A Belief Base Optimization Method with Multi Time Step for Anchor-free Cooperative Location

In this paper, a tightly-coupled fusion scheme based on Inertial Measurement Uint (IMU) and ranging is proposed, which can reduce positioning drift in anchor-free cooperative location. Specifically, the dead reckoning results of multiple times and errors in ranging are comprehensively considered. The error relationship among multiple times is constructed, and the most suitable initial state is obtained by minimizing the errors of multiple times. Experimental results show that the proposed method is better than Extended Kalman Filter (EKF) in trajectory drift suppression of multi-intelligent node cooperative location.