Multi-environment joint positioning method for outdoor patrol robot based on gnss, uwb, imu, lidar and code disc
A patrol robot and laser radar technology, applied in the field of navigation, can solve the problems of automatic initialization and positioning technology that cannot take into account stability, etc., to achieve the effects of improving positioning accuracy and stability, overcoming the large environmental impact, and improving data fusion
Active Publication Date: 2021-10-22
湖南超能机器人技术有限公司
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Problems solved by technology
[0003] The purpose of the present invention is to overcome the stability problems when the existing robot cannot be automatically initialized when it is powered on, and the positioning technology cannot take into account the indoor and outdoor free switching, and to provide a high positioning accuracy, good stability, and strong practicability based on GNSS, UWB, IMU, Multi-environment joint positioning method of outdoor patrol robot based on laser radar and code disc
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[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.
[0033] The patrol robot to which the joint positioning method provided by the present invention is applicable includes a main control computing unit, and a GNSS module, a UWB system, a laser radar, an IMU inertial measurement unit, a code disc and a charging sensing module respectively connected to and acting in cooperation with it. In the specific implementation process, the main control computing unit can be an improved RK3288 motherboard or an industrial computer or PC with a CPU above i3, which is used to receive the GNSS module, the UWB system, the laser radar, the IMU inertial The signals transmitted by the measuring unit, the code disc and the charging inductio...
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The invention provides a multi-environment joint positioning method for an outdoor patrol robot based on GNSS, UWB, IMU, laser radar and code disc. Specifically: start up and check whether the charging pile is connected to the robot? If yes, the initial position of the robot is the position of the charging pile; if not, the occurrence probability of any grid within the measurement range of the robot measured by GNSS and UWB is P g (n), P u (n); the probability of code disc and laser radar appearing in any grid within the measurement range is P o (n), P L (n); Set the positioning weights of GNSS, UWB, code disc, and laser radar, and obtain the position coordinate with the highest probability of robot appearance through normalization; the obtained position coordinates are combined with the acceleration, angular velocity and angular acceleration output by the IMU and the output of the code disc The real-time linear velocity and angular velocity are input into the EKF filter; the real-time position coordinates and real-time angular velocity of the robot are output. The joint positioning method provided by the present invention can perform fast and high-precision positioning, realize seamless switching between indoor and outdoor positioning, and is suitable for autonomous positioning in a large map environment.
Description
technical field [0001] The present invention relates to the field of navigation technology, in particular to a multi-environment joint positioning method for outdoor patrol robots based on GNSS, UWB, IMU, laser radar, and code discs. Background technique [0002] Most of the existing robots use laser radar, UWB or GNSS for positioning, which cannot effectively solve the problem of positioning stability when freely switching indoors and outdoors. When using lidar or UWB for positioning, due to the limited detection distance and small working range of lidar and UWB, it cannot be used in outdoor environments; while using GNSS positioning, due to signal occlusion and interference problems, it can only be used in open outdoor areas It cannot be used in indoor, community, street and other working environments. Most outdoor lidar positioning uses 3D lidar to achieve positioning. Not only does it need to build a map in advance, but it also has poor adaptability to the environment. ...
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IPC IPC(8): B25J11/00B25J9/08B25J13/08B25J19/02G01C21/00G01C21/20
Inventor 肖湘江李林林陈婷婷邓辉峰刘宇星胡佳乐康博于春海
Owner 湖南超能机器人技术有限公司