Multi-System Fusion Positioning Method Based on Factor Graph

Abstract

Ultra-wideband (UWB) positioning system offers high-precision location capabilities. However, it introduces positive biases in complex environments. Pedestrian Dead Reckoning (PDR) algorithm based on Inertial Measurement Unit (IMU) can maintain robust tracking even in cases of abrupt changes in pedestrian trajectories but suffers from cumulative errors. Therefore, in this study, the strengths of both systems are combined. Hence, a factor graph model is established to enhance the multi-system fusion localization method based on factor graphs. Experimental verification in both straight-line trajectories and scenarios involving state mutations demonstrates an integrated average positioning accuracy within 0.1m. When compared to traditional system fusion localization methods, the accuracy is enhanced by more than 50%.