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Multi-robot cooperative positioning method based on UWB and IMU fusion

A collaborative positioning and multi-robot technology, applied in location information-based services, instruments, surveying and mapping, and navigation, etc., can solve problems such as limited positioning range, inability to locate, and data loss

Active Publication Date: 2022-05-27
新基线(江苏)科技有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

In the prior art, the UWB-based positioning system has a very limited positioning range due to the installation of a fixed UWB base station, and due to the NLOS (Non Line of Sight, non-line-of-sight) error, the UWB tag will cause data loss when it is blocked. instead of locating

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  • Multi-robot cooperative positioning method based on UWB and IMU fusion
  • Multi-robot cooperative positioning method based on UWB and IMU fusion
  • Multi-robot cooperative positioning method based on UWB and IMU fusion

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Embodiment Construction

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] The embodiment of the present invention provides a multi-robot cooperative positioning method based on the fusion of UWB and IMU. see figure 1 , figure 1 This is a flowchart of a multi-robot co-location method based on the fusion of UWB and IMU provided by an embodiment of the present invention. The method is applied to a target robot among multiple robots of a multi-robot co-location system, the target robot is any one of t...

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Abstract

The invention discloses a multi-robot cooperative positioning method based on UWB and IMU fusion, and relates to the technical field of indoor positioning. Acquiring predicted coordinates of the target robot and other robots through IMU modules of the target robot and other robots, and calculating the distance between the target robot and other robots as a first distance; taking the UWB module of the target robot as a positioning label, taking the UWB modules of other robots as positioning base stations, and measuring the distance between the target robot and other robots as a second distance; determining a target distance according to the second distance and the first distance corresponding to the second distance; and determining position information of the target robot according to the plurality of target distances and a preset positioning algorithm. The UWB module of the robot is used as a positioning base station, the positioning range can be flexibly changed along with the movement of the robot, and the actual measurement distance and the estimated distance are used for positioning, so that the influence of NLOS on positioning is reduced.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a multi-robot cooperative positioning method based on the fusion of UWB and IMU. Background technique [0002] With the development of sensor and robot technology, the demand for indoor autonomous mobile robot positioning solutions is getting higher and higher. In recent years, sensors widely used in indoor positioning include lidar, camera, IMU (Inertial Measurement Unit, inertial measurement unit), encoder, UWB (Ultra Wide Band, ultra-wideband technology), ultrasonic and so on. UWB integrates wireless communication and real-time perception and positioning. Compared with other indoor positioning technologies, UWB has the advantages of high transmission rate, extremely wide bandwidth, low power consumption, low radiation, strong anti-interference ability, and high positioning accuracy. High cost performance. [0003] The UWB-based positioning system measures the real...

Claims

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Application Information

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IPC IPC(8): H04W4/02G01C21/20G01C21/16
CPCH04W4/023G01C21/206G01C21/1652Y02D30/70
Inventor 黄政杰吴元清席星江向民王维钢钟文键李俊王尧欣
Owner 新基线(江苏)科技有限公司
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