Indoor mobile robot oriented IMU/WSN (inertial measurement unit/wireless sensor network) integrated navigation method

Abstract

The invention discloses an indoor mobile robot oriented IMU / WSN (inertial measurement unit / wireless sensor network) integrated navigation method. The method includes: creating a relative coordinate system; acquiring optimal estimation of distance square and distance square change rate between unknown nodes and reference nodes of a wireless communication channel at current moment; acquiring optimal estimation of the distance square and the distance square change rate, between the unknown nodes and the reference nodes, obtained by IMU resolving at current moment; constructing a main filter; finally acquiring optimal estimation of the location, speed and attitude of the unknown nodes at the current moment. The method has the advantages that local filters are adopted in both the WSN and the low-cost IMU, accuracy of data collected by sensors is improved effectively, and precision improvement in the subsequent data fusion process of the main filter is benefited; the main filter describes running status of a system more accurately than the location, speed and acceleration error of the traditional mobile robot localization field, and precision of data fusion is improved beneficially.

Description

technical field [0001] The invention belongs to the technical field of combined positioning in complex environments, and in particular relates to an IMU / WSN combined navigation method for indoor mobile robots. Background technique [0002] In recent years, with the rapid development of computer technology, information technology, communication technology, and microelectronics technology, the research and application of small-area target tracking technology has gradually become a research hotspot in this field. However, in a series of complex indoor environments such as weak external radio signals and strong electromagnetic interference, it has a great impact on the accuracy, real-time performance and robustness of the target carrier navigation information acquisition. How to effectively integrate the limited information obtained in the indoor environment to meet the high navigation accuracy requirements of small area targets and eliminate the influence of the external enviro...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the above two navigation methods that require reference nodes and are prone to loss of lock, some scholars have proposed to apply inertial measurement unit (IMU) to the field of small area target tracking.

IMU has the advantages of full autonomy, comprehensive motion information, short time, and high precision. Although it can realize autonomous navigation, the error accumulates with time, and the navigation accuracy will be seriously reduced under long-term operating conditions.

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