This is a very high-precision integrated navigation software using the Kalman filtering method based on IMU and UWB information with MATLAB. In this project, measurements of the inertial measurement unit (IMU) and Ultra-wideband (UWB) are simulated and used to calculate the positions of the robots moving along a given path. The angle and position errors of the robot are also calculated to show the performance.
To run this software, please run the IMUandUWB.m in MATLAB.
The results are given as follows.
Gongmin Yan, Precise Strapdown Inertial Navigation System (PSINS) Toolbox for Matlab, Northwestern Polytechnical University.