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Robot Monte Carlo positioning method fusing magnetic field information

A positioning method and robot technology, applied in the direction of the size/direction of the magnetic field, electromagnetic wave re-radiation, instruments, etc., can solve problems such as easy failure, achieve high positioning success rate, fast convergence speed, improve positioning speed and success rate Effect

Inactive Publication Date: 2021-01-26
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] Considering the cost, the present invention aims at the problem that a robot equipped with a low-cost single-line laser radar is likely to fail when relocating in a highly symmetrical environment, and proposes a robot Monte Carlo positioning method that integrates magnetic field information. The purpose is to improve The rapidity and accuracy of the robot Monte Carlo positioning algorithm in the above scenarios

Method used

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  • Robot Monte Carlo positioning method fusing magnetic field information
  • Robot Monte Carlo positioning method fusing magnetic field information
  • Robot Monte Carlo positioning method fusing magnetic field information

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Embodiment Construction

[0036] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0037] To prepare, construct a virtual environment with similar spatial characteristics in Gazebo.

[0038] Step 1: In gazebo, use the turtlebot robot equipped with a single-line lidar to construct a two-dimensional occupancy grid map through the laser SLAM algorithm. Simultaneously simulate the collection of magnetic features. The present invention uses the total magnetic strength and the vertical component of the magnetic field in the building actually collected by the fluxgate sensor. The simulated robot samples uniformly according to the square grid in the virtual environment of 11m×11m, and the grid spacing is 1.1 meters.

[0039] Step 2: The magnetic field features collected in step 1 are expanded into a global magnetic feature map through a spatial int...

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Abstract

According to the robot Monte Carlo positioning method fusing the magnetic field information, on the basis of a traditional MCL algorithm, magnetic feature observation independent of laser radar observation is introduced, particle initialization is guided through magnetic features, the global positioning problem is converted into the local positioning problem, and therefore the positioning speed isincreased, and the success rate is increased. Compared with a traditional MCL algorithm only based on a single-line laser radar, the method has the advantages of being high in positioning success rate and convergence speed.

Description

technical field [0001] The invention relates to a Monte Carlo positioning method for a robot fused with magnetic field information, and belongs to the technical field of indoor positioning. Background technique [0002] Due to the urgent need for indoor positioning, people have conducted extensive explorations to achieve high-precision, low-cost, stable positioning and strong universal indoor positioning solutions, trying to use different sensors such as inertial measurement units (IMUs), magnetic sensors, Barometer etc. are used for indoor positioning, and an algorithm for indoor positioning using electromagnetic signals such as WiFi and Bluetooth is also proposed. [0003] Indoor positioning algorithms can be roughly divided into two categories, which are positioning algorithms based on geometric methods and positioning algorithms based on simultaneous localization and mapping (Simultaneous Localization And Mapping, SLAM) technology. Positioning algorithms based on geomet...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00G01S17/89G01S17/86G01R33/10G01R33/02
CPCG01C21/206G01C21/005G01S17/89G01S17/86G01R33/0206G01R33/10
Inventor 刘明雍汪培新牛云王聪李嘉琦
Owner NORTHWESTERN POLYTECHNICAL UNIV
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