Multi-Tag Fusion Localization Method Based on Geometric Constraints

In environments where Global Navigation Satellite System (GNSS) signals are unavailable, our proposed multi-tag fusion localization method offers a robust solution for the precise positioning of vehicles or robots. During our research, we observed variations in the positioning information estimated from tags located at different positions within the same frame. Our goal was to extract reliable positioning information from this noisy data. By constructing geometric constraints, our method introduces an outlier factor to quantify the differences between tags. After effectively eliminating outliers, we enhanced the Kalman filter framework to accommodate the fusion of data from two or more tags, with the outlier factor dynamically adjusting the observation noise during the fusion process. The experimental results demonstrate that, even under the influence of motion and obstacles, our method maintains position errors within a 3 cm range and orientation errors within 3°. This indicates that our method possesses high positioning accuracy and stability.