Calibrating algorithm for positioning system of outdoor mobile robot

A mobile robot and positioning system technology, applied in satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc., can solve the problems of reduced effectiveness of positioning data, and achieve the effects of convenient operation, simple calculation, and strong applicability

Inactive Publication Date: 2012-07-04
刘瑜
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Problems solved by technology

This parameter is an absolute value without differential processing and has a large error. If it

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  • Calibrating algorithm for positioning system of outdoor mobile robot
  • Calibrating algorithm for positioning system of outdoor mobile robot
  • Calibrating algorithm for positioning system of outdoor mobile robot

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Embodiment Construction

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] refer to Figure 1-4 , the calibration algorithm of the outdoor mobile robot positioning system, the positioning system includes a base station 12 that provides a charging interface for the mobile robot 13, and the mobile robot 13 moves and works in a wide range, so a rechargeable battery is used as a power source, and The base station 12 provides a charging connector with a suitable voltage. When the rechargeable battery is about to run out, the mobile robot 13 searches for the base station 12 for charging.

[0017] The base station 12 is provided with a base station electronic control device, and the base station electronic control device includes a first micro-controller 1 for centralized processing, a charging module 4 for controlling the charging process, and a charging module 4 connected to the first micro-controller 1 The first GPS module 2 and the first...

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Abstract

The invention discloses a calibrating algorithm for a positioning system of an outdoor mobile robot. The positioning system comprises a base station for a charging interface, wherein the base station is provided with an electronic control device of the base station, the electronic control device of the base station comprises a first microcontroller, a charging module, a first global positioning system (GPS) module and a first wireless serial communication module, the mobile robot is provided with an electronic control device of the robot, the electronic control device of the robot is provided with a second microcontroller, a second GPS module and a second wireless serial communication module, and the second microcontroller is provided with a calibrating algorithm. The calibrating algorithm is used for obtaining the latitudinal cosine cosNb of the base station in a longitudinal moving distance delta x = delta e*R*cosNb as a constant in subsequent positioning calculation, and the longitudinal moving distance is obtained by adopting a mode of travelling at a fixed distance D through firstly calculating a latitudinal moving distance delta y = delta n*R, so that the latitudinal cosine cosNb of the base station can be obtained.

Description

technical field [0001] The invention relates to a calibration algorithm for an outdoor mobile robot positioning system, belonging to the technical field of mobile robot positioning. Background technique [0002] For the positioning of outdoor mobile robots, the most advanced GPS positioning method is generally used, but as we all know, GPS positioning data contains unavoidable errors, including system errors, such as clock differences between satellites and receivers, ephemeris errors, ionosphere and tropospheric delay errors, etc., also including random errors related to the receiver itself. Therefore, based on independent GPS positioning data, only a positioning accuracy of more than 10 meters can be achieved. In order to eliminate the above-mentioned errors, the positioning method of dual GPS can be adopted, and the difference between the two GPS data can be used to eliminate the above-mentioned errors, and a very accurate longitude change and latitude change can be obta...

Claims

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Application Information

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IPC IPC(8): G01S19/23
Inventor 刘瑜
Owner 刘瑜
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