基于自适应Neville插值的野外移动机器人GPS定位  

GPS Localization of Field Mobile Robots Based on Adaptive Neville Interpolation

作　　者：吴晗林 高兴华[1] 刘晓飞 陈园林 WU Hanlin;GAO Xinghua;LIU Xiaofei;CHEN Yuanlin(Mechanics Engineering College of Beihua University,Jilin 132021,China;Beijing Sineva Technology,Beijing 100176,China)

机构地区：[1]北华大学机械工程学院,吉林吉林132021 [2]北京欣奕华数字科技有限公司,北京100176

出　　处：《北华大学学报（自然科学版）》2024年第1期136-140,共5页Journal of Beihua University（Natural Science）

基　　金：吉林省科技发展计划项目(20220203179SF)。

摘　　要：为满足野外移动机器人定位精度及计算轻量化需要,提出一种自适应插值算法。采用Neville插值法对GPS采集的数据进行增补,减少数据稀疏、丢失等对定位的影响。根据机器人状态动态调整插值次数,适应复杂环境,降低计算单元成本,提升了鲁棒性、实时性和响应性,为野外移动机器人定位提供了一种经济高效且可靠稳定的解决方案。野外试验结果显示,采用本文方法,机器人的定位精度有了显著提高。In order to meet the demand for positioning accuracy and computational lightweighting of field mobile robots,Neville interpolation is used to supplement GPS acquisition data to reduce the impact of data sparsity and loss on localization,etc.The results of the field test show that the robot positioning accuracy has been significantly improved,but there are problems such as inefficiency,low adaptability and high computational overhead.An adaptive interpolation algorithm is proposed to dynamically adjust the number of interpolation times according to the robot state,which is more adaptive to complex environments,reduces the cost of computational units,improves the robustness,real-time and responsiveness,and provides a cost-effective,reliable and stable solution for the localization of mobile robots in the field.

关 键 词：GPS Neville插值 移动机器人 定位精度 

分 类 号：TN967.1[电子电信—信号与信息处理] P228.4[电子电信—信息与通信工程]