WANG Yaoshan,ZHU Yi,LU Jun,et al.A Navigation Method based on System Stability and Correctness[J].Journal of Chengdu University of Information Technology,2019,(02):105-111.[doi:10.16836/j.cnki.jcuit.2019.02.001]
一种基于系统稳定性和正确性的定位导航方法研究
- Title:
- A Navigation Method based on System Stability and Correctness
- 文章编号:
- 2096-1618(2019)02-0105-07
- Keywords:
- robot; monocular vision; indoor positioning; multi-sensor; data fusion
- 分类号:
- TP391.7
- 文献标志码:
- A
- 摘要:
- 针对室内无卫星定位下的移动机器人定位导航问题,采用多传感器结合单目视觉定位的方式,提出两种基于系统稳定性和正确性的数据融合策略。通过模拟实验,引入误差系数,比较在不同误差系数下得到的导航路径,证明正确性和稳定性相结合的融合策略最优。
- Abstract:
- Aiming at the problem of positioning and navigation of mobile robots without satellite positioning in indoor, multi-sensor combined with camera calibration is adopted, and two data fusion strategies based on system stability and correctness are proposed. Finally, through the simulation experiment, and introducing the error coefficient, the navigation path obtained under different error coefficients is compared. Finally, it is proved that the combination strategy of correctness and stability is optimal.
参考文献/References:
[1] 谭民.王硕.机器人技术研究进展[J].自动化学报,2013,39(7):963-972.
[2] 李群明,熊蓉,褚健.室内自主移动机器人定位方法研究综述[J].机器人,2003,25(6):560-567.
[3] Ohnishi N,Imiya A.Appearance-based navigation and homing for autonomous mobile robot[J].Image and Vision Computing,2013,31(6-7):511-532.
[4] Colle E, Galerne S. Mobile robot localization by multiangulation using seting inversion [J].Robotics and Autonomous Systems,2013,61(1):39-48.
[5] YANG Chouchang,SHAO Huairong.WiFi-based Indoor Positioning[J].IEEE Communications Magazine:Articles,News,and Events of Interest to Communications Engineers,2015,53(3):150-157.
[6] ZOU H,JIANG H,LU X,et al.An Online Sequential Extreme Learning Machine Approach to WiFi Based Indoor Positioning [C].Internet of Thing[S.I.]:IEEE,2014:111-116.
[7] TORTEEKS P,XIU C.Indoor Positioning Based on WiFi Fingerprint Technique Using Fuzzy K-nearest Neighbor[C].International Bhurban Conference on Applied Sciences and Technology.[S.I]:IEEE,2014:461-465.
[8] NADEEM U,HASSAN N U,PASHA M A,et al.Highly Accurate 3D Wireless Indoor Positioning System Using White LED Lights[J].Electronics Letters,2014,50(11):828-830.
[9] YASIR M,HO S W,VELLAMBI B N.Indoor Positioning System Using Visible Light and Accelerometer[J].Journal of Lightwave Technology,2014,32(19):3306-3316.
[10] KOK M,HOL J D,SCHON T B.Indoor Positioning Using Ultrawideband and Inertial Measurements[J].IEEE Transactions on Vehicular Technology,2015,64(4):1293-1303.
[11] 陈国良,张言哲,汪云甲,等.WiFi-PDR 室内组合定位的无迹卡尔曼滤波算法[J].测绘学报,2015,44(12):1314-1321.
[12] 刘亚辉.基于线性回归的蓝牙室内定位算法[J].科技资讯,2018(3):1672-3791.
[13] 梅峰.基于RGB-D深度相机的室内场景重建[J].中国图象图形学报,2015,10:1006-8961.
[14] 高如新.基于ORB算法的双目视觉定位[J].电子测量技术,2017(4):32.
[15] 朱永丰.基于ORB算法的单目视觉定位算法研究[J].计算机科学,2016,43(6A):198-202.
[16] 梅妍玭,傅荣.基于openMV的小车定位系统研究[J].扬州职业大学学报,2017,21(4):46-48.
[17] 王凡.智能车辆中基于GPS和陀螺仪的导航与定位[D].北京:北京工业大学,2013.
[18] 谭云籍.基于多传感器的图书馆辅助还书机器人设计与实现[D].成都:成都信息工程大学,2018.
备注/Memo
收稿日期:2018-07-16 基金项目:四川省科学技术厅重点资助项目(2017GZ0324); 四川省教育厅自然科学重大培育资助项目(17CZ0007)