CN107219542B - 基于gnss/odo的机器人双轮差速定位方法 - Google Patents
基于gnss/odo的机器人双轮差速定位方法 Download PDFInfo
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- CN107219542B CN107219542B CN201710245625.8A CN201710245625A CN107219542B CN 107219542 B CN107219542 B CN 107219542B CN 201710245625 A CN201710245625 A CN 201710245625A CN 107219542 B CN107219542 B CN 107219542B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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CN201710245625.8A CN107219542B (zh) | 2017-04-14 | 2017-04-14 | 基于gnss/odo的机器人双轮差速定位方法 |
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CN201710245625.8A CN107219542B (zh) | 2017-04-14 | 2017-04-14 | 基于gnss/odo的机器人双轮差速定位方法 |
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CN107219542A CN107219542A (zh) | 2017-09-29 |
CN107219542B true CN107219542B (zh) | 2020-07-31 |
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CN201710245625.8A Active CN107219542B (zh) | 2017-04-14 | 2017-04-14 | 基于gnss/odo的机器人双轮差速定位方法 |
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Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108036792A (zh) * | 2017-12-11 | 2018-05-15 | 苏州中德睿博智能科技有限公司 | 一种用于移动机器人的里程计与测量位姿的数据融合方法 |
CN108896049A (zh) * | 2018-06-01 | 2018-11-27 | 重庆锐纳达自动化技术有限公司 | 一种机器人室内运动定位方法 |
CN111114292A (zh) * | 2018-10-31 | 2020-05-08 | 深圳市优必选科技有限公司 | 一种静音机器的底盘结构 |
CN110906941B (zh) * | 2019-12-03 | 2023-06-23 | 苏州智加科技有限公司 | 用于长距离隧道的自动驾驶地图的构建方法及系统 |
CN111098335B (zh) * | 2019-12-26 | 2021-06-08 | 浙江欣奕华智能科技有限公司 | 一种双轮差速驱动机器人里程计标定方法及装置 |
CN113029201B (zh) * | 2021-04-07 | 2023-04-07 | 北京布科思科技有限公司 | 双轮差速模型的里程校准方法和装置、设备及存储介质 |
Family Cites Families (3)
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US5906655A (en) * | 1997-04-02 | 1999-05-25 | Caterpillar Inc. | Method for monitoring integrity of an integrated GPS and INU system |
JP5586994B2 (ja) * | 2010-03-11 | 2014-09-10 | 三菱電機株式会社 | 位置標定装置、位置標定装置の位置標定方法および位置標定プログラム |
CN105824039A (zh) * | 2016-03-17 | 2016-08-03 | 孙红星 | 基于里程计的克服卫星失锁时的gnss/ins车载组合定位定向算法 |
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Effective date of registration: 20230918 Address after: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee after: Qingdao Luteng Intelligent Equipment Technology Co.,Ltd. Address before: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee before: Qingdao Kelu Intelligent Technology Co.,Ltd. |