Indoor autonomous parking via UWB fusion positioning: system design and domestic chip validation

Wu Qiong; Wu Yiang; Qin Dong; Fan Pingyi; Song Shulin; Chen Yun

doi:10.11959/j.issn.2096-3750.2026.00558

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Indoor autonomous parking via UWB fusion positioning: system design and domestic chip validation

Smart Transportation and Intelligent Connectivity | 更新时间：2026-04-16

- Indoor autonomous parking via UWB fusion positioning: system design and domestic chip validation
- Chinese Journal on Internet of Things Vol. 10, Issue 1, Pages: 69-80(2026)
- 作者机构：
  
  1.先进信号处理与智能通信江西省重点实验室（南昌大学），江西南昌 330031
  2.江南大学自动化与智能科学学院（物联网学院），江苏无锡 214122
  3.清华大学北京信息科学与技术国家研究中心，北京 100084
  4.珠海复旦创新研究院，广东珠海 519031
- 作者简介：
- 基金信息：
  
  The Jiangxi Province Science and Technology Development Programme(20242BCC32016);The National Natural Science Foundation of China(61701197);The National Key Research & Development Program of China (No. 2021YFA1000500(4)), The 111 Project(2021YFA1000500（4）┣B23008);The Basic Research Program of Jiangsu(BK20252084);The Open Project of the Joint Laboratory for Intelligent Connected Vehicle Innovative Technologies
- DOI：10.11959/j.issn.2096-3750.2026.00558
  CLC： TP391.41
- Received：05 December 2025，
  
  Revised：2026-02-15，
  
  Accepted：22 February 2026，
  
  Published：30 March 2026
- 稿件说明：
移动端阅览
吴琼,吴屹昂,秦东等.基于UWB融合定位的室内自动泊车系统设计与国产化验证[J].物联网学报,2026,10(01):69-80.

Wu Qiong,Wu Yiang,Qin Dong,et al.Indoor autonomous parking via UWB fusion positioning: system design and domestic chip validation[J].Chinese Journal on Internet of Things,2026,10(01):69-80.
吴琼,吴屹昂,秦东等.基于UWB融合定位的室内自动泊车系统设计与国产化验证[J].物联网学报,2026,10(01):69-80. DOI： 10.11959/j.issn.2096-3750.2026.00558.

Wu Qiong,Wu Yiang,Qin Dong,et al.Indoor autonomous parking via UWB fusion positioning: system design and domestic chip validation[J].Chinese Journal on Internet of Things,2026,10(01):69-80. DOI： 10.11959/j.issn.2096-3750.2026.00558.

摘要

针对室内停车场定位精度低及停车难问题，设计了一套基于超宽带（UWB

ultra-wideband）协同定位的物联网自动泊车系统。该系统采用基于机器人操作系统2（ROS2

robot operating system 2）的“场端-车端”分布式架构，实现多车管理与路径下发。为提高UWB在非视距（NLOS

non-line-of-sight）与多径条件下的稳定性，提出由测距预处理、球面定位及改进自适应扩展卡尔曼滤波（IAEKF

improved adaptive extended Kalman filter）构成的融合方法。在规划与控制方面，结合改进A*与平滑曲线生成可行轨迹，并引入基于定位可信度的自适应模型预测控制（MPC

model predictive control），增强定位波动下的跟踪稳定性。实验结果表明，在复杂环境中，与其他5种定位方法相比，所提系统具有较高的定位精度与控制鲁棒性。此外，在国产UWB芯片MK8000硬件支持下，利用本文提出的融合算法，其系统性能接近基于DW1000的硬件支撑系统，验证了低成本自动泊车方案的可行性。

Abstract

To address the problems of low positioning accuracy and difficult parking in indoor parking garages

an IoT-based autonomous parking system enabled by ultra-wideband (UWB) cooperative localization was developed. The system adopted a "infrastructure-vehicle" distributed architecture built on robot operating system 2 (ROS2)

supporting multi-vehicle management and global trajectory distribution. To improve UWB stability under non-line-of-sight (NLOS) and multipath conditions

a multi-stage fusion method was proposed

consisting of ranging preprocessing

spherical positioning

and an improved adaptive extended Kalman filter (IAEKF). For planning and control

feasible trajectories were generated by integrating an improved A* algorithm with smooth curve refinement

and a credibility-aware model predictive control (MPC) strategy was introduced to enhance tracking robustness under fluctuating localization quality. Experimental results showed that the proposed system outperforms five localization methods in both positioning accuracy and control robustness in complex environments. Moreover

with the proposed fusion algorithm applied to the domestic UWB chip MK8000

the overall performance approached that of systems based on the DW1000 chip

demonstrating the feasibility of a low-cost and domestically deployable autonomous parking solution.

关键词

Keywords

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