自主移动机器人定位系统中Kalman滤波算法改进  

Improved Kalman filter algorithm in positioning system for autonomous mobile robot

作　　者：曾健平[1] 王保同[1] 谢海情[1] 

机构地区：[1]湖南大学物理与微电子科学学院,长沙410082

出　　处：《计算机应用研究》2011年第5期1710-1712,共3页Application Research of Computers

基　　金：湖南省自然科学基金资助项目(09JJ5041);湖南省科技计划资助项目(2008FJ3123)

摘　　要：为了解决常规Kalman滤波算法在移动机器人定位过程中运算量大、精度不高的问题,在分析传统Kal-man滤波器缺点的基础上,提出了一种基于U-T参数变换的方法对常规Kalman滤波算法进行了改进。改进后的Kalman滤波算法消减了传统Kalman滤波器高阶项无法忽略而带来的误差。实验结果表明,改进型的Kalman滤波算法使机器人的最大位置偏差得到减小,对移动机器人的定位精度有明显改善。误差仿真曲线表明,改进后的定位结果误差波动不明显,使定位系统的稳定性得到了较大提高。In order to solve the problem that the large amount of computation and low accuracy of Kalman filtering algorithm to the conventional mobile robot localization process,according to the analysis of the traditional Kalman filter,this paper gave a method of improving the conventional Kalman filter by U-T parameter transformation,the improved Kalman filtering algorithm reduced the error that brought by the traditional Kalman filter which could not ignore the high-end items.The experimental results show that the maximum position deviation was reduced by the improved Kalman filtering algorithm.The accuracy of the mobile robot positioning has been significantly improved.Error simulation curve shows the results of the improved positioning error deviation is not obvious,the stability of the positioning system has been greatly improved.

关 键 词：KALMAN滤波器 U-T变换 移动机器人 定位系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]