Rotary target positioning method combining IMU and single-group UWB

The invention discloses a rotary target positioning method combining an IMU and a single-group UWB, which adopts a structure of a rotary arm, enables a UWB base station to obtain coordinate information of a plurality of groups of UWB base stations in a rotary mode, and solves the problems that the existing multi-UWB base station positioning method and positioning environment are difficult to deploy and poor in applicability. The accumulated error of the three-axis gyroscope is reduced through a complementary filtering IMU angle estimation algorithm, and the defect that the dynamic performance of the three-axis magnetometer is poor is overcome; accurate target position information is obtained through the sliding window in combination with a nonlinear optimization algorithm, and the problem that traditional UWB positioning needs multiple UWB base stations and is not high in applicability is solved. 本发明公开了一种结合IMU与单组UWB的旋转式目标定位方法，采用旋转臂的结构，使一个UWB基站通过旋转的方式获得多组UWB基站的坐标信息，解决现有多UWB基站定位方法和定位环境部署困难、适用性差的问题；通过互补滤波的IMU角度估