Attention based LSTM framework for robust UWB and INS integration in NLOS environments

• Published in: Scientific reports Vol. 15; no. 1; pp. 21637 - 18
• Main Authors: Ren, Meilin, Wei, Junyu, Qin, Jiangyi, Guo, Xiaojun, Wang, Haowen, Li, Shiqi
• Format: Journal Article
• Language: English
• Published: London Nature Publishing Group UK 01.07.2025; Nature Portfolio
• Subjects: 639/166/984; 639/166/987; Attention mechanism; Humanities and Social Sciences; LSTM; multidisciplinary; NLOS; Pseudo-observation; Science; Science (multidisciplinary); UWB/INS integrated navigation system; UWB/INS integrated navigation system; Attention mechanism; LSTM; Pseudo-observation; NLOS
• DOI: 10.1038/s41598-025-05501-3
• ISSN: 2045-2322

This paper proposes a novel UWB/INS integration framework that utilizes attention-based Long Short-Term Memory (LSTM) neural networks to address challenges related to UWB signal degradation during non-line-of-sight (NLOS) propagation. The network is adopted to generate pseudo measurements to maintain Kalman filter measurement update during NLOS. LSTM networks are well-suited for modeling sequential data due to their ability to capture long-term dependencies, making them particularly effective in handling the temporal aspects of navigation data. By leveraging attention mechanisms, the proposed approach enhances temporal feature extraction and improves the accuracy of pseudo-UWB observations generation. Extensive experiments demonstrate that the attention-LSTM model significantly reduces positioning errors under both loosely and tightly coupled configurations in NLOS scenarios. This hybrid fusion of model-based and learning-based techniques ensures robust and precise UWB/INS localization.