Multi-robot relative positioning method based on multi-sensor fusion

Abstract

The invention relates to a multi-robot relative positioning method based on multi-sensor fusion, and aims to realize a configuration sensing function during cooperative transportation of multiple unmanned aerial vehicles and provide pose information for formation keeping of a control module. According to the technical scheme, the method comprises the following steps that a single machine estimates visual poses of other unmanned aerial vehicles in a visual visible range; IMU information is fused with visual estimation and UWB ranging information; and positioning results are fused among multiple machines. Due to the fact that the cooperation identification with the determined size is adopted, the robustness, the precision and the calculation speed of visual positioning are all improved, and the observation updating frequency is increased; and the multi-sensor combined solution of IMU prediction, UWB distance measurement and visual image observation is adopted, so that the positioning precision among multiple robots is further improved, and the relative configuration of the system can be kept without relying on GPS information. The ring network topology is adopted for formation estimation, so that the system can still operate under the condition of partial observation failure, and has certain redundancy.

Description

Technical field [0001] The present invention belongs to the field of drone perception and positioning, involving a multi-sensor-fused multi-robot relative positioning method, specifically a multi-sensor-fused multi-drone multi-drone coordinated transport system mutual positioning method. Background technique [0002] Multi-robot synergy has the characteristics of convenient combination, flexible, redundancy, etc., has achieved long-term development in recent years. In the air transportation operation, the multi-drone system has the advantages of low cost and convenient maintenance. Depending on the load capacity, the load capacity of the system can be increased by increasing the number of units. Multi-drones composed of drone units, flexible teslers, load connecting devices, and ground stations. Each drone unit is equipped with a camera, an inertial sensor, an ultra-wideband (UWB) beacon, a compute unit, and a control system, and real-time communication between each other. At wor...

AI Technical Summary

Problems solved by technology

It can be seen that the high-precision and high-robust positioning scheme for a single machine is relatively mature, but there is still a big gap in the high-precision relative positioning of multiple machines

UAVs move freely in three-dimensional Euclidean space and are far apart (greater than the working range of general lidar), which puts more restrictions on the selection and fusion of sensors

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