GNSS/ODO-based dual-wheel differential positioning method for robot

A positioning method and robot technology, applied in the field of robotics, can solve problems such as poor variability and maintainability, and are easily affected by the environment, and achieve the effects of improving orientation accuracy, reducing costs, and speeding up mapping efficiency.

Active Publication Date: 2017-09-29
青岛克路德智能科技有限公司
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Problems solved by technology

However, this method has poor variability and maintainability, and is easily affected by the environment

Method used

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  • GNSS/ODO-based dual-wheel differential positioning method for robot
  • GNSS/ODO-based dual-wheel differential positioning method for robot
  • GNSS/ODO-based dual-wheel differential positioning method for robot

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Embodiment Construction

[0038] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0039] Referring to the accompanying drawings, a GNSS / ODO-based robot dual-wheel differential positioning method includes the following steps:

[0040] A. Initialize the robot, and use GNSS to obtain the pose information of the robot at the initial moment;

[0041] Assuming that the current moment is n, the global pose information of the robot at this moment is given by [x g (n),y g (n), θ g (n)] description, where, [x g (n),y g (n)] represents the plane coordinate position of the robot in the global coordinate system, θ g (n) represents the heading angle of the robot; let L 1 , L 2 respectively represent the mileage change of the left and right wheels of the robot measured by the two-wheel odometer per epoch, then the angle dθ that the robot turns at two adjacent moments g and the plane position in the robot body coordinate system (dx l ,dy l ) ...

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Abstract

The invention relates to the field of the robotic technology, more particularly to a robot positioning method. A GNSS / ODO-based dual-wheel differential positioning method comprises: step A, initializing a robot and obtaining pose information of a robot at an initial time by using a GNSS; step B, calculating global pose information of the robot at an n+1 time by using a dual-wheel speedometer positioning algorithm; step C, determining whether a current time is a set GNSS data correction time; if so, executing a step D; and if not, executing a step E; step D, according to an unmanned vehicle pose state, calculated at the step B, at the n+1 time, carrying out Kalman filter "prediction-correction"; step E, only carrying out Kalman filter prediction in the step D instead of carrying out correction; and step F, outputting filtered robot global pose information. With the method provided by the invention, the positioning and orientation precision of the robot can be improved obviously.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot positioning method. Background technique [0002] Robot positioning mainly refers to the process in which the robot obtains relevant information through external sensors and processes it to determine its own and target pose. Existing technical schemes have odometer method, inertial navigation method, satellite navigation method, magnetic navigation method etc. Among them, the odometry method (ODO) is the most widely used positioning method. A photoelectric encoder is installed on the wheel of the mobile robot, and the pose tracking of the robot is realized by recording the rotation of the wheel. However, this method is positioned as a dead reckoning method, which is an accumulative process, and its measurement error is related to the length of the vehicle's driving distance. With the increase of the moving distance, the positioning accuracy gradually decrease...

Claims

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Application Information

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IPC IPC(8): G01S19/41G01S19/47G01S19/53
CPCG01S19/41G01S19/47G01S19/53
Inventor 李耀宗韩锐王坤
Owner 青岛克路德智能科技有限公司
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