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首页> 外文会议>ICMIT 2009 : Mechatronics and information technology >Mobile Robot GPS/DR Integrated Navigation Positioning Technique Research
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Mobile Robot GPS/DR Integrated Navigation Positioning Technique Research

机译：移动机器人GPS / DR组合导航定位技术研究

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摘要

GPS is widely used for global positioning system. But GPS signal is easily interrupted when it is used alone. DR (dead reckoning) can calculate the position of mobile robots by using direction and speed sensors. However, DR system error can accumulate over time due to the error of electronic compass and odometer sensors. So DR system can't be used separately for a long time. The integrated navigation system combined GPS with DR will effectively integrated advantages of these two systems, higher positioning precision and reliability. In this paper Kalman filter model for GPS/DR integrated navigation system is set up to filter the GPS and DR data. And then the outputs of Kalman filter are inputted to a BP neural network for training. BP neural network is employed to predict next sampling time GPS output and a new Kalman filter based data fusion method is proposed to do the navigation information fusion with encoders and compass system. Simulation is done to validate the proposed fusion method. The simulation result shows the potential of this fusion method for outside used mobile robot navigation. Finally experiments are done to validate the proposed fusion method.
机译：GPS被广泛用于全球定位系统。但是单独使用GPS信号很容易中断。 DR（航位推算）可以通过使用方向和速度传感器来计算移动机器人的位置。但是，由于电子罗盘和里程表传感器的错误，DR系统错误会随着时间累积。因此，DR系统不能长时间单独使用。结合了GPS和DR的集成导航系统将有效地集成这两个系统的优势，更高的定位精度和可靠性。本文建立了GPS / DR组合导航系统的卡尔曼滤波模型，对GPS和DR数据进行滤波。然后将卡尔曼滤波器的输出输入到BP神经网络进行训练。运用BP神经网络对GPS输出的下一次采样时间进行预测，提出一种基于卡尔曼滤波的数据融合新方法，与编码器和罗盘系统进行导航信息融合。通过仿真验证了所提出的融合方法。仿真结果表明了这种融合方法在室外移动机器人导航中的潜力。最后进行了实验以验证所提出的融合方法。

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  • 来源
  • 会议地点 Gwangju(KR);Gwangju(KR)
  • 作者

    Wang Jingkun; Yuanliang Zhang; Bifu Li; Kil To Chong;

  • 作者单位

    School of Mechanical Engineering, Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education) Shandong University Jinan 250061, China Electronic and Information Engineering Department Chonbuk National University Jeonju, South Korea;

    rnSchool of Mechanical Engineering, Huaihai Institute of Technology, Lianyungang, Jiangsu, China Chonbuk National University Duckjin-Dong, Duckjin-Gu, Jeonju 561-756, Korea Electronic and Information Engineering Department Chonbuk National University Jeonju, South Korea;

    rnElectronic and Information Engineering Department Chonbuk National University Jeonju, South Korea;

    rnElectronic and Information Engineering Department Chonbuk National University Jeonju, South Korea;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 TB391;
  • 关键词

    kalman filter; GPS/DR integrated navigation positioning system; data fusion; BP neural network;

    机译：卡尔曼滤波GPS / DR集成导航定位系统；数据融合； BP神经网络;

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