Intégration du Filtre de Kalman étendu avec le filtre à particules pour le positionnement IMU/UWB dans des milieux LOS et NLOS

Abstract

To achieve the goal of improving the trajectory estimation of moving objects or robots in complex indoor environments, a Kalman filter was successfully applied. The study showed that the Kalman filter, especially when applied to nonlinear systems, significantly increases the accuracy of path estimation in indoor environments. These results were obtained after careful analysis and practical simulation experiments. The memorandum represents an contribution to the field of communications and positioning technologies and paves the way for further developments in this vital sector.