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However, Global Navigation Satellite Systems (GNSSs), such as GPS, may not provide stable signals in dense forests. Therefore, integrating multiple sensors like GPS and Inertial Measurement Units (IMUs) becomes essential to enhance the availability and accuracy of positioning systems. To accurately estimate rescuers\u2019 positions, this paper employs the Adaptive Unscented Kalman Filter (AUKF) algorithm with measurement noise variance matrix adaptation, integrating IMU and GPS data alongside barometric altitude measurements for precise three-dimensional positioning in complex environments. The AUKF enhances estimation robustness through the adaptive adjustment of the measurement noise variance matrix, particularly excelling when GPS signals are interrupted. This study conducted tests on two-dimensional and three-dimensional road scenarios in forest environments, confirming that the AUKF-algorithm-based integrated navigation system outperforms the traditional Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and Adaptive Extended Kalman Filter (AEKF) in emergency rescue applications. The tests further evaluated the system\u2019s navigation performance on rugged roads and during GPS signal interruptions. The results demonstrate that the system achieves higher positioning accuracy on rugged forest roads, notably reducing errors by 18.32% in the north direction, 8.51% in the up direction, and 3.85% in the east direction compared to the EKF. Furthermore, the system exhibits good adaptability during GPS signal interruptions, ensuring continuous and accurate personnel positioning during rescue operations.<\/jats:p>","DOI":"10.3390\/s24185873","type":"journal-article","created":{"date-parts":[[2024,9,10]],"date-time":"2024-09-10T09:10:57Z","timestamp":1725959457000},"page":"5873","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Application of IMU\/GPS Integrated Navigation System Based on Adaptive Unscented Kalman Filter Algorithm in 3D Positioning of Forest Rescue Personnel"],"prefix":"10.3390","volume":"24","author":[{"given":"Shengli","family":"Pang","sequence":"first","affiliation":[{"name":"College of Communication and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-7190-0718","authenticated-orcid":false,"given":"Bohan","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Communication and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}]},{"given":"Jintian","family":"Lu","sequence":"additional","affiliation":[{"name":"College of Communication and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1494-8922","authenticated-orcid":false,"given":"Ruoyu","family":"Pan","sequence":"additional","affiliation":[{"name":"College of Communication and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}]},{"given":"Honggang","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Communication and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}]},{"given":"Zhe","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Communication and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}]},{"given":"Shiji","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Communication and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"939","DOI":"10.4218\/etrij.2022-0234","article-title":"Accurate Long-Term Evolution\/Wi-Fi Hybrid Positioning Technology for Emergency Rescue","volume":"45","author":"Ji","year":"2023","journal-title":"ETRI J."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2836","DOI":"10.1109\/COMST.2017.2703620","article-title":"Localization and positioning systems for emergency responders: A survey","volume":"19","author":"Ferreira","year":"2017","journal-title":"IEEE Commun. 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