Evaluation on Nonholonomic Constraints and Rauch–Tung–Striebel Filter-Enhanced UWB/INS Integration

<div>Positioning errors calculated by INS, INS/NHC integration, INS/NHC/RTS integration, UWB, INS/UWB/RTS integration, and UWB/INS/NHC/RTS integration models, respectively.</div>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Evaluation on Nonholonomic Constraints and Rauch–Tung–Striebel Filter-Enhanced UWB/INS Integration 