改进粒子滤波的军用机器人室内定位方法  

Indoor Positioning Method of Military Robot Based on Improved Particle Filter

作　　者：朱润驰 王洪源[1] 陈慕羿[1] ZHU Runchi;WANG Hongyuan;CHEN Muyi(Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学信息科学与工程学院,沈阳110159

出　　处：《沈阳理工大学学报》2021年第4期18-22,28,共6页Journal of Shenyang Ligong University

基　　金：辽宁省教育厅科学研究经费项目(LG201932)。

摘　　要：针对复杂室内条件下军用机器人的超宽带(UWB)定位系统易受非视距(NLOS)影响的问题,提出一种改进粒子滤波定位模型。在原有标准算法基础上,增加优化重采样粒子与马克可夫链蒙特卡洛(MCMC)算法步骤,解决在非线性系统中粒子滤波算法出现的样本贫化问题;设计UWB定位模块,通过多组实验对算法进行验证。结果表明,在非视距的环境中使用该改进算法能够有效提高UWB系统定位精度,满足军用机器人的室内定位需求。Aiming at the problem that the military robot′s ultra-wideband(UWB)positioning system is susceptible to non-line-of-sight(NLOS)under complex indoor conditions, an improved particle filter positioning model is proposed. On the basis of the original standard algorithm, the optimized resampled particles and Markov Chain Monte Carlo(MCMC)algorithm steps are used to solve the sample dilution problem of the particle filter algorithm in nonlinear systems. The UWB positioning module is designed, and the algorithm verified by multiple sets of experiments shows that the improved algorithm effectively improves the positioning accuracy of the UWB system in the NLOS environment and meets the requirements of military robots for indoor positioning.

关 键 词：军用机器人 超宽带 非视距 改进粒子滤波 

分 类 号：TN925[电子电信—通信与信息系统]