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Method for improving positioning precision of ultrawide-band sensor

A positioning accuracy, ultra-wideband technology, applied in the field of robotics, can solve the problems of positioning data error, unable to give coordinates, etc., to achieve the effect of improving positioning accuracy and solving drift

Inactive Publication Date: 2019-03-22
广东大仓机器人科技有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] There is a certain error in the positioning data of the existing robot ultra-wideband positioning sensor, and an accurate coordinate cannot be given, and the positioning data is constantly floating within a certain range

Method used

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  • Method for improving positioning precision of ultrawide-band sensor

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Embodiment Construction

[0012] exist figure 1 Among them, a method of improving the positioning accuracy of ultra-wideband sensors is characterized by:

[0013] By establishing a robot motion model, the estimated positioning data is obtained, and then Kalman filtering is performed with the positioning data of the ultra-wideband sensor, and finally the two positioning data are fused together to obtain the optimal positioning coordinates. The method includes the following steps:

[0014] 1) Establish robot motion model and set parameters;

[0015] 2) According to the motion model, use the positioning data and prediction error at the previous moment to predict the positioning data at the next moment and the prediction error at the next moment, and calculate the Kalman gain;

[0016] 3) Combining the ultra-wideband positioning data and the positioning prediction value of the Kalman gain correction motion model to obtain the optimal estimated value;

[0017] 4) Calculate the prediction error according t...

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Abstract

The invention discloses a method for improving the positioning precision of an ultrawide-band sensor. The method is characterized by comprising the following steps that 1), a robot motion model is built, and parameters are set; 2), according to the motion model, positioning data and predicted errors of the last moment are utilized for predicting positioning data and predicted errors of the next moment, and Kalman gain is calculated; 3) ultrawide-band positioning data and a positioning predicted value of the Kalman gain correction motion model are combined, and an optimal estimated value is obtained; 4) predicted error iterative computations are calculated according to the optimal estimated value. The method has the advantages that the robot motion model is built, the estimated positioningdata is obtained, the estimated positioning data and the positioning data of the ultrawide-band sensor are subjected to Kalman filtering, optimal positioning coordinates are obtained according to fusion of two pieces of positioning data, drifting of the positioning data of the ultrawide-band sensor is solved, and the positioning precision is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for improving the positioning accuracy of an ultra-wideband sensor. Background technique [0002] There are certain errors in the positioning data of the existing ultra-wideband positioning sensors for robots, which cannot give an accurate coordinate, and the positioning data is constantly floating within a certain range. Contents of the invention [0003] In order to overcome the above disadvantages, the present invention provides a method for improving the positioning accuracy of the UWB sensor. [0004] The technical scheme that the present invention adopts for realizing the above object is: [0005] A method for improving the positioning accuracy of an ultra-wideband sensor, characterized in that: the method comprises the following steps: [0006] 1) Establish robot motion model and set parameters; [0007] 2) According to the motion model, use the positioning data and pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02
CPCG01S5/021
Inventor 胡扬
Owner 广东大仓机器人科技有限公司