Mobile robot IMU/UWB/code disc loose combination navigation system and method adopting multi-mode description

A combined navigation system and mobile robot technology, which is applied in navigation, navigation, surveying and navigation through speed/acceleration measurement, and can solve problems affecting the performance of single-state combined navigation models

Active Publication Date: 2016-10-26
UNIV OF JINAN
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

This affects the performance of traditional single-state combined navigation models

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  • Mobile robot IMU/UWB/code disc loose combination navigation system and method adopting multi-mode description
  • Mobile robot IMU/UWB/code disc loose combination navigation system and method adopting multi-mode description
  • Mobile robot IMU/UWB/code disc loose combination navigation system and method adopting multi-mode description

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Embodiment Construction

[0037] The present invention is described in detail below in conjunction with accompanying drawing:

[0038] A mobile robot IMU / UWB / code disc loose integrated navigation system using multi-modal description, such as figure 1 As shown, it includes: a UWB reference node, a mobile robot and a data acquisition module; the UWB reference node communicates with the mobile robot and the data acquisition module respectively, and the mobile robot communicates with the data acquisition module;

[0039] The UWB reference node is used to realize the measurement of the distance between the reference node and the mobile robot; the speed collected by the fixed code disc on the mobile robot is used to judge the motion state of the mobile robot, and the calculation is performed according to the different motion states error estimate.

[0040] The UWB reference node includes: a UWB sending module, a first control module, a first 433 module, a power supply module and a timer; the first control m...

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Abstract

The invention discloses a mobile robot IMU / UWB / code disc loose combination navigation system and method adopting multi-mode description. The system comprises a UWB reference node, a mobile robot and a data acquisition module, wherein the UWB reference node communicates with the mobile robot and the data acquisition module; the mobile robot communicates with the data acquisition module; the UWB reference node is used for measuring a distance between the reference node and the mobile robot; a moving state of the mobile robot can be judged according to a speed acquired by a code disc fixed on the mobile robot, and a calculation error can be respectively estimated according to different moving states. The system and the method have the beneficial effects that the system and the method can meet the requirements on high-precision positioning and orientation during indoor mobile robot navigation. The system can be used for positioning the mobile robot at high precision under an indoor environment.

Description

technical field [0001] The invention relates to the technical field of combined positioning in complex environments, in particular to a mobile robot IMU / UWB / code disc loose combined navigation system and method using multi-mode description. Background technique [0002] In recent years, with the rapid development of computer technology, information technology, communication technology, and microelectronics technology, mobile robot technology has been widely used, and the research and application of target tracking technology for mobile robots has gradually become a research topic in this field. hotspot. However, in a series of complex 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 accur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 马思源张勇徐元张智杰程金王滨赵钦君
Owner UNIV OF JINAN
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