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High-precision Positioning Algorithm Based on Improved Extended Kalman Filtering in Weak Signal Environments
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Jin REN, Peiyu ZHOU, Jingwen ZOU, Weiting ZHANG
Radio Communications Technology | 2025, 51(5) : 959 - 966
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Radio Communications Technology | 2025, 51(5): 959-966
• Special Topic: 6G and IoT Technologies •
High-precision Positioning Algorithm Based on Improved Extended Kalman Filtering in Weak Signal Environments
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Jin REN, Peiyu ZHOU, Jingwen ZOU, Weiting ZHANG
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  • College of Artificial Intelligence and Computer Science, North China University of Technology, Beijing 100144, China
Published: 2025-09-18 doi: 10.3969/j.issn.1003-3114.2025.05.009
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In contemporary society, Global Navigation Satellite System (GNSS) has become an essential tool for daily travel, significantly improving travel efficiency. However, in environments with weak signals, such as indoors or tunnels, GNSS systems often experience signal loss due to insufficient signal strength, leading to positioning failure and inability to provide accurate navigation services. To address this challenge, this paper proposes a high-precision positioning solution based on an improved Extended Kalman Filter (EKF). This solution integrates Ultra-Wideband (UWB) least squares method, KF, and EKF technologies, and introduces a Multi-Innovation EKF (MIEKF) algorithm. By utilizing multi-time observation data and a forgetting factor mechanism, the solution effectively reduces positioning errors and enhances positioning accuracy. Experimental results show that the root mean square error of this solution can be reduced to 0.179 m, verifying its high-precision positioning capability in weak signal environments and providing reliable technical support for precise navigation in complex scenarios.

fusion positioning  /  KF  /  EKF  /  MIEKF
Jin REN, Peiyu ZHOU, Jingwen ZOU, Weiting ZHANG. High-precision Positioning Algorithm Based on Improved Extended Kalman Filtering in Weak Signal Environments[J]. Radio Communications Technology, 2025 , 51 (5) : 959 -966 . DOI: 10.3969/j.issn.1003-3114.2025.05.009
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doi: 10.3969/j.issn.1003-3114.2025.05.009
  • Receive Date：2025-03-05
  • Online Date：2026-04-17
  • Published：2025-09-18
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  • Received：2025-03-05
Affiliations
    College of Artificial Intelligence and Computer Science, North China University of Technology, Beijing 100144, China
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