Robot positioning method based on wireless sensor network and geomagnetic map

A wireless sensor and robot positioning technology, which is applied to instruments, ground navigation, surveying and navigation, etc., can solve the problems of strong data randomness and data loss

Inactive Publication Date: 2016-11-16
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot positioning method based on a wireless sensor network and a geomagnetic map in order to overcome the problems of data loss and strong data randomness in the positioning process of the mobile robot, so as to obtain a higher indoor positioning of the mobile robot. precision

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  • Robot positioning method based on wireless sensor network and geomagnetic map
  • Robot positioning method based on wireless sensor network and geomagnetic map
  • Robot positioning method based on wireless sensor network and geomagnetic map

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Embodiment Construction

[0066] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the following comparison Figure 1-5 The robot positioning method based on wireless sensor network and geomagnetic map of the present invention is described in detail:

[0067] The overall process of the robot positioning method based on the wireless sensor network and the geomagnetic map implemented according to the present invention is as follows: Figure 5 . It is characterized in that comprising the steps of:

[0068] Step S1: Use the geomagnetic acquisition module MPU6050 to collect geomagnetic data in the indoor area, and save it to the robot SQLserver database, where the interval between the collection points is 1m, which forms a Geomagnetic data is collected at the vertices of the grid, and each point is stored in the database in the form of geomagnetic data + position coordinates to prepare for the geomagnetic matching process when...

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Abstract

The invention relates to a robot positioning method based on a wireless sensor network and a geomagnetic map. wireless sensor network nodes, during the movement of the robot, by activating A wireless sensor network node, use RSSI to obtain the observation model of wireless sensor network nodes and robots; then use PSO and multi-sensor information fusion to obtain the particle likelihood; at the same time obtain the weight of particles in the particle swarm optimization method; Resampling and fitness function judgment are used to obtain the position of the optimal particle, obtain a local geomagnetic map, and use the geomagnetic matching method to achieve precise positioning, and finally obtain the absolute position. The present invention is easy to associate data, no wrong association occurs during observation, and the robustness and accuracy of the network are improved; at the same time, a more realistic system state distribution prediction is obtained, which makes the positioning of the robot more accurate and reduces the calculation amount of geomagnetic matching. The real-time performance of the method is increased.

Description

technical field [0001] The patent of the present invention relates to the field of indoor positioning of mobile robots, in particular to a robot positioning method based on a wireless sensor network and a geomagnetic map. Background technique [0002] With the continuous development of modern technology in our country, robot technology has developed rapidly, and the application of robots has become more and more extensive. At present, the existing robot positioning system has high complexity of positioning calculation, low real-time effectiveness, positioning error, and the increase of relative observation is not proportional to the positioning accuracy. Real-time positioning in a wireless sensor network (WSN) environment is a key technology in the field of mobile robot navigation. The advantage of introducing robot positioning into WSN is that sensor network nodes can be used as specific signs for robot positioning, which simplifies the traditional SLAM (simultaneous Local...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/20
CPCG01C21/08G01C21/206
Inventor 周明达程磊农潇琪宋镖戚静云郑文磊余秋月吴怀宇陈洋
Owner WUHAN UNIV OF SCI & TECH
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