Inertial positioning method and device, robot and electronic equipment

Abstract

The invention provides an inertial positioning method and device, a robot and electronic equipment, and belongs to the technical field of navigation.The method comprises the steps that continuous sampling is conducted on a main IMU and an auxiliary IMU installed on target equipment; respectively carrying out smoothing processing on each IMU data stream in the sampled original data; respectively performing error compensation on each IMU data stream; performing time and space alignment on each IMU data stream; and based on the reliable data information, performing data fusion on the IMU data streams, and performing attitude calculation on a fusion result to obtain current position information. Therefore, the plurality of IMUs are installed at different positions of the carrier to capture the IMU data from different directions, and the current position information is solved by utilizing complementarity of the IMU data at different positions and through smoothing, alignment, correction and fusion processing, so that the offset error of the IMU at a single position is improved, and the positioning precision and stability are greatly improved.

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