面向巡检机器人多源融合鲁棒定位与高逼真仿真方法

Multi-source Fusion Robust Positioning and High-fidelity Simulation Method for Inspection Robots

针对电网中测试巡检机器人导航定位算法存在的系统安全问题以及潜在风险,提出面向巡检机器人的多源融合鲁棒定位与高逼真仿真方法。首先,基于虚幻引擎搭建适用于导航定位算法测试的智能电网仿真平台;然后,设计基于一致性检验原理的鲁棒多源融合导航算法;最后,通过仿真实验证明智能电网仿真平台和鲁棒多源导航算法的有效性,为后续研究奠定了基础。

Aiming at the system security problems and potential risks existed in the navigation and positioning algorithm of test and inspection robot in power grid,a multi-source fusion robust positioning and high-fidelity simulation method for inspection robots is proposed. Firstly,based on unreal engine,a smart grid simulation platform is built which is suitable for navigation and positioning algorithm testing. Secondly,a robust multi-source fusion navigation algorithm based on the principle of consistency detection module is designed. Finally,simulation experiments prove the effectiveness of smart grid simulation platform and robust multi-source navigation algorithm,which lays a foundation for subsequent research.