A UWB/IMU Two-Node Position Estimation Method Without Anchor Node

The positioning results by pure inertial navigation is divergent without the GNSS data. The Ultra Wide Band (UWB) device can provide distance information to modify the positioning errors caused by the Inertial Measurement Unit (IMU) and bring new constraint. This paper propose a position estimator method which can make the trajectory of pure inertial navigation become convergent, and the method is proved to be effective by groups of simulation experiments. The cross and non-cross position estimator scheme is also adopted, which make the method adaptable when the relationship of size between transmitting time and the distance estimation period changes. According to the simulation experiment results, the non-cross position estimator scheme can make the position results more stable, while the cross position estimator scheme can make the trajectory smoother.