INS/UWB Cooperative Navigation Based on Distance and Angle in Underground Space

Urban underground space operations have become essential to many municipal projects in recent years. Aiming at the challenges of satellite navigation system (GNSS) denied environment, poor lighting conditions, and complex pipeline conditions in the underground environment, this paper proposes an INS / UWB navigation scheme based on cooperative angle and distance measured by UWB(Ultra Wide Band), to realize the robot's precise navigation and autonomous operation in the underground space. This scheme uses various sensors such as UWB and MEMS IMU(Miniature Inertial Measurement Unit) to achieve long-distance navigation with low error accumulation. The theoretical research and experimental results show that the technical scheme has the characteristics of low cost, low power consumption, and high precision and can provide location service in the underground environment.