EKF-based multi-sensor fusion greenhouse inspection robot tracking method

Abstract

The invention discloses a multi-sensor fusion greenhouse inspection robot tracking method based on EKF. The method comprises the steps: acquiring distance information from three base stations with known coordinates to a robot in real time through a UWB distance measuring module based on a DS-TWR distance measuring technology while acquiring the acceleration and the course angle of the robot in real time through MPU6050 carried by the robot; acquiring a robot coordinate initial observation value from the three distance values by using a trilateral positioning model based on a least square method; carrying out iterative correction at an observation point by utilizing a Taylor algorithm; simultaneously transmitting the corrected coordinate observation value, and the acceleration and the course angle which are measured in real time into a CTRV motion model; fusing the sensor data through extended Kalman filtering; and outputting the extended Kalman filtering (EKF) result as the current position of the robot so as to complete the greenhouse inspection robot tracking method based on multi-sensor fusion. According to the invention, accurate positioning of a greenhouse inspection robot inan indoor environment can be realized, and the cost of greenhouse management is reduced.

Description

technical field [0001] The invention relates to an EKF (extended Kalman filter)-based multi-sensor fusion tracking method for a greenhouse inspection robot, which can be applied to scenarios such as precise positioning of indoor robots, trajectory tracking of greenhouse inspection robots, and the like. Background technique [0002] With the increase of greenhouses year by year, unmanned management of greenhouses has become an inevitable trend of intelligent and mechanized development of greenhouses. Traditional greenhouses are managed by people, and the entry and exit of people makes it difficult to separate the greenhouse from the outside environment. It is easy to bring pests and diseases into the greenhouse, and the management of the greenhouse is trivial and complicated, which will consume a lot of energy, so unmanned management is almost an inevitable direction for the development of the greenhouse. As an important component of the greenhouse unmanned management system,...

AI Technical Summary

Problems solved by technology

UWB stands out among many indoor positioning technologies. It has the advantages of high precision, low transmission power, low radiation, low cost, and convenient network node layout. It can be used not only as a wireless communication sensor network, but also as a positioning system. It is suitable for use in greenhouses, etc. It is used in an indoor environment, but the accuracy of a single UWB indoor positioning will be affected by sensor deviation, sensitivity error, and non-line-of-sight propagation. This patent proposes a multi-sensor fusion greenhouse inspection robot tracking method based on EKF, which improves the positioning accuracy. Accurate target tracking is achieved

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