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UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system

An indoor navigation and fusion positioning technology, applied in the field of indoor navigation, can solve the problems of global positioning failure and kidnapping robots, etc., and achieve the effect of solving global positioning failure and kidnapping robots

Inactive Publication Date: 2018-12-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the existing indoor navigation system is based on an unknown environment, and there are problems of global positioning failure and robot kidnapping, and provides an indoor navigation system that integrates UWB and inertial navigation

Method used

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  • UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system

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specific Embodiment approach 1

[0011] Specific implementation mode one: the following combination figure 1 Describe this embodiment, the indoor navigation system of UWB and inertial navigation fusion described in this embodiment, set four UWB tags, inertial navigation and laser radar on the mobile robot, and arrange four UWB base stations in the operating environment of the mobile robot; The geometric constraint relationship between the UWB base station, UWB tag and mobile robot is used to obtain the pose of the mobile robot; the extended Kalman filter is used to fuse the obtained pose of the mobile robot with the pose obtained by the inertial navigation to obtain the global pose of the mobile robot Then replace the global pose with the pose obtained by the odometer in the navigation system, and perform fusion positioning with the lidar data.

[0012] In this embodiment, the extended Kalman filter is used to fuse the UWB tag and the inertial navigation, which can effectively determine the pose of the indoor...

specific Embodiment approach 2

[0015] Specific implementation mode two: the following combination figure 1 This embodiment will be described. This embodiment will further describe Embodiment 1. The inertial navigation system is arranged in the X-axis direction of the mobile robot body, which is the same as the forward direction of the mobile robot.

specific Embodiment approach 3

[0016] Specific implementation mode three: This implementation mode further explains the first implementation mode, and the specific process of obtaining the pose of the mobile robot through the geometric constraint relationship between the UWB base station, the UWB tag and the mobile robot is as follows:

[0017] Step 1. Four UWB base stations send electromagnetic wave information to four UWB tags;

[0018] Step 2. After each UWB tag receives the electromagnetic wave information of the four UWB base stations, the distance between each UWB tag and the four UWB base stations is calculated respectively through the flight time;

[0019] Step 3. According to the constraint relationship between each UWB tag and the distance between the four UWB base stations, an overdetermined equation is established, and the position of each UWB tag is solved by the Gauss-Newton iterative method;

[0020] Step 4. After obtaining the positions of the four UWB tags, an overdetermined equation is est...

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Abstract

The invention discloses an UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system, and belongs to the technical field of indoor navigation. The UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system aims to solve the problems that global localization failure exists, and a robot is kidnapped due to the fact that an existing indoor navigation system operates on the basis of an unknown environment. According to the UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system, four UWB (Ultra Wideband) labels, an inertial navigation system and a laser radar are arranged on a mobile robot, and four UWB (Ultra Wideband) base stations are arranged in the operating environment of the mobile robot; the pose of the mobile robotis acquired through the geometric constraint relation among the UWB (Ultra Wideband) base stations, the UWB (Ultra Wideband) labels and the mobile robot; the acquired pose of the mobile robot and thepose acquired by inertial navigation system are integrated by utilizing an extended Kalman filter so as to acquire the global pose of the mobile robot; and then the global pose replaces the pose acquired by utilizing a speedometer in the navigation system, and the the global pose and the laser radar data are integrated for localization. The UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system is used for indoor navigation.

Description

technical field [0001] The invention belongs to the technical field of indoor navigation. Background technique [0002] With the continuous progress of society, more and more intelligent products appear in various fields of society, the most representative of which are intelligent robots with different functions and different types. Such as intelligent service robots, sweeping robots, express delivery robots, storage robots, and automatic pick-up robots. In addition, there are a series of intelligent robots such as driverless cars and intelligent industrial robots. The emergence of these robots has greatly improved people's living standards and promoted the development of industries, so they have gained widespread attention. [0003] As a manifestation of intelligence, the above-mentioned types and related types of robots need to have complete autonomy. As a manifestation of complete autonomy, they have the ability to navigate and perform tasks autonomously. Intelligent r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/165G01C21/206
Inventor 查富生王鹏飞陈诺郭伟李满天
Owner HARBIN INST OF TECH
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