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

Table 1

RMS position, velocity, and attitude of different data processing methods.

Positioning methods	Position (m)			Velocity (m/s)			Attitude (deg)
	North	East	Down	North	East	Down	Roll	Pitch	Yaw
INS/NHC	382.93	126.24	1.31	2.137	0.706	0.012	0.018	0.052	2.829
INS/NHC/RTS	43.186	4.369	0.698	0.115	0.049	0.006	0.014	0.012	2.465
UWB	0.076	0.070	0.526	0.381	0.458	0.263	—	—	—
UWB/INS/RTS	0.049	0.050	0.140	0.004	0.004	0.002	0.004	0.003	0.313
UWB/INS/NHC/RTS	0.046	0.049	0.093	0.004	0.004	0.002	0.003	0.003	0.152