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Indoor robot positioning algorithm based on Kalman filtering

A Kalman filter and indoor robot technology, applied in the direction of location information-based services, specific environment-based services, electrical components, etc., can solve problems such as large errors, difficult to avoid, and low accuracy

Active Publication Date: 2021-03-30
CHAOHU UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0008] (1) The inertial positioning algorithm of the robot is affected by the nonlinearity of the system model, and the accuracy is not high
[0009] (2) Based on the RSSI positioning algorithm, it mainly relies on the signal strength value measured by it, it is difficult to avoid the interference of many factors such as external noise, and the error generated
An improved particle filter robot attitude calculation method has been proposed, based on the extended Kalman filter algorithm to predict the state of the system, mainly for the problem of large errors in the traditional filter method under the nonlinear system model

Method used

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  • Indoor robot positioning algorithm based on Kalman filtering
  • Indoor robot positioning algorithm based on Kalman filtering
  • Indoor robot positioning algorithm based on Kalman filtering

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Embodiment Construction

[0105] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0106] The beneficial effect of a kind of indoor robot localization algorithm based on Kalman filtering of the present invention:

[0107] (1) Kalman filtering is an optimal filtering algorithm based on Gaussian process. When the object model can be accurate enough, and the system state and state parameters are relatively stable, there will be almost no sudden change, and the filtering performance will be better. Therefore, the Kalman filter and the RSSI method are combined t...

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Abstract

The invention relates to an indoor robot positioning algorithm based on Kalman filtering. The indoor robot positioning algorithm comprises the following steps: 1) a distance model is created; 2) an indoor robot positioning model is arranged based on Kalman filtering: 2.1) iterative execution of a Kalman filtering process is achieved; 2.2) Kalman filtering work is carried out; and 3) filtering parameters are optimized by a Kalman filtering indoor robot positioning algorithm, the corresponding parameters which are input of a feedback system are read after the network is initialized, then an observation value is solved, the Kalman filtering algorithm is executed and finally an optimal state estimation value is outputted. According to the Kalman filtering algorithm, a proper state error matrixand a proper observation error matrix are selected, the positioning precision is optimized, and the positioning performance of the indoor robot is improved.

Description

technical field [0001] The invention relates to an indoor robot positioning algorithm, in particular to an indoor robot positioning algorithm based on Kalman filtering. Background technique [0002] With the continuous enhancement of my country's scientific and technological strength and the continuous improvement of people's living standards, there will be a number of robots used in professional services and households in the future, and the robot market will become increasingly prosperous. For mobile robots in indoor environments Difficult positioning problem. There are many kinds of positioning technologies, but there are still big differences between the various technologies. [0003] The application of Wi-Fi positioning technology installs wireless base stations in the monitored area, and according to the signal characteristics of unknown node Wi-Fi devices, comprehensively balances the topological structure of wireless base stations, and calculates and determines the l...

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Application Information

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IPC IPC(8): H04W4/02H04W4/33H04W64/00
CPCH04W4/023H04W4/33H04W64/00
Inventor 鹿建银胡敦
Owner CHAOHU UNIV
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