UWB and MEMS IMU Integrated Positioning Algorithm for a Work-Tool Tracking System

In this paper, we address a system that can accurately locate and monitor work tools in complex assembly process, such as automotive production. Our positioning monitoring is positioned by combined sensor of the UWB module MEMS IMU (inertial measuring unit) based on extended Kalman filter. The provides calibration information. proposed method incorporates to compensate for errors only occur through filter (EKT). This EKT improved error dynamic equation derived from sparse state-space matrix. Also, computes transmission time distance between tag anchor TWR (two-way range) system. mobile node, which attached moving tool, measures position tool transmits coordinate data anchor. Here, uses trilateration localization confidence compensation prevent obstacles changes indoor environment. Experimental results verified confirms whether specific used according prescribed regulations has more accuracy than conventional methods.