{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T16:04:18Z","timestamp":1784390658503,"version":"3.55.0"},"reference-count":35,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2024,3,6]],"date-time":"2024-03-06T00:00:00Z","timestamp":1709683200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Key R&amp;D project of Hunan Province","award":["2023NK2010"],"award-info":[{"award-number":["2023NK2010"]}]},{"name":"Key R&amp;D project of Hunan Province","award":["2022YFD2002001"],"award-info":[{"award-number":["2022YFD2002001"]}]},{"name":"Key R&amp;D project of Hunan Province","award":["2022sfq20"],"award-info":[{"award-number":["2022sfq20"]}]},{"name":"National Key R&amp;D Plan","award":["2023NK2010"],"award-info":[{"award-number":["2023NK2010"]}]},{"name":"National Key R&amp;D Plan","award":["2022YFD2002001"],"award-info":[{"award-number":["2022YFD2002001"]}]},{"name":"National Key R&amp;D Plan","award":["2022sfq20"],"award-info":[{"award-number":["2022sfq20"]}]},{"name":"Chenzhou National Sustainable Development Agenda Innovation Demonstration Zone Construction Project","award":["2023NK2010"],"award-info":[{"award-number":["2023NK2010"]}]},{"name":"Chenzhou National Sustainable Development Agenda Innovation Demonstration Zone Construction Project","award":["2022YFD2002001"],"award-info":[{"award-number":["2022YFD2002001"]}]},{"name":"Chenzhou National Sustainable Development Agenda Innovation Demonstration Zone Construction Project","award":["2022sfq20"],"award-info":[{"award-number":["2022sfq20"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In the autonomous navigation of mobile robots, precise positioning is crucial. In forest environments with weak satellite signals or in sites disturbed by complex environments, satellite positioning accuracy has difficulty in meeting the requirements of autonomous navigation positioning accuracy for robots. This article proposes a vision SLAM\/UWB tightly coupled localization method and designs a UWB non-line-of-sight error identification method using the displacement increment of the visual odometer. It utilizes the displacement increment of visual output and UWB ranging information as measurement values and applies the extended Kalman filtering algorithm for data fusion. This study utilized the constructed experimental platform to collect images and ultra-wideband ranging data in outdoor environments and experimentally validated the combined positioning method. The experimental results show that the algorithm outperforms individual UWB or loosely coupled combination positioning methods in terms of positioning accuracy. It effectively eliminates non-line-of-sight errors in UWB, improving the accuracy and stability of the combined positioning system.<\/jats:p>","DOI":"10.3390\/s24051710","type":"journal-article","created":{"date-parts":[[2024,3,7]],"date-time":"2024-03-07T04:19:02Z","timestamp":1709785142000},"page":"1710","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Research on a Visual\/Ultra-Wideband Tightly Coupled Fusion Localization Algorithm"],"prefix":"10.3390","volume":"24","author":[{"given":"Pin","family":"Jiang","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chen","family":"Hu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tingting","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ke","family":"Lv","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tingfeng","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinxuan","family":"Jiang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenwu","family":"Hu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,6]]},"reference":[{"key":"ref_1","first-page":"250","article-title":"Convergence Time and Positioning Accuracy Comparison between BDS and GPS Precise Point Positioning","volume":"44","author":"Zhang","year":"2015","journal-title":"Acta Geod. 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