A Low-Cost GNSS/UWB Integrated Positioning Method Based on Nonstationary Noise Suppression

To address the limitations of insufficient non-stationary noise suppression in low-cost positioning systems in dynamic environments, this paper proposes a robust positioning method based on the fusion of the Global Navigation Satellite System (GNSS) and Ultra-Wideband (UWB). First, a spatiotem-poral joint alignment framework is established by employing a sliding-window time synchronization strategy (SW-TSS) together with an improved Procrustes analysis, achieving sub-millisecond synchronization accuracy and a 47.78% improvement in spatial alignment accuracy. Second, a non-stationary noise suppression algorithm is developed, enhancing trajectory smoothness metrics by more than 80%, and effectively mitigating data jumping issues. Finally, an improved adaptive extended Kalman filter (IA-EKF) is designed, attaining a positioning accuracy of 2.84m in mixed line-of-sight (LOS)/non-line-of-sight (NLOS) scenarios. Experimental results demonstrate that the proposed method achieves strong robustness in regions where GNSS carrier-to-noise ratios as low as 10-20dBHz and under UWB/NLOS conditions.