超声波与航迹推算融合的智能轮椅定位方法

Intelligent wheelchair positioning method based on ultrasonic and track reckoning fusion

针对智能轮椅自主导航中的定位问题,提出了一种适用于室内环境下的智能轮椅定位方法。该方法首先在室内合适位置安置两个超声波发射器,在轮椅上安置超声波接收器阵列,通过空间几何算法和坐标变换原理实现轮椅的初步定位,然后对传统的航迹推算方法进行改进,提高轮椅相对定位的精度,最后采用卡尔曼滤波将2种定位方法进行融合。仿真实验结果表明,该方法比单独使用绝对定位或相对定位的精度要高许多,能够满足轮椅在大面积房间内长时间较准确的定位。

Aiming at the positioning of intelligent wheelchair navigation, this paper presents an intelligent wheelchair positioning method which is suitable for indoor environment. The method achieves the initial positioning of the wheelchair by spatial geometric algorithm and coordinate transformation, and the ultrasonic receiver array disposed in the wheelchair and two ultrasonic emitters placed in indoor proper position. Then the traditional track reckoning method is improved to improve the accuracy of relative positioning. At last, the Kalman filtering is used to fuse the two positioning methods. The simulation results show that the accuracy of this method is higher than individual ab- solute positioning or relative positioning, and it can achieve more accurate positioning of the wheelchair for a long time in the large area of the indoor environment.