Abstract: In recent years,with the progress and innovation of science and technology,the research of indoor positioning is developing toward the direction of complementary integration of multiple technologies,and the integration of navigation technology with indoor positioning has become a current research hotspot.Pedestrian dead reckoning (PDR) and ultra wide band (UWB) technologies have become mainstream research techniques for indoor positioning with their unique positioning advantages and accuracy among many other advantages.However,PDR is only suitable for high-precision indoor navigation needs in short time due to its cumulative error,while UWB may seriously distort the time information in complex environments,resulting in missing positioning information.Therefore,in this paper,the extended kalman filter (EKF) is used to improve the fusion of the two in order to take advantage of the advantages of each technique.The experimental results show that the maximum endpoint error of the positioning solution is 0.819 5 m,the minimum endpoint error is 0.144 3 m,the average endpoint error is 0.347 8 m,and the average position error is 0.475 0 m,which effectively improves the accuracy of indoor positioning.

Key words: EKF;PDR;UWB;multi-sensor combination