A Dynamic Weighting Fusion Positioning Method Based on Opportunity Correction for INS and UWB

In the indoor environments lacking satellite signals, the navigation and positioning of moving targets are difficult. The positioning error accumulates rapidly when inertial navigation system (INS) is independently positioned for a long time. An indoor positioning system based on the INS and ultra-wide band (UWB) is thus proposed in this paper to solve the problem. Firstly, the error model of INS/UWB integrated navigation system is established, including the error equations of INS and UWB. Then the weighted fusion strategy is proposed based on the errors models of the two subsystems. And the integrated navigation system is corrected in the stationary state. The testing results show that the proposed integrated navigation system is stable. Moreover, the new method guarantees high positioning accuracy which could measure within 20cm errors.