Indoor robot positioning and environment modeling method based on UWB (ultra-wide band) and multiple sensors

Abstract

The invention discloses an indoor robot positioning and environment modeling method based on UWB (ultra-wide band) and multiple sensors. The method is characterized in that a UWB label transmits pulse data packets formed by ultra-wide-band pulses to UWB receivers, the UWB receivers transmits the time differences of the pulse data packets reaching the receivers to a central processing unit through a switch, and the central processing unit preliminarily determine the position of the UWB label through a trilateral weighted centroid algorithm; an electronic compass collects the current course angle information of the robot, ultrasonic sensors collect currently-returned ultrasonic signals, and the central processing unit acquires the position information of obstacles according to the signals collected by the ultrasonic sensors and a Kalman filtering algorithm and update an environment map; the central processing unit fuses the preliminarily determined position of the UWB label, the current course angle information and the position information of the obstacles according to a double-layer Kalman filtering algorithm to obtain the precise current pose information of the robot. By the method, positioning precision, instantaneity and stability are increased.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a positioning and environment modeling method for an indoor robot based on UWB and multiple sensors. Background technique [0002] In the open outdoor environment, relying on the GPS positioning system can obtain more accurate positioning, but in the indoor environment, the GPS signal attenuation is serious, and the indoor environment is complex, there are various interferences and noises, and accurate positioning cannot be performed. At present, common indoor positioning technology solutions mainly include ultrasonic positioning technology, Bluetooth technology, infrared technology, radio frequency identification technology, ultra-wideband technology, wireless local area network, optical tracking and positioning technology, etc. Ultra-wideband technology UWB has the advantages of low power consumption, good anti-multipath effect, high security, low system complexity, g...

AI Technical Summary

Problems solved by technology

[0003] "Research on Ultrasonic Network Positioning Method for Indoor Mobile Robots" uses a single sensor to perceive the surrounding environment information and optimize the positioning information, but there is a large angle error, and it is easily affected by non-line-of-sight in a semi-structured complex environment, and its positioning system is stable. Sex is not enough

"Research on the Application of Multi-Sensor Fusion Technology in Mobile Robot Positioning" combines a variety of sensor information, and uses the extended Kalman filter algorithm to fuse the positioning information. However, due to the high nonlinearity of the robot's motion, there are large errors in the positioning results. In addition, multi-sensor fusion has the problems of large amount of calculation and insufficient real-time data, and the anti-interference and stability of the system also need to be improved.

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