Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A positioning system and positioning method based on multi-sensor data fusion

A data fusion, multi-sensor technology, applied in the field of positioning systems, can solve the problems of increased cost of positioning systems and accumulation of positioning errors, and achieve the effects of reducing inaccurate positioning, reducing system errors, and enhancing adaptability

Active Publication Date: 2021-01-19
XI AN JIAOTONG UNIV
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the influence of systematic error and non-systematic error, the positioning error will gradually accumulate with the increase of the moving distance of the robot.
At the same time, the angular drift of the gyroscope has a negative impact on positioning. In order to reduce this impact, the use of a very high-performance gyroscope will greatly increase the cost of the positioning system.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A positioning system and positioning method based on multi-sensor data fusion
  • A positioning system and positioning method based on multi-sensor data fusion
  • A positioning system and positioning method based on multi-sensor data fusion

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0045] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0046] Such as figure 1 , figure 2As shown, a positioning system based on multi-sensor data fusion includes a fixed bracket 1 and a code disc frame 2, an encoder 3 and an omnidirectional wheel 4 are fixed on the code disc frame 2, and the main rotating shaft of the omnidirectional wheel 4 is connected to the encoder The rotating shafts of the encoder 3 are connected, and three code disc frames 2 are fixed on the fixed bracket 1. The included angles between the vertical planes where the shaft axes of the three encoders 3 on the three code disc frames 2 are all 120°, and the three omnidirectional The wheels touch the moving ground at the same time; the three encoders 3 are all connected to the controller for collecting the rotation data of the encoders; the controller is used to load a positioning method program based on multi-sensor data fusion;

[0047] Fixed brac...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a positioning system and positioning method based on multi-sensor data fusion. Encoders and omnidirectional wheels are fixed on encoding disk frames. Main rotation shafts of the omnidirectional wheels are connected with rotation shafts of the encoders. The three encoding disk frames are fixed on a fixing holder. Included angles between vertical planes in which axes of the three encoder rotation shafts are 120 degrees. The three omnidirectional wheels contact with a moving ground at the same time. A three-encoding-disk whole field positioning system is employed, when a mobile robot moves, the three omnidirectional wheels are passively rotated, and robot omnidirectional movement data can be accurately obtained, so the influence that positioning is inaccurate resultingfrom angle drift of a gyroscope is reduced. Change condition of a to-be-positioned robot at three degrees of freedom is obtained through utilization of an updating formula for three encoding disk coordinates, relative positioning is realized, precision of the positioning system when the robot is in a high speed driving state and under different site conditions is improved, and according to the system and the method, in practical operation, relatively accurate positioning data can be obtained for a sudden event or ground condition.

Description

technical field [0001] The invention belongs to the technical field of positioning systems, and in particular relates to a positioning system and a positioning method based on multi-sensor data fusion. Background technique [0002] At present, the main principle of the positioning system is that the robot fuses internal sensors and the external environment for positioning. At present, the sensors that can be used for mobile robot positioning include odometer, gyroscope, encoder, electronic compass, camera, laser radar, etc. Various sensor positioning methods have their advantages and disadvantages. When people are looking for a solution to the problem of mobile robot positioning, they have designed positioning schemes suitable for different occasions. For example, various sensors for positioning are installed on the mobile robot for calibration. [0003] The positioning of mobile robots can usually be divided into two parts: absolute positioning and relative positioning. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/14G01C25/00
CPCG01C21/14G01C25/00
Inventor 郑子杰曾泓泰刘子拓闫玥凝张明璨王合胜邢飞凡张仁杰
Owner XI AN JIAOTONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com