摘要
针对移动机器人室外环境下的定位问题,提出一种惯导/GPS的组合定位算法。通过高斯-克吕格坐标投影,将机器人的地理位置坐标转换为直角坐标系坐标,利用EKF滤波融合传感器信息进行组合定位,基于STM32开发平台搭建移动机器人硬件平台进行实验,并用MATLAB软件仿真对比,实验和仿真结果表明:该组合定位算法具有较高的定位精度。
To cope with the positioning problem of mobile robots in outdoor environments,a combined inertial navigation/GPS positioning algorithm is proposed.Through Gauss-Krüger coordinate projection,the robots’geographic location coordinates are converted to rectangular coordinate system coordinates,EKF filter is used to fuse sensor information for combined positioning,and based on the STM32 development platform,the mobile robot hardware platform is built for experiments,with which simulation comparison is performed by MATLAB with the results showing that the proposed combined positioning algorithm has high positioning accuracy.
作者
赵毅
聂晓根
方少东
吴浩鑫
ZHAO Yi;NIE Xiaogen;FANG Shaodong;WU Haoxin(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)
出处
《机械制造与自动化》
2023年第1期173-176,共4页
Machine Building & Automation
基金
国家自然科学基金项目(61801122)。
关键词
移动机器人
高斯投影
EKF滤波
组合定位
mobile robot
Gaussian projection
EKF filter
combined positioning
