Research on Mine Robot Positioning Based on Weighted Centroid Method

机译：基于加权质心法的矿山机器人定位研究

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In outdoor environments, GNSS can provide more accurate positioning services. However, the GPS signal in the mine is so attenuated that it simply cannot be applied to a particular environment like mine. Therefore, this paper adopts RF equipment to collect the position signal and preprocessing by Gaussian filter. Finally, the feasibility and effectiveness of the weighted centroid algorithm to improve the positioning accuracy of the mine are verified by simulation and comparison.

机译：在室外环境中，GNSS可以提供更准确的定位服务。但是，矿井中的GPS信号是如此衰减，以致根本无法应用于矿井等特定环境。因此，本文采用射频设备采集位置信号并通过高斯滤波器进行预处理。最后，通过仿真和比较，验证了加权质心算法提高矿井定位精度的可行性和有效性。

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《International Conference on Robots Intelligent System》|2018年|17-20|共4页
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Baoshan Zhang; Shoufeng Tang; Manman Jin; Chaoliang Xu; Minming Tong;
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Robot kinematics; Radiofrequency identification; Filtering algorithms; Wireless communication; Mathematical model; Heuristic algorithms;

机译：机器人运动学;射频识别;滤波算法;无线通信;数学模型;启发式算法;

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4. Research on Mine Robot Positioning Based on Weighted Centroid Method [C] . Baoshan Zhang, Shoufeng Tang, Manman Jin, International Conference on Robots Intelligent System . 2018

机译：基于加权质心法的矿山机器人定位研究
5. Comparison of image-based and position-based robot visual servoing methods and improvements. [D] . Deng, Lingfeng. 2004

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6. Fusion of the SLAM with Wi-Fi-Based Positioning Methods for Mobile Robot-Based Learning Data Collection Localization and Tracking in Indoor Spaces [O] . Gunwoo Lee, Byeong-Cheol Moon, Sangjae Lee, 2020

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Research on Mine Robot Positioning Based on Weighted Centroid Method

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