Positioning method based on differential positioning networking of multiple robots

Abstract

The invention relates to the field of intelligent robots, and discloses a positioning method based on differential positioning networking of multiple robots. The method comprises the steps of differential GPS networking virtual reference station construction, differential signal data chain construction, coordinate conversion, data processing and actual testing. According to the method for judgingthe availability of electronic components based on the electrical characteristics, the active areas of the robots can be expanded through differential GPS networking virtual reference stations, the robots and a fixed base station can synchronously perform GPS static positioning through a system control center, the problem that the positioning precision is reduced due to the fact that the length ofa base line is increased is solved, the robots can form ultra-short baseline differential GPS positioning with a reference station, the real-time performance is higher, the positions of the robots are determined through weighted fusion of observation data and least square estimation, gross errors in GPS data are eliminated, and the positioning precision of the robots can be improved.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a positioning method based on differential positioning networking of multiple robots. Background technique [0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots have basic characteristics such as perception, decision-making, and execution. Field penetration, combined with the application characteristics of these fields, has developed a variety of special robots and various intelligent robots with perception, decision-making, action and interaction capabilities, which can not only accept human command, but also run pre-programmed programs , can also act according to the principle program formulated by artificial intelligence technology, in the products of advanced integrated cybernetics, mechatronics, computers, materials and bionics, in the fields of industry, medicine, agriculture, service industry, construction industry and ev...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a positioning method based on differential positioning networking of multiple robots. The virtual reference station of the differential GPS networking can expand the active area of ​​the robot, and the system control center can make each robot and the fixed The reference station performs GPS static positioning synchronously, which solves the problem of decreased positioning accuracy due to the increase of the baseline length. The robot can form an ultra-short baseline differential GPS positioning with the reference station, which has higher real-time performance. By weighting and fusing the observation data, And determine the position of the robot through the least square estimation, eliminate the gross error in the GPS data, and improve the positioning accuracy of the robot

[0007] In order to achieve the above-mentioned virtual reference station through differential GPS networking, the robot's activity area can be expanded, and the system control center can make each robot and the fixed reference station synchronously perform GPS static positioning, which solves the problem of decreased positioning accuracy due to the increase of baseline length. The differential GPS positioning of the ultra-short baseline can be formed between the robot and the reference station, and the real-time performance is higher. By performing weighted fusion on the observation data, and determining the position of the robot through least square estimation, eliminating gross errors in the GPS data, it can improve For the purpose of the positioning accuracy of the robot, the present invention provides the following technical solutions: 1. A positioning method based on a plurality of robot differential positioning networking, characterized in that: comprising differential GPS networking virtual reference station construction - differential signal data link construction - Coordinate transformation - Data processing - Actual test, as follows:

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