Distributed mccKF based INS/UWB Integrated navigation for quadruped robot

In order to better realize the quadruped robots localization, this paper proposes a combined positioning algorithm based on distributed maximum correntropy Kalman filter(mccKF) and ultra-wideband (UWB) technology for inertial navigation system (INS). The aim is to improve the navigation and positioning accuracy of quadruped robot based on inertial sensors. In this algorithm, the distributed maximum correntropy Kalman filter is used to estimate the position error of INS and UWB. The system parameters are used as the state vector, and the data output of the local mccKF filter is input into the main filter for fusion, and the optimal estimate is given. The experimental results show that the proposed scheme effectively reduces the positioning error.