CN106052684B - 采用多模式描述的移动机器人imu/uwb/码盘松组合导航系统及方法 - Google Patents
采用多模式描述的移动机器人imu/uwb/码盘松组合导航系统及方法 Download PDFInfo
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- CN106052684B CN106052684B CN201610436800.7A CN201610436800A CN106052684B CN 106052684 B CN106052684 B CN 106052684B CN 201610436800 A CN201610436800 A CN 201610436800A CN 106052684 B CN106052684 B CN 106052684B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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CN201610436800.7A CN106052684B (zh) | 2016-06-16 | 2016-06-16 | 采用多模式描述的移动机器人imu/uwb/码盘松组合导航系统及方法 |
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CN201610436800.7A CN106052684B (zh) | 2016-06-16 | 2016-06-16 | 采用多模式描述的移动机器人imu/uwb/码盘松组合导航系统及方法 |
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CN106052684A CN106052684A (zh) | 2016-10-26 |
CN106052684B true CN106052684B (zh) | 2023-07-11 |
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Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106569493B (zh) * | 2016-11-03 | 2020-02-14 | 中国科学院深圳先进技术研究院 | 一种基于脉冲超宽带技术的agv集群定位方法及agv调度方法 |
CN107436444A (zh) * | 2017-06-23 | 2017-12-05 | 北京机械设备研究所 | 一种车载多模式组合导航系统及方法 |
CN108827318A (zh) * | 2018-08-20 | 2018-11-16 | 中科物栖(北京)科技有限责任公司 | 无人机室内定位方法及装置 |
CN109764865B (zh) * | 2019-01-25 | 2022-11-04 | 北京交通大学 | 一种基于mems和uwb的室内定位方法 |
CN109931958B (zh) * | 2019-03-27 | 2020-12-08 | 中国矿业大学 | 一种基于uwb采煤机工作面端头校准装置及方法 |
CN110132270B (zh) * | 2019-06-13 | 2021-08-31 | 深圳汉阳科技有限公司 | 自动扫雪装置定位方法 |
CN110686671B (zh) * | 2019-09-29 | 2021-11-09 | 同济大学 | 基于多传感器信息融合的室内3d实时定位方法及装置 |
CN110764506B (zh) * | 2019-11-05 | 2022-10-11 | 广东博智林机器人有限公司 | 移动机器人的航向角融合方法、装置和移动机器人 |
CN111121754A (zh) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | 移动机器人定位导航方法、装置、移动机器人及存储介质 |
CN112833876B (zh) * | 2020-12-30 | 2022-02-11 | 西南科技大学 | 一种融合里程计与uwb的多机器人协作定位方法 |
CN113670318B (zh) * | 2021-08-17 | 2024-04-16 | 中国科学院空天信息创新研究院 | 协同定位方法及定位系统 |
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CN103148855A (zh) * | 2013-02-27 | 2013-06-12 | 东南大学 | 一种ins辅助的室内移动机器人无线定位方法 |
CN104864865A (zh) * | 2015-06-01 | 2015-08-26 | 济南大学 | 一种面向室内行人导航的ahrs/uwb无缝组合导航方法 |
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US9423509B2 (en) * | 2010-06-25 | 2016-08-23 | Trusted Positioning Inc. | Moving platform INS range corrector (MPIRC) |
CN102928816B (zh) * | 2012-11-07 | 2014-03-12 | 东南大学 | 一种面向隧道环境的车辆高可靠组合定位方法 |
CN104613982B (zh) * | 2015-01-28 | 2017-09-22 | 齐鲁工业大学 | 一种室内组合导航仿真验证系统 |
CN105509739B (zh) * | 2016-02-04 | 2018-04-06 | 济南大学 | 采用固定区间crts平滑的ins/uwb紧组合导航系统及方法 |
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CN103148855A (zh) * | 2013-02-27 | 2013-06-12 | 东南大学 | 一种ins辅助的室内移动机器人无线定位方法 |
CN104864865A (zh) * | 2015-06-01 | 2015-08-26 | 济南大学 | 一种面向室内行人导航的ahrs/uwb无缝组合导航方法 |
Non-Patent Citations (3)
Title |
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Cooperative Localization Using a Foot-mounted Inertial Navigation System and Ultrawideband Ranging;Fredrik Olsson 等;2014 International Conference on Indoor Positioning and Indoor Navigation;122-131 * |
Siyuan MA,et al..2016 10th International Conference on Software, Knowledge, Information Management & Applications (SKIMA).2016,全文. * |
WiFi-PDR室内组合定位的无迹卡尔曼滤波算法;陈国良;张言哲;汪云甲;孟晓林;;测绘学报(第12期);全文 * |
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