A Sensor Fusion Strategy for Indoor Target Three-dimensional Localization based on Ultra-Wideband and Barometric Altimeter Measurements

Obtaining relative spatial localization information of target objects is crucial in scenarios such as robotics operations and augmented reality. In this paper, a strategy based on data fusion of ultra-wideband (UWB) sensors and barometric pressure (BMP) sensors are proposed to identify the three-dimensional (3D) localization information of indoor targets. The height estimation of the target is calculated from the difference in barometric pressure measured by two high-precision BMP sensors. The measured height values with the distance values measured by the UWB sensors are used to target localization based on a geometric model. Finally, the localization is dynamically optimized by triangle center-of-mass method and Kalman filtering. Based on the designed indoor 3D localization system, the target node's location measurement information in the stationary state, and the trajectory information obtained from localization in the motion state are obtained and compared with the actual location. The experimental results show that the sensor fusion system can achieve real-time localization and trajectory recording, which is convenient for scenarios such as robot operation.