EKF-based multi-sensor fusion greenhouse inspection robot tracking method

A multi-sensor fusion, inspection robot technology, applied in instruments, computer parts, measuring devices, etc., can solve the problems of sensor deviation, non-line-of-sight propagation influence, sensitivity error, etc.

Active Publication Date: 2020-08-14
JIANGSU UNIV
View PDF5 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

UWB stands out among many indoor positioning technologies. It has the advantages of high precision, low transmission power, low radiation, low cost, and convenient network node layout. It can be used not only as a wireless communication sensor network, but also as a positioning system. It is suitable for use in greenhouses, etc. It is used ...

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
  • EKF-based multi-sensor fusion greenhouse inspection robot tracking method
  • EKF-based multi-sensor fusion greenhouse inspection robot tracking method
  • EKF-based multi-sensor fusion greenhouse inspection robot tracking method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0105]The present invention first obtains the distance information from three base stations with known coordinates to the robot in real time through the UWB ranging module based on the DS-TWR ranging technology, and at the same time obtains the acceleration and heading angle of the robot in real time through the MPU6050 carried by the robot. Based on the least squares method, the initial observation value of the robot coordinates is obtained from the three distance values ​​using the trilateral positioning model, and the Taylor algorithm is used to iteratively correct the observation point, and the corrected coordinate observation value, real-time measured robot acceleration and heading angle are simultaneously transmitted. The CTRV motion model (constant rate and speed model), uses the extended Kalman filter (EKF) to fuse the sensor data, and outputs the extended Kalman filter result as the current position of the robot to obtain a multi-sensor fusion greenhouse inspection Rob...

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 multi-sensor fusion greenhouse inspection robot tracking method based on EKF. The method comprises the steps: acquiring distance information from three base stations with known coordinates to a robot in real time through a UWB distance measuring module based on a DS-TWR distance measuring technology while acquiring the acceleration and the course angle of the robot in real time through MPU6050 carried by the robot; acquiring a robot coordinate initial observation value from the three distance values by using a trilateral positioning model based on a least square method; carrying out iterative correction at an observation point by utilizing a Taylor algorithm; simultaneously transmitting the corrected coordinate observation value, and the acceleration and the course angle which are measured in real time into a CTRV motion model; fusing the sensor data through extended Kalman filtering; and outputting the extended Kalman filtering (EKF) result as the current position of the robot so as to complete the greenhouse inspection robot tracking method based on multi-sensor fusion. According to the invention, accurate positioning of a greenhouse inspection robot inan indoor environment can be realized, and the cost of greenhouse management is reduced.

Description

technical field [0001] The invention relates to an EKF (extended Kalman filter)-based multi-sensor fusion tracking method for a greenhouse inspection robot, which can be applied to scenarios such as precise positioning of indoor robots, trajectory tracking of greenhouse inspection robots, and the like. Background technique [0002] With the increase of greenhouses year by year, unmanned management of greenhouses has become an inevitable trend of intelligent and mechanized development of greenhouses. Traditional greenhouses are managed by people, and the entry and exit of people makes it difficult to separate the greenhouse from the outside environment. It is easy to bring pests and diseases into the greenhouse, and the management of the greenhouse is trivial and complicated, which will consume a lot of energy, so unmanned management is almost an inevitable direction for the development of the greenhouse. As an important component of the greenhouse unmanned management system,...

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
IPC IPC(8): G01C21/16G01C21/20G06K9/62
CPCG01C21/165G01C21/206G06F18/25
Inventor 潘逸轩姚瑶王增辉
Owner JIANGSU UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products