基于改进IMM-UKF算法的一种融合航迹推演的红外路标室内定位方法

发布时间：2019-02-08 21:19

【摘要】：在结构化环境中,针对室内机器人导航对精度和实时性的要求,在一种新型红外路标定位方法的基础上,为满足全局导航的需要并简化硬件结构,提出一种融合航迹推演的红外路标室内定位方法,将单个大功率红外发射管作为路标,移动机器人上的红外摄像头作为接收传感器,融合采用改进的交互多模型无迹卡尔曼滤波(interacting multiple models unscented Kalman filter,IMM-UKF)算法。将融合航迹推演的红外路标室内定位方法和一般的定位方法做了比较,并将融合所采用改进的IMM-UKF算法与一般的融合算法做了比较。实验结果表明,提出的基于改进IMM-UKF算法的融合航迹推演的红外路标室内定位方法获得了比一般的定位方法更快的定位速度和更高的定位精度,且改进IMM-UKF算法比一般融合算法获得的定位精度更高。
[Abstract]:In order to satisfy the need of global navigation and simplify the hardware structure, in order to meet the needs of global navigation and to meet the requirements of indoor robot navigation for accuracy and real-time, a new infrared road sign location method is proposed in the structured environment. In this paper, an indoor positioning method of infrared road signs is proposed, in which a single high-power infrared transmitting tube is used as a road marker, and an infrared camera on a mobile robot is used as a receiving sensor. The improved interactive multi-model unscented Kalman filter (interacting multiple models unscented Kalman filter,IMM-UKF) algorithm is used in the fusion. This paper compares the indoor location method of infrared road sign with that of common location method, and compares the improved IMM-UKF algorithm with the general fusion algorithm. The experimental results show that the proposed indoor location method of infrared landmarks based on improved IMM-UKF algorithm has faster speed and higher positioning accuracy than other methods. The improved IMM-UKF algorithm is more accurate than the conventional fusion algorithm.
【作者单位】：天津大学机械工程学院;重庆邮电大学国家信息无障碍工程研发中心;
【基金】：科技部国际合作项目(2010DFA12160) 重庆市教委科学技术研究项目(CSTC2015jcyjBX0066)~~
【分类号】：TN219;TP242

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