The invention discloses a complex area tour
robot positioning, navigation and time service method under non GPS condition. The method comprises the following steps: establishing a fine magnetic map ofa tour area in advance, using an INS (
inertial navigation system) for track conjecture, giving the current position of a
robot, measuring the terrestrial
magnetism characteristic quantity of a
magnetic field at the current position measured by a carried terrestrial
magnetism sensor, finding the terrestrial
magnetism data characteristic quantity of a corresponding area in the fine magnetic map,
coupling the terrestrial magnetism data characteristic quantity with the terrestrial magnetism data characteristic quantity measured at the current position to obtain the position given by the terrestrial magnetism coupled navigation, and using an expansion
Kalman filter for fusing the state processes of the
inertial navigation system and the terrestrial magnetism coupled navigation to obtain the accurate position information. The
image capture is carried out by the visual sensor carried by a
robot, the collected image is coupled, the position and attitude of the tour robot can be obtained, theunscented
Kalman filter is used for fusing the state processes of two accurate positions, and the accurate and trusted position information is obtained.