CN108981720A - The indoor navigation system of UWB and inertial navigation fusion - Google Patents
The indoor navigation system of UWB and inertial navigation fusion Download PDFInfo
- Publication number
- CN108981720A CN108981720A CN201811250138.1A CN201811250138A CN108981720A CN 108981720 A CN108981720 A CN 108981720A CN 201811250138 A CN201811250138 A CN 201811250138A CN 108981720 A CN108981720 A CN 108981720A
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- uwb
- mobile robot
- pose
- inertial navigation
- label
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Classifications
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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
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
Abstract
The indoor navigation system of UWB and inertial navigation fusion, belong to indoor navigation technical field, and the present invention is to solve the problem of that existing indoor navigation system is based on circumstances not known and carries out there are Global localization failure and kidnap robot.Four UWB labels, inertial navigation and laser radar is arranged in the indoor navigation system of UWB and inertial navigation fusion of the present invention in mobile robot, and four base stations UWB are arranged in the running environment of mobile robot；By the geometrical-restriction relation between the base station UWB, UWB label and mobile robot, the pose of mobile robot is obtained；The mobile robot pose that will acquire using Extended Kalman filter is merged with the pose that inertial navigation obtains, and obtains the global pose of mobile robot；Global pose is replaced into the pose obtained in navigation system using odometer again, carries out merging positioning with laser radar data.The present invention is used for indoor navigation.
Description
Technical field
The invention belongs to indoor navigation technical fields.
Background technique
With being constantly progressive for society, more and more "smart" products are appeared in the every field of society, wherein most
Representative is exactly to possess the different types of intelligent robot of different function.Such as intellect service robot, sweeping robot, fast
Pass dispensing machine people, storage robot, automatic picking robot.In addition to this, there are also pilotless automobiles, intelligent industrial machine
The a series of intelligent robot of people etc..The appearance of these robots significantly improves people's lives level, promotes work
The development of industry, therefore obtain extensive concern.
As intelligentized embodiment, the above-mentioned type and correlation type robot require have complete capacity of will, make
For the embodiment of entirely autonomous ability, they have independent navigation and execute the ability of task.And intelligent robot is mainly used for work
The office works environment such as industry production, warehouse logistics, home services, therefore the independent navigation of robot in indoor environment is studied, it is right
There is long-range positive influence in entire intelligent robot industry.
It for existing indoor navigation system, is carried out based on circumstances not known, i.e., it cannot artificially in the environment
Setting reference, therefore there are Global localization failures and kidnapping robot problems.
Inertial navigation system, abbreviation inertial navigation is a kind of independent of external information, also not to the autonomous of external radiation energy
Formula navigation system.
UWB, Ultra Wideband, are a kind of no-load communication techniques, and the non-sinusoidal waveform using nanosecond to Microsecond grade is narrow
Data are transmitted in pulse.
Summary of the invention
The invention aims to solve existing indoor navigation system to carry out based on circumstances not known, there are Global localization failures
The problem of with kidnapping robot, provide the indoor navigation system of a kind of UWB and inertial navigation fusion.
The indoor navigation system of UWB and inertial navigation fusion of the present invention, in mobile robot be arranged four UWB labels,
Inertial navigation and laser radar arrange four base stations UWB in the running environment of mobile robot；By the base station UWB, UWB label and
Geometrical-restriction relation between mobile robot obtains the pose of mobile robot；It will acquire using Extended Kalman filter
Mobile robot pose is merged with the pose that inertial navigation obtains, and obtains the global pose of mobile robot；Again by global pose
Instead of the pose for utilizing odometer to obtain in navigation system, carry out merging positioning with laser radar data.
Advantages of the present invention: the indoor navigation system of UWB and inertial navigation fusion of the present invention are filtered using spreading kalman
Wave carries out the fusion of UWB label and inertial navigation, can effectively realize the determination of the pose to indoor object.UWB and inertial navigation are melted
The pose of conjunction replaces the pose obtained in conventional navigation using odometer.It carries out merging positioning with laser radar, can effectively solve
The problem of failure of Global localization present in certainly existing navigation system and kidnapping robot.
Detailed description of the invention
Fig. 1 is the functional block diagram of the indoor navigation system of UWB and inertial navigation fusion of the present invention.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, UWB described in present embodiment and inertial navigation fusion below with reference to Fig. 1
Indoor navigation system, four UWB labels, inertial navigation and laser radar are set in mobile robot, in the fortune of mobile robot
Four base stations UWB are arranged in row environment；By the geometrical-restriction relation between the base station UWB, UWB label and mobile robot, obtain
Take the pose of mobile robot；The pose that the mobile robot pose that will acquire using Extended Kalman filter and inertial navigation are obtained into
Row fusion, obtains the global pose of mobile robot；Global pose is replaced into the position obtained in navigation system using odometer again
Appearance carries out merging positioning with laser radar data.
In present embodiment, the fusion of UWB label and inertial navigation is carried out using Extended Kalman filter, can be effectively realized
Determination to the pose of indoor object.
In present embodiment, the pose of UWB and inertial navigation fusion is replaced to the pose obtained in conventional navigation using odometer.
It carries out merging positioning with laser radar, can effectively solve the problem that the failure of Global localization present in existing navigation system and kidnapping machine
The problem of people.
In present embodiment, in order to obtain the mobile robot position and attitude error model of higher precision, by acquired machine
The position and attitude error model of people calculates the robot pose error model obtained with the acceleration and angular speed by inertial navigation and expands
Kalman filtering is opened up, obtains that stability is more preferable, the higher robot pose error model of precision.Aforementioned stable is preferable, essence
It spends higher mobile robot position and attitude error model to be introduced into navigation system, instead of the odometer error mould in conventional navigation systems
Type carries out global just positioning to robot, the accurate pose of robot is limited in a lesser configuration space, in conjunction with
Laser radar data carries out more accurate positioning.
Specific embodiment 2: illustrating that present embodiment, present embodiment make into one embodiment one below with reference to Fig. 1
Step explanation, the X-direction of mobile robot ontology is arranged in inertial navigation, identical as mobile robot direction of advance.
Specific embodiment 3: present embodiment is described further embodiment one, pass through the base station UWB, UWB label
Geometrical-restriction relation between mobile robot obtains the detailed process of the pose of mobile robot are as follows:
Step 1, four base stations UWB send electromagnetic wave information to four UWB labels；
After step 2, each UWB label receive the electromagnetic wave information of four base stations UWB, calculated separately often by the flight time
The distance between a UWB label and four base stations UWB；
Step 3, according to the constraint relationship of distance between each UWB label and four base stations UWB, establish overdetermined equation, lead to
Cross the position that Gauss Newton iteration method solves each UWB label；
Step 4, obtain four UWB labels position after, about according to the geometry between UWB label and mobile robot pose
Beam relationship establishes overdetermined equation；
Step 5, the pose that mobile robot is solved according to Gaussian weighting marks method.
In the present invention, as shown in Figure 1, four base stations UWB are respectively base station 0, base station 1, base station 2 and base station 3, four UWB
Label is respectively label 0, label 1, label 2 and label 3, and base station 0, base station 1, base station 2 and base station 3 are individually positioned in actual environment
In four angles on, label 0, label 1, label 2 and label 3 are fixed on four angles of mobile robot top square support plate
On, fixed inertial navigation below mobile robot, in the operational process of navigation system, first by serial ports reading label 0, label 1,
The range information of label 2 and label 3, inertial navigation acceleration information and angular velocity information, then carry out merging for UWB and inertial navigation,
The information for reading laser radar again carries out the operation of navigation system in conjunction with the positioning result of UWB and inertial navigation fusion.
Claims (3)
- The indoor navigation system of 1.UWB and inertial navigation fusion, which is characterized in that four UWB labels are set in mobile robot, are used to It leads and laser radar, four base stations UWB is arranged in the running environment of mobile robot；Pass through the base station UWB, UWB label and shifting Geometrical-restriction relation between mobile robot obtains the pose of mobile robot；The shifting that will acquire using Extended Kalman filter Mobile robot pose is merged with the pose that inertial navigation obtains, and obtains the global pose of mobile robot；Again by global pose generation For the pose for utilizing odometer to obtain in navigation system, carry out merging positioning with laser radar data.
- 2. the indoor navigation system of UWB according to claim 1 and inertial navigation fusion, which is characterized in that inertial navigation setting is moving The X-direction of mobile robot ontology is identical as mobile robot direction of advance.
- 3. the indoor navigation system of UWB according to claim 1 and inertial navigation fusion, which is characterized in that by the base station UWB, Geometrical-restriction relation between UWB label and mobile robot obtains the detailed process of the pose of mobile robot are as follows:Step 1, four base stations UWB send electromagnetic wave information to four UWB labels；After step 2, each UWB label receive the electromagnetic wave information of four base stations UWB, calculated separately by the flight time each The distance between UWB label and four base stations UWB；Step 3, according to the constraint relationship of distance between each UWB label and four base stations UWB, establish overdetermined equation, pass through height This Newton iteration method solves the position of each UWB label；Step 4, obtain four UWB labels position after, according between UWB label and mobile robot pose geometrical constraint close System establishes overdetermined equation；Step 5, the pose that mobile robot is solved according to Gaussian weighting marks method.
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| CN201811250138.1A CN108981720A (en) | 2018-10-25 | 2018-10-25 | The indoor navigation system of UWB and inertial navigation fusion |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443350A (en) * | 2018-12-27 | 2019-03-08 | 西安中科光电精密工程有限公司 | Bluetooth/photoelectricity/INS combined navigation device neural network based and method |
| CN109884586A (en) * | 2019-03-07 | 2019-06-14 | 广东工业大学 | Unmanned plane localization method, device, system and storage medium based on ultra-wide band |
| CN110928311A (en) * | 2019-12-16 | 2020-03-27 | 哈尔滨工业大学 | Indoor mobile robot navigation method based on linear features under panoramic camera |
| CN110986936A (en) * | 2019-12-17 | 2020-04-10 | 武汉理工大学 | Passenger ship personnel positioning and navigation method based on edge calculation |
| CN111144524A (en) * | 2019-12-31 | 2020-05-12 | 广东博智林机器人有限公司 | Positioning and orienting equipment and AGV guiding vehicle |
| CN111923043A (en) * | 2020-07-30 | 2020-11-13 | 苏州富鑫林光电科技有限公司 | Multi-manipulator positioning method based on multi-sensor fusion |
| CN111954187A (en) * | 2019-12-12 | 2020-11-17 | 南京熊猫电子股份有限公司 | Mobile robot wireless communication system based on UWB |
| CN111947644A (en) * | 2020-08-10 | 2020-11-17 | 北京洛必德科技有限公司 | Outdoor mobile robot positioning method and system and electronic equipment thereof |
| CN112034479A (en) * | 2020-06-15 | 2020-12-04 | 煤炭科学技术研究院有限公司 | Positioning method and system applied to intelligent inspection unmanned aerial vehicle under coal mine |
| CN112595320A (en) * | 2020-11-23 | 2021-04-02 | 北京联合大学 | ROS-based high-precision positioning autonomous navigation method and system for indoor intelligent wheelchair |
| CN112833876A (en) * | 2020-12-30 | 2021-05-25 | 西南科技大学 | Multi-robot cooperative positioning method integrating odometer and UWB |
| CN113110496A (en) * | 2021-05-08 | 2021-07-13 | 珠海市一微半导体有限公司 | Mobile robot mapping method and system |
| CN113375661A (en) * | 2020-02-25 | 2021-09-10 | 郑州宇通客车股份有限公司 | Positioning navigation method and system of unmanned system |
| CN113821043A (en) * | 2021-09-10 | 2021-12-21 | 佛山中科云图智能科技有限公司 | Unmanned aerial vehicle positioning landing method and device, storage medium and electronic equipment |
| CN115402953A (en) * | 2022-08-27 | 2022-11-29 | 北京神州云脑科技有限公司 | Tower crane safety early warning method, device and system |
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| CN109443350B (en) * | 2018-12-27 | 2023-09-01 | 仝人智能科技(江苏)有限公司 | Bluetooth/photoelectric/INS integrated navigation device and method based on neural network |
| CN109443350A (en) * | 2018-12-27 | 2019-03-08 | 西安中科光电精密工程有限公司 | Bluetooth/photoelectricity/INS combined navigation device neural network based and method |
| CN109884586A (en) * | 2019-03-07 | 2019-06-14 | 广东工业大学 | Unmanned plane localization method, device, system and storage medium based on ultra-wide band |
| CN111954187A (en) * | 2019-12-12 | 2020-11-17 | 南京熊猫电子股份有限公司 | Mobile robot wireless communication system based on UWB |
| CN110928311A (en) * | 2019-12-16 | 2020-03-27 | 哈尔滨工业大学 | Indoor mobile robot navigation method based on linear features under panoramic camera |
| CN110986936A (en) * | 2019-12-17 | 2020-04-10 | 武汉理工大学 | Passenger ship personnel positioning and navigation method based on edge calculation |
| CN111144524A (en) * | 2019-12-31 | 2020-05-12 | 广东博智林机器人有限公司 | Positioning and orienting equipment and AGV guiding vehicle |
| CN111144524B (en) * | 2019-12-31 | 2023-07-07 | 广东博智林机器人有限公司 | Positioning and orienting equipment and AGV guide vehicle |
| CN113375661A (en) * | 2020-02-25 | 2021-09-10 | 郑州宇通客车股份有限公司 | Positioning navigation method and system of unmanned system |
| CN112034479A (en) * | 2020-06-15 | 2020-12-04 | 煤炭科学技术研究院有限公司 | Positioning method and system applied to intelligent inspection unmanned aerial vehicle under coal mine |
| CN111923043A (en) * | 2020-07-30 | 2020-11-13 | 苏州富鑫林光电科技有限公司 | Multi-manipulator positioning method based on multi-sensor fusion |
| CN111947644A (en) * | 2020-08-10 | 2020-11-17 | 北京洛必德科技有限公司 | Outdoor mobile robot positioning method and system and electronic equipment thereof |
| CN112595320A (en) * | 2020-11-23 | 2021-04-02 | 北京联合大学 | ROS-based high-precision positioning autonomous navigation method and system for indoor intelligent wheelchair |
| CN112595320B (en) * | 2020-11-23 | 2023-06-30 | 北京联合大学 | Indoor intelligent wheelchair high-precision positioning autonomous navigation method and system based on ROS |
| CN112833876A (en) * | 2020-12-30 | 2021-05-25 | 西南科技大学 | Multi-robot cooperative positioning method integrating odometer and UWB |
| CN112833876B (en) * | 2020-12-30 | 2022-02-11 | 西南科技大学 | Multi-robot cooperative positioning method integrating odometer and UWB |
| CN113110496A (en) * | 2021-05-08 | 2021-07-13 | 珠海市一微半导体有限公司 | Mobile robot mapping method and system |
| CN113821043A (en) * | 2021-09-10 | 2021-12-21 | 佛山中科云图智能科技有限公司 | Unmanned aerial vehicle positioning landing method and device, storage medium and electronic equipment |
| CN115402953A (en) * | 2022-08-27 | 2022-11-29 | 北京神州云脑科技有限公司 | Tower crane safety early warning method, device and system |
| CN115402953B (en) * | 2022-08-27 | 2023-10-27 | 深圳市神州云海智能科技有限公司 | Tower crane safety early warning method, device and system |
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