基于EKF算法的多传感器定位仪设计  

Design of multi-sensor locator based on EKF algorithm

作　　者：杜正聪 吴松 黎安庆 李松 DU Zhengcong;WU Song;LI Anqing;LI Song(Academy of Information Technology,Xichang University,Xichang 615000,China;Sichuan Jiuzhou Electric Appliance Group,Mianyang 621000,China)

机构地区：[1]西昌学院信息技术学院,四川西昌615000 [2]四川九洲电器集团有限责任公司,四川绵阳621000

出　　处：《传感器与微系统》2024年第6期98-100,104,共4页Transducer and Microsystem Technologies

基　　金：四川省科技计划资助项目(22ZDYF2967);凉山州科技计划重点研发资助项目(21ZDYF0209)。

摘　　要：针对室内机器人定位难题,提出使用全向轮、编码器配合惯性测量单元(IMU)进行组合定位的方法。分析了定位仪的工作原理,介绍了定位仪硬件系统的设计,引入扩展卡尔曼滤波(EKF)算法,对多个测量数据进行融合滤波。经现场实验表明:在10 m×10 m范围内进行定位,直线运动误差在20 mm以内,随机运动误差在50 mm以内,定位频率可达20 Hz,满足机器人运动控制要求。Aiming at the difficult problem of indoor robot positioning,a combined positioning method using omni-directional wheel,encoder and inertial measurement unit(IMU)is proposed.Operation principle of the locator is analyzed,the design of the locator hardware system is introduced,and the extended Kalman filtering(EKF)algorithm is introduced,multiple measurement data are fused and filtered.The field experiment shows that within the positioning range of 10 m×10 m,the linear motion error is less than 20 mm,the random motion error is less than 50 mm,and the positioning frequency can reach 20 Hz,which meets the requirements of robot motion control.

关 键 词：组合定位 全向轮 编码器 惯性测量单元 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]