摘要
通过机器人位姿更新算式,使用捷联惯性导航系统实时获取机器人的位置和姿态数据,利用ZigBee定位系统的TOA测距原理实现机器人定位,通过组合定位策略实现两种定位系统的融合,通过扩展卡尔曼滤波算法实现定位系统的误差校正。实验研究表明,使用联合定位方法对机器人跟踪定位,其轨迹明显改善,轨迹误差均值为0.21 m,相比独立捷联惯性导航方法得到的轨迹误差降低了72.7%,相比独立ZigBee定位方法得到的轨迹误差降低了51.1%。系统稳定可靠,能够满足机器人定位精度要求。
The positioning renewal formula of robot was used. The position and attitude data of the robot were acquired in real time by using strapdown inertial navigation system. The TOA ranging principle of ZigBee positioning system was used to realize robot positioning. The integration of the two positioning systems was realized by combining positioning strategies. The error correction of the positioning system was realized by the extended Kalman filteralgorithm. The experimental results showed that the joint positioning method can significantly improve the tracking trajectory of the robot by tracking and positioning. The mean trajectory error is0.21 m. Compared with the independent strapdown inertial navigation method, the trajectory error is reduced by 72.7%, and 51.1%compared with the independent ZigBee positioning method. The system is stable and reliable, and can meet the requirements of robot positioning accuracy.
作者
杨帅
薛岚
YANG Shuai;XUE Lan(Jiangsu Engineering Technical R&D Center for Equipment Manufacturing of Electronic Products, Jiangsu Huaian 223003, China;Huaian College of Information and Technology, Jiangsu Huaian 223003, China)
出处
《消防科学与技术》
CAS
北大核心
2019年第6期837-840,共4页
Fire Science and Technology
基金
江苏省高等学校自然科学研究面上资助项目(18KJB510003)
淮安市创新服务能力建设计划项目(HAP201805)
