SUN, Lei ZHOU, Yimin XIA. Indoor Positioning Method Based on UWB and Low-Cost MEMS IMU Fusion[J]. Journal of Geodesy and Geodynamics, 2025 , 45 (12) : 1240 -1245, 1259 . DOI: 10.14075/j.jgg.2025.02.047
Funding
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  • National Key Research and Development Program of China(2021FBY3901301)
  • Natural Science Foundation of Jiangsu Province(BK20220366)
  • Science and Technology Innovation Project of Jiangsu Provincial Department of Natural Resources(JSZRKJ202406)
Appendix
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Year 2025 volume 45 Issue 12
36
17
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Article Info
doi: 10.14075/j.jgg.2025.02.047
  • Receive Date：2025-02-23
  • Online Date：2026-10-29
  • Published：2025-12-15
Article Data
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History
  • Received：2025-02-23
Funding
National Key Research and Development Program of China(2021FBY3901301)
Natural Science Foundation of Jiangsu Province(BK20220366)
Science and Technology Innovation Project of Jiangsu Provincial Department of Natural Resources(JSZRKJ202406)
Affiliations
    1 School of Geomatics Science and Technology, Nanjing Tech University, 30 South-Puzhu Road, Nanjing 211816, China
    2 School of Geography, Nanjing Normal University, 1 Wenyuan Road, Nanjing 210023, China
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https://castjournals.cast.org.cn/joweb/ddcl/EN/10.14075/j.jgg.2025.02.047
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