基于改进IEKF的室内移动机器人定位算法研究

该文提出一种基于改进IEKF的室内移动机器人定位算法。该算法通过基于新息的协方差估计器自适应实时调整状态噪声和观测噪声;引入遗忘因子调整误差预测协方差矩阵,提高观测数据的利用率,消除旧数据累积误差对系统的影响;采用Levenberg-Marquardt(LM)方法优化IEKF的迭代过程。最后,以两轮差分移动机器人为研究对象,对仿真结果进行验证。仿真结果表明,所提定位算法收敛性好,定位精度高。

With the continuous popularization and application of digital technology in engineering construction,BIM technology has become an important means to create excellence in project engineering.Taking the application of BIM technology in Yunda Riverside Plaza project as the carrier,and taking the whole process of excellent planning,model guidance,process control,acceptance and award as the axis,this paper explores the method of BIM technology to help the project to create excellence,and expounds the positive role of BIM technology in the process of establishing"National Construction Project Construction Site Safety Production Standardization Learning Exchange Project".The purpose of this paper is to provide practical reference significance for BIM technology to help the project to create excellence in the future.