| 基于超宽带和航位推算的室内机器人UKF定位算法 |
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| 引用本文： | 王芳,李楠,刘汝佳,吕翀.基于超宽带和航位推算的室内机器人UKF定位算法[J].导航定位于授时,2017,4(2):26-30. |
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| 作者姓名： | 王芳 李楠 刘汝佳 吕翀 |
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| 作者单位： | 航天科工智能机器人有限责任公司,北京,100074 |
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| 摘 要： | 超宽带是一种传输速率快、功耗低的新型无线通信技术,可提供亚米级定位精度,近年来超宽带定位在机器人领域的应用日益广泛。在超宽带信号有效区域边缘或信号受到遮挡时,超宽带定位精度急剧下降。为此提出了一种基于超宽带定位和航位推算的UKF组合定位方法,可有效克服上述问题,从而为室内机器人定位提供一种稳定可靠的解决方案。
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| 关 键 词： | 机器人 定位 UKF 超宽带 航位推算 |
Indoor Robot UKF Localization Algorithm
Based on UWB and DR |
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| WANG Fang,LI Nan,LIU Ru-jia and LV Chong.Indoor Robot UKF Localization Algorithm
Based on UWB and DR[J].Navigation Positioning & Timing,2017,4(2):26-30. |
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| Authors: | WANG Fang LI Nan LIU Ru-jia and LV Chong |
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| Institution: | Aerospace Science & Industry Intelligent Robot Company Limited,Aerospace Science & Industry Intelligent Robot Company Limited,Aerospace Science & Industry Intelligent Robot Company Limited and Aerospace Science & Industry Intelligent Robot Company Limited |
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| Abstract: | UWB (Ultra Wide Band) is a new type of wireless communication technology with characteristics of rapid transmission, low power consumption and so on. By means of UWB,
sub-meter
level positioning can be achieved. Recently, positioning based on UWB has been widely used in the field of robots. Given that the positioning accuracy decreases rapidly at the edge of effective area of UWB, or in the situation of the signal block, a new method of UKF(Unscented Kalman Filter) combined positioning based on UWB and dead reckoning is proposed. It affords a stable and reliable approach for indoor robot localization for the sake of overcoming the shortcomings of UWB positioning mentioned above. |
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| Keywords: | Robot Localization UKF UWB DR |
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