变电站巡检机器人组合导航实验

Experiment of Integrated Navigation Algorithm of Substation Inspection Robot

巡检机器人应用于变电站的巡检工作,可提高变电站的智能化程度。导航和控制是机器人自主运行的重要组成部分,利用信息融合技术可在一定程度上弥补单个传感器在精确度和稳定性方面的缺陷,提高系统实用性。设计了系统的硬件平台以及相应的Kalman组合导航滤波算法,并进行了测试,结果表明,通过对GPS和INS进行信息融合,可提高导航的稳定性。

Using the robot for the inspection work can improve the intelligence of the substation. Navigation and control are necessary for robot＇s autonomous operation, and some defects in accuracy and stability of single sen- sor are overcome by using the information fusion technology, which can improve the availability of the system. Hardware system configuration and Kalman integrated with experiments. It shows that the proposed algorithm sion technology to process data of GPS and IMU. navigation filtering algorithm are designed and tested can improve the stability of navigation by using the fu-