Indoor mobile robot positioning method and apparatus based on EKF/EFIR mixed filtering

A mobile robot and hybrid filter technology, applied in positioning, measuring devices, instruments, etc., can solve the problems of weak operating efficiency and poor accuracy of FIR filters

Active Publication Date: 2017-10-17
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, it should be pointed out that although the FIR filter has high robustness, its accuracy is slightly worse than that of KF and its corresponding improved algorithm that can obtain accurate noise description
In addition, the finite impulse response structure also makes the operating efficiency of the FIR filter weaker than that of the KF

Method used

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  • Indoor mobile robot positioning method and apparatus based on EKF/EFIR mixed filtering
  • Indoor mobile robot positioning method and apparatus based on EKF/EFIR mixed filtering
  • Indoor mobile robot positioning method and apparatus based on EKF/EFIR mixed filtering

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Embodiment 1

[0068] This embodiment provides an indoor mobile robot positioning method based on EKF / EFIR hybrid filtering, as shown in the schematic diagram figure 1 , the method includes:

[0069] (1) Take the position and velocity of the target robot in the x and y directions and the positions of each UWB reference node in the x and y directions as the state quantity, and take the distance between the reference node and the positioning tag measured by the UWB positioning tag as the system observation Quantitatively build UWB robot positioning model;

[0070] Among them, the x-direction and y-direction position and speed of the target robot as the state quantity and the initial values ​​of the x-direction and y-direction positions of each UWB reference node are set according to actual needs.

[0071] The position of the reference node can be selected arbitrarily, and the reference node is required to be stationary in this embodiment.

[0072] (2) Based on the UWB robot positioning model...

Embodiment 2

[0129] Based on the method described in Embodiment 1, the present invention also provides an indoor mobile robot positioning device based on EKF / EFIR hybrid filtering, including:

[0130] The UWB robot positioning model building block takes the x-direction and y-direction position and speed of the target robot and the x-direction and y-direction positions of each UWB reference node as the state quantity, and the distance between the reference node and the positioning tag measured by the UWB positioning tag The distance is used as a system observation to construct a UWB robot positioning model;

[0131] Among them, the x-direction and y-direction position and speed of the target robot as the state quantity and the initial values ​​of the x-direction and y-direction positions of each UWB reference node are set according to actual needs.

[0132] The position of the reference node can be selected arbitrarily, and the reference node is required to be stationary in this embodiment....

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Abstract

The invention discloses an indoor mobile robot positioning method and apparatus based on EKF / EFIR mixed filtering. The method includes constructing a UWB robot positioning model by taking the position and speed of the x direction and y direction of a target robot, and the x-direction and y-direction positions of each UWB reference node as the state quantities and taking the distance between a reference nodes and a positioning label measured by the UWB positioning labels as the system observed quantities; estimating the position of the robot and the position of the reference node through an EKF / EFIR mixed filter by taking the UWB robot positioning model as the basis and by means of the distance information between the reference node and the positioning label measured by the UWB positioning labels; pre-estimating by means of the EKF algorithm, detecting the EKF algorithm performance, and supplementing the EKF algorithm with the EFIR filter to obtain the optimal position information of the target robot at the current time. The method can improve the positioning precision of the mobile robot in an indoor environment.

Description

technical field [0001] The invention relates to the technical field of combined positioning in complex environments, in particular to an indoor mobile robot positioning method based on EKF / EFIR hybrid filtering. Background technique [0002] In recent years, with the development of science and technology and the improvement of people's living standards, robots have gradually entered people's lives. As the basis for robots to provide high-quality services to humans, robot-oriented positioning is gradually becoming a research hotspot in this field. [0003] In terms of robot positioning technology, in order to overcome the problem that the global navigation satellite system (Global Navigation Satellite System, GNSS) represented by the Global Positioning System (GPS) cannot overcome the problem of decreased positioning accuracy or even loss of positioning due to signal occlusion in indoor environments. Scholars have proposed to apply wireless sensor network (WirelessSensors Ne...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02
CPCG01S5/0252G01S5/0294
Inventor 田国会徐元龚京
Owner SHANDONG UNIV
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