Underwater robot multi-sensor fusion positioning system based on extended Kalman filtering

Abstract

The invention discloses an underwater robot multi-sensor fusion positioning system based on extended Kalman filtering. The underwater robot multi-sensor fusion positioning system comprises an EKF data fusion unit, an external parameter calibration unit, a laser positioning unit, a visual positioning unit, a speedometer, a path planning unit and a positioning information feedback unit. In the fusion positioning process, the odometer result and the visual positioning result are fused to obtain a converted visual positioning result, the converted visual positioning result and the laser positioning result are input into the EKF data fusion unit, and the fusion result is input into the path planning unit and the positioning information feedback unit. According to the system, laser mapping and visual mapping are combined, richer environmental information can be reflected and utilized, when positioning of a certain sensor fails, the in-situ repositioning process can be avoided, the working robustness of the mobile robot is guaranteed, and when the positioning result of the certain sensor jumps, other sensors can be used for correcting the jump according to the confidence coefficient of the sensor.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a multi-sensor fusion positioning system for underwater robots based on extended Kalman filtering. Background technique [0002] At present, the positioning of underwater robots is mainly carried out through the grid map constructed by 2D lidar, but the 2D grid map can only reflect the obstacle information at a fixed height, and there is a risk of positioning failure in the face of a single-structure or dynamic working environment. [0003] During the positioning process, if the obstacle information at the observation height changes, the underwater robot cannot perform effective positioning work in the case of environmental changes, and cannot modify and update the grid map constructed by the existing 2D lidar in real time, and cannot perform laser positioning. Continue running in case of failure. Contents of the invention [0004] The embodiment of the present inven...

AI Technical Summary

Problems solved by technology

[0002] At present, the positioning of underwater robots is mainly carried out through the grid map constructed by 2D lidar, but the 2D grid map can only reflect the obstacle information at a fixed height, and there is a risk of positioning failure in the face of a single-structured or dynamic working environment

[0003] During the positioning process, if the obstacle information at the observation height changes, the underwater robot cannot perform effective positioning work in the case of environmental changes, and cannot modify and update the grid map constructed by the existing 2D lidar in real time, and cannot perform laser positioning. continue in case of failure

Images