消防机器人GPS导航系统的精度提高方案

Enhanced accuracy method for GPS/INS in fire robot

本文介绍了工作在特殊环境下的机器人导航系统,实现了利用罗盘和里程计等内部传感器对GPS定位误差的修正。文章给出了消防机器人导航的主要算法流程,以及利用改进自适应卡尔曼滤波器实现多传感器信息融合。

This paper presents a navigation system on the robot working in special environment, and enhances the accuracy of GPS with compass and inner-odometer. The main algorithm of positioning and fusion of multi-sensor, which employs developed adaptive Kalman filter, are described.