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INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method

A mobile robot and wireless positioning technology, applied in positioning, radio wave measurement systems, instruments, etc., can solve the problem of decreased navigation accuracy and achieve the effect of suppressing disturbances

Active Publication Date: 2013-06-12
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

[0004] Micro inertial navigation system (MEMS inertial navigation system, MINS) has the advantages of full autonomy, comprehensive motion information, short time, and high precision. Although it can realize autonomous navigation, the error accumulates with time, and the navigation accuracy will be reduced under long-term operating conditions. severe decline

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  • INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method
  • INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method
  • INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method

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Embodiment Construction

[0023] The invention will be described in further detail below in conjunction with the accompanying drawings.

[0024] Such as figure 1 As shown, a system for INS-assisted indoor mobile robot wireless positioning method includes a reference (RN) node part, an unknown (BN) node part, and a PC part. The reference node part consists of a reference node wireless network receiving module, an ultrasonic ranging module and a time synchronization module (four ultrasonic ranging modules share a set of wireless network receiving modules); the unknown node part consists of an unknown node wireless network receiving module, an INS navigation module and speedometer; the PC part is composed of a desktop computer and a wireless network receiving module.

[0025] Such as figure 2 As shown, the extended Kalman filter is used for data fusion in the INS-assisted wireless localization method for indoor mobile robots. The system equation of the extended Kalman filter takes the position and vel...

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Abstract

The invention discloses an INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method, belonging to the technical field of wireless positioning of a robot. The positioning method comprises a training stage and a pre-estimating stage. The training stage comprises the following steps of: integrating an INS and a WSN (web shell navigator) in a local relative coordinate system; and carrying out data fusion on obtained synchronized navigation data by expanding a Kalman filtering wave to obtain continuous and stable navigation information. The pre-estimating stage comprises the following steps of: inputting the position and speed information measured by the INS into the training stage, and carrying out error compensation by a neural-network-trained INS error model to obtain optimal navigation information. According to the method provided by the invention, the INS positioning precision can be improved, and the positioning range of the indoor robot can be expanded on the basis that the WSN network scale is reduced.

Description

technical field [0001] The invention relates to an INS-assisted wireless positioning method for an indoor mobile robot, belonging to the technical field of wireless positioning of robots. Background technique [0002] In recent years, with the rapid development of computer technology, information technology, communication technology, microelectronics technology and robot technology, the research and application of mobile robot technology has made great progress, making it be entrusted to replace human beings in many occasions to automatically perform certain tasks. High expectations for some routine and dangerous tasks, such as handling robots in logistics and warehousing, production robots in harsh working environments, etc. Robot navigation and positioning, as the key technology to realize robot intelligence and complete autonomy, has gradually become a research hotspot in this field. However, in a series of complex indoor environments such as weak external radio signals ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01S5/20
Inventor 陈熙源李庆华徐元高金鹏申冲
Owner SOUTHEAST UNIV
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