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Positioning method, apparatus, robot, and computer readable storage medium

A positioning method and pose information technology, applied in the field of positioning, can solve problems such as deviation, prediction noise sensor measurement noise cannot be completely eliminated, and achieve the effect of improving accuracy and accurate pose information

Active Publication Date: 2019-07-02
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

[0003] However, when the positioning method based on the extended Kalman filter algorithm is used to predict the position of the robot, because the prediction noise and the measurement noise of the sensor cannot be completely eliminated, there is still a gap between the predicted position information and the actual position information of the robot. There is a certain deviation

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  • Positioning method, apparatus, robot, and computer readable storage medium
  • Positioning method, apparatus, robot, and computer readable storage medium
  • Positioning method, apparatus, robot, and computer readable storage medium

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Embodiment Construction

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0033] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and / or collections thereof.

[0034] It should also be understood that the terminology used ...

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Abstract

The invention relates to the technical field of positioning, and discloses a positioning method, apparatus, a robot, and a computer readable storage medium. The positioning method comprises steps: thefirst pose information of a target object at a last moment predicted by an extended Kalman filter model is acquired; the second pose information of the target object at the current moment acquired bya sensor is acquired; based on the first pose information and the second pose information, the third pose information of the target object at the current moment is predicted through the extended Kalman filter model; and the error value of the third pose information under a preset constraint is determined, the third pose information is corrected according to the error value, and the final pose information of the target object at the current moment is obtained, wherein the preset constraint is determined according to a constraint equation for characterizing the current motion mode of the targetobject. Thus, the positioning accuracy is improved.

Description

technical field [0001] The present invention relates to the field of positioning technology, in particular to a positioning method, device, robot and computer-readable storage medium. Background technique [0002] Robot real-time positioning technology is the key to autonomous navigation of robots, and it is of great significance for improving the intelligence level of robots. The existing technology provides a variety of positioning methods that can be applied to robots. Among them, the positioning method based on the extended Kalman filter algorithm can predict the position of the robot by fusing various information such as the position, speed, and attitude of the robot. Traditional positioning methods such as Ultra Wideband (Ultra Wideband, UWB) positioning and Global Positioning System (Global Positioning System, GPS) positioning have relatively high accuracy. [0003] However, when the positioning method based on the extended Kalman filter algorithm is used to predict ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446G01S19/393G01C21/188G01C21/20H04W4/029G05D1/0272G05D2201/02H04W4/02G05B2219/31081G05B19/402G05D1/021
Inventor 熊友军白龙彪刘志超毕占甲
Owner UBTECH ROBOTICS CORP LTD
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