Research on Positioning System in Large Ship Cabins Based on Virtual Reality and UWB-IMU Fusion Algorithm

In the complex indoor environment of ships, personnel position is difficult to know in real time. In this paper, an indoor positioning management system in large ship based on virtual reality and ultra-wide-band(UWB)/Inertial Measurement Unit(IMU) fusion algorithm has been studied. Unity 3d is used to build a virtual reality platform which receive UWB and IMU data in real time. The coordinates of people in ship are calculated based on Kalman filtering algorithm. The virtual reality system is used to identify non-line of sight (NLOS) area and to reduce error caused by NLOS environment. Personnel position coordinates and the trajectory are displayed in the virtual platform. The experimental results show that the average positioning error of the fusion algorithm is 0. 08m, which is about 40% higher than the positioning accuracy of the single positioning method of UWB.