Mobile robot indoor positioning method and system based on geomagnetic sequences

Abstract

The invention discloses an indoor positioning method and system for a mobile robot based on a geomagnetic sequence. The indoor positioning method of the mobile robot based on the geomagnetic sequence includes a geomagnetic sequence fingerprint collection method of the mobile robot and an improved particle filter positioning algorithm; the system includes a mobile robot end and a cloud server end, and the mobile robot end is mainly responsible for the collection of the geomagnetic sequence fingerprint , motion control and collection of motion information, application to the server for positioning services and visualization of positioning information; the cloud server is mainly responsible for storing geomagnetic sequence fingerprints, processing geomagnetic sequence fingerprint data, calculating the similarity of geomagnetic sequences, and providing data for multiple mobile robots at the same time. Provide location services. The invention is less disturbed by the external environment, does not need other additional infrastructure, is simple to use and operates, and is suitable for the positioning of a mobile robot in an indoor one-dimensional passage corridor. The actual running effect proves that this method has good positioning accuracy for mobile robots.

Description

Technical field [0001] The present invention belongs to the technical field of indoor positioning, and specifically relates to an indoor positioning method and system for a mobile robot based on geomagnetic field information. Background technique [0002] The indoor positioning of a mobile robot means that the robot senses itself and the surrounding environment information through on-board sensors in the indoor environment, and obtains the current pose estimation of the robot through certain data processing and transformation, so as to realize the indoor positioning of the mobile robot. Autonomous positioning is the prerequisite for mobile robots to complete intelligent tasks in the indoor environment. The precise positioning of robots not only has great theoretical value and practical significance, but also lays a good foundation for completing the robot's subsequent task planning and improving the robot's intelligence and reliability. . [0003] Traditional mobile robot position...

AI Technical Summary

Problems solved by technology

Among them, although Bluetooth and RFID can obtain relatively high positioning accuracy, they all require additional deployment of infrastructure, and are affected by indoor layout and external signal interference, which limits the large-scale use of positioning technology.

As for the WiFi network, although it has been deployed on a large scale to reduce the system cost, WiFi is susceptible to factors such as low receiving sensitivity, multipath effects, signal time-varying, and device differences, and the positioning performance will always be unsatisfactory.

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