基于导航信息双向融合的行人/移动机器人协同导航方法  

Pedestrian/mobile robot cooperative navigation method based on navigation information bidirectional fusion

作　　者：钱伟行[1] 彭晨[1] 田恩刚[1] 李荣冰[2] 

机构地区：[1]南京师范大学电气与自动化工程学院,南京210042 [2]南京航空航天大学自动化学院,南京210016

出　　处：《中国惯性技术学报》2014年第1期74-78,共5页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61304227;61273057;60904091);江苏省高校自然科学基金(13KJB590001;12KJB470011)

摘　　要：为提高卫星导航系统失效且环境存在电磁干扰的情况下行人导航系统与移动机器人导航系统的定位性能,研究了一种基于人机一体化智能系统的信息双向融合协同导航方法。该方法利用行人导航系统与移动机器人导航系统不同的误差特性,构建信息双向融合滤波器同步修正两者的导航信息误差,即利用移动机器人捷联惯导系统较高的传感器精度完成对行人导航系统磁航向误差的实时修正,并利用行人导航系统较高的位移精度修正机器人惯导系统误差,实现同步提高两套导航系统的定位与航向精度。导航定位实验表明,该方法可有效提高人机一体化智能系统的导航定位精度,行人导航系统定位误差约为行进距离的3.3%,移动机器人导航系统的误差积累速度降低为单独工作时的1/3。本文所提出的方法利用了人机一体化智能系统的结构特征,在卫星导航系统失效的电磁干扰环境中有效提高了一体化系统的综合导航定位性能,具有较高的理论研究与工程应用价值。In order to improve the positioning precision of pedestrian navigation system and mobile robot navigation system in eletromagnetic interference environment, an information bidirectional fusion cooperative navigation method based on human-machine intelligent system is studied. The method utilizes the different error characteristics of pedestrian navigation system and mobile robot strapdown inertial navigation system（SINS） to build information bidirectional fusion filters for correcting the errors of two navigation systems synchronously. The method makes use of the high-accuracy sensors of mobile robot SINS to complete real-time modify of magnetic heading error in pedestrian navigation system, and use the high displacement accuracy of pedestrian navigation system to correct inertial navigation system errors in robot to improve the positioning and heading accuracy of two navigation systems synchronously. Experiments results show that the positioning error of pedestrian navigation system is about 3.3% of the walking distance, and the system error accumulation rate of mobile robot SINS is reduced to 1/3 of the rate when working alone. The studied method can effectively improve the navigation and positioning accuracy of the human-machine intelligent system in eletromagnetic interference environment, and has high theoretical research and engineering application value.

关 键 词：人机一体化智能系统 协同导航 信息双向融合 磁航向误差 零速修正 

分 类 号：U666.1[交通运输工程—船舶及航道工程]