摘要
采用载波相位差分GPS为多移动机器人系统提供定位导航,利用串口和无线网络通讯构成一对多的数据链,转发基站改正数信号,利用里程计和GPS数据加权融合,消除GPS数据中的粗差,然后通过最小二乘估计确定机器人的位置,经实验,此方法可以使多机器人系统实现0.5米的定位精度。
RTK-GPS is used for navigation of multi-robot system,data of base receiver is transfered by serial communication and wireless local area network to multiple mobile receivers,gross error in data of RTK-GPS is eliminated by milemeter in manner of weighted fusion algorithm,then robots accomplish localization by these data in manner of least square algorithm,the experiment results show that the localization accuracy is 0.5 meter.
出处
《沈阳航空工业学院学报》
2006年第5期52-55,共4页
Journal of Shenyang Institute of Aeronautical Engineering
