摘要
针对煤矿救灾机器人自主定位的要求,对比分析了多传感器信息融合技术的常用方法,结合传感器的选取,确定了卡尔曼滤波算法的信息融合方法,采用基于多传感器信息融合的航迹推算法对机器人进行定位。仿真结果表明,采用基于多传感器信息融合的航迹推导法,其航迹推导作为机器人自主定位具有合理性,能达到煤矿救灾机器人的基本定位要求。
For the self-location requirements of the coal mine rescue robot, the comparative analysis of the common methods for multi-sensor information converge is given. By combining the choose of the sensors, the Kalman filter algorithm is determined as the self-location information fusion method. Based on the latitude sailing derivation of multi-sensor information converge, the latitude sailing derivation has the reasonable meaning as the robot self-location, which achieves the basic locating requirements of rescue robot when mine accidents happen.
出处
《煤矿机电》
2015年第1期22-26,共5页
Colliery Mechanical & Electrical Technology
