Intelligent inspection robot positioning method based on Beidou navigation system

Abstract

The invention provides an intelligent inspection robot positioning method based on a Beidou navigation system. Comprising the steps of determining a reference base station, calculating a differential correction amount, correcting the positioning position of the inspection robot, establishing a working coordinate system and determining the original point of the working coordinate system, and calculating the real-time positioning position of the inspection robot and a conversion matrix from the positioning position of the reference base station to the working coordinate system. The method comprises six basic steps of calculating an optimal inspection path and performing inspection navigation, in the process, a central processing unit performs extended Kalman filtering fusion on data transmitted by a Beidou module, an encoder and an inertial measurement unit, and a Monte Carlo positioning algorithm is combined at the same time, and a fused pose is used as a particle reference for sampling. According to the invention, the intelligent inspection robot can complete accurate autonomous navigation in an open environment, and the positioning accuracy requirement of the intelligent inspection robot in some sheltered environments is ensured, so that the navigation requirement in a complex environment is met.

Description

technical field [0001] The invention belongs to the technical field of substation intelligent inspection, and in particular relates to a positioning method for an intelligent inspection robot based on the Beidou navigation system. Background technique [0002] In recent years, with the wide application of Beidou navigation system with completely independent intellectual property rights in my country and the rapid development of artificial intelligence technology, intelligent inspection robots rely on their powerful and reliable positioning navigation and intelligent identification technology, gradually replacing manpower as substation inspection In this process, more and more substations have adopted the positioning method of intelligent inspection robots based on the Beidou navigation system. [0003] There are many specific implementation methods for the positioning method of intelligent inspection robots based on the Beidou navigation system, but generally speaking, they a...

AI Technical Summary

Problems solved by technology

[0011] The above algorithm can give the optimal pose estimation when the surrounding environment features are rich and the intelligent inspection robot is running smoothly. However, the above algorithm also has some defects. Mis-matching caused by fast speed, interference between moving objects and transparent objects, etc. For example, in an open environment, the surrounding environment has fewer features, which will directly lead to errors in the estimated pose of the intelligent inspection robot.

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