Constrained MEMS-Based INS/UWB Tightly Coupled System for Accurate UGVs Navigation

To enhance the navigation performance and robustness of system combining ultrawideband (UWB) inertial systems (INS) under complex indoor environments, an improved method—Allan variance (AV) to assist a modified adaptive extended Kalman Filter based on dynamic weight function (DWF-MAEFF)—is proposed. Firstly, AV is used INS error dynamics by modeling stochastic noise sensor; which can compensate for sensor caused during integrated navigation. Secondly, MAEKF developed designing adjust measurement reasonably dynamically, further improve AEKF algorithm. Field tests were conducted verify effectiveness proposed method. The result indicated that improvement up 60% over existing method EKF be obtained