Underwater robot multi-sensor fusion positioning system based on extended Kalman filtering

A multi-sensor fusion, underwater robot technology, applied in radio wave measurement systems, electromagnetic wave re-radiation, instruments, etc., can solve the problems of underwater robots unable to locate, fail to locate, unable to modify and update grid maps in real time, etc. Achieving the effect of avoiding the in-situ relocation process and ensuring the robustness of the work

Active Publication Date: 2021-04-13
SHANDONG JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the positioning of underwater robots is mainly carried out through the grid map constructed by 2D lidar, but the 2D grid map can only reflect the obstacle information at a fixed height, and there is a risk of positioning failure in the face of a single-structured or dynamic working environment
[0003] During the positioning process, if the obstacle information at the observation height changes, the underwater robot cannot perform effective positioning work in the case of environmental changes, and cannot modify and update the grid map constructed by the existing 2D lidar in real time, and cannot perform laser positioning. continue in case of failure

Method used

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  • Underwater robot multi-sensor fusion positioning system based on extended Kalman filtering
  • Underwater robot multi-sensor fusion positioning system based on extended Kalman filtering
  • Underwater robot multi-sensor fusion positioning system based on extended Kalman filtering

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Embodiment Construction

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection of the present invention. scope.

[0025] The underwater robot in the present invention refers to an underwater crawling robot that can build a three-dimensional map on the underwater ground, and is not limited to an underwater crawling operation robot, an underwater blasting robot, an underwater sand dredging robot, and an underwater special operation robot.

[0026] The underwater robo...

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Abstract

The invention discloses an underwater robot multi-sensor fusion positioning system based on extended Kalman filtering. The underwater robot multi-sensor fusion positioning system comprises an EKF data fusion unit, an external parameter calibration unit, a laser positioning unit, a visual positioning unit, a speedometer, a path planning unit and a positioning information feedback unit. In the fusion positioning process, the odometer result and the visual positioning result are fused to obtain a converted visual positioning result, the converted visual positioning result and the laser positioning result are input into the EKF data fusion unit, and the fusion result is input into the path planning unit and the positioning information feedback unit. According to the system, laser mapping and visual mapping are combined, richer environmental information can be reflected and utilized, when positioning of a certain sensor fails, the in-situ repositioning process can be avoided, the working robustness of the mobile robot is guaranteed, and when the positioning result of the certain sensor jumps, other sensors can be used for correcting the jump according to the confidence coefficient of the sensor.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a multi-sensor fusion positioning system for underwater robots based on extended Kalman filtering. Background technique [0002] At present, the positioning of underwater robots is mainly carried out through the grid map constructed by 2D lidar, but the 2D grid map can only reflect the obstacle information at a fixed height, and there is a risk of positioning failure in the face of a single-structure or dynamic working environment. [0003] During the positioning process, if the obstacle information at the observation height changes, the underwater robot cannot perform effective positioning work in the case of environmental changes, and cannot modify and update the grid map constructed by the existing 2D lidar in real time, and cannot perform laser positioning. Continue running in case of failure. Contents of the invention [0004] The embodiment of the present inven...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/277G06T7/246G06T7/11G06T5/50G06T7/73G06T7/80G01S17/93G01S17/89G01C21/18G01C21/16G01C21/00
CPCG06T7/277G06T7/246G06T7/80G06T7/73G06T5/50G06T7/11G01C21/165G01C21/18G01S17/93G01S17/89G01C21/005G06T2207/20221
Inventor 胡宴才张强刘洋张燕许世波于光宇苏文学
Owner SHANDONG JIAOTONG UNIV
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