Speedometersystem error calibration method and device

Abstract

The invention discloses a speedometer system error calibration method and device, and relates to the field of robot motion control. One specific embodiment of the method comprises the following steps: constructing a system error model, wherein the system error model indicates a wheel diameter error coefficient and a wheel distance error coefficient; obtaining real-time motion information of the mobile robot in open-loop motion, wherein the open-loop motion comprises open-loop linear motion and open-loop in-situ rotation motion; determining odometer offset data of the mobile robot in the open-loop motion according to the real-time motion information; and determining an expression of the system error according to the system error model and the odometer offset data so as to realize calibration of the odometer system error. According to the embodiment, the technical problems that in an existing calibration method, the accuracy is difficult to guarantee, and automatic calibration cannot be achieved are solved, and then the technical effects that the influence of absolute pose sensor installation errors on calibration can be avoided, calibration automation can be achieved, and large-scale industrial application can be conducted are achieved.

Description

technical field [0001] The invention relates to the field of robot motion control, in particular to a method and device for calibrating system errors of odometers. Background technique [0002] The odometer is usually used to cooperate with the absolute pose sensor to achieve accurate positioning, but there is a systematic error in the positioning of the odometer due to errors in the processing and installation process. In order to achieve accurate odometer positioning, it is necessary to calibrate the systematic error of the odometer. [0003] At present, there are two common odometer system error calibration methods, one is the offline calibration method, which is calibrated by manually measuring the starting and ending poses of the mobile robot during the motion process; the other is the online calibration method, The absolute pose sensor continuously measures the pose information during the movement, so that the estimated value of the system error gradually converges to...

AI Technical Summary

Problems solved by technology

[0005] 1. The accuracy of manual measurement of pose information in the offline calibration method is difficult to guarantee, and the calibration cannot be automated, which is difficult for large-scale industrial application;

[0006] 2. The installation error of the absolute pose sensor itself in the online calibration method makes it difficult to accurately measure the actual pose of the vehicle or mobile robot, which in turn makes it difficult to accurately calibrate the system error of the odometer

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