基于多传感器的斜坡路面上自主跟随定位方法

Autonomous Following Positioning Method on Slope Road Based on Multi-sensor

由于路面的坡度,跟随机器人在定位移动目标时会出现定位不准确或无法定位的问题,由此提出一种基于多传感器信息融合的定位方法。该方法利用三角定位法计算每个信号源空间坐标,通过多传感器信息融合的方式,计算已知的任意3个信号源空间坐标,得出多个移动目标中心坐标,最后采用最小二乘逼近计算出移动目标准确中心坐标及实时运动姿态。实验结果表明,该方法对斜坡路面移动目标定位精度为±41 mm,满足定位系统使用要求。

Aiming at the problem of inaccurate or impossible positioning due to the slope of the road when the following robot locates the moving target,a positioning method based on multi-sensor information fusion is proposed.The method first uses the triangulation method to calculate the spatial coordinates of each signal source.Then,by means of multi-sensor information fusion,the spatial coordinates of any three known signal sources are calculated,and the center coordinates of multiple moving targets are obtained.Finally,the least squares approximation is used to calculate the exact center coordinates and real-time motion pose of the moving target.The experimental results show that the method has a positioning accuracy of±41mm for the moving target on the slope road,which meets the requirements of the positioning system.