Indoor Positioning System Using Axis Alignment and Complementary IMUs for Robot Localization

ZHOU Qinqin; LEI Siyu; YU Zhangguo; LIN Hsien-I; CHEN Xuechao; ZHANG Weimin

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Indoor Positioning System Using Axis Alignment and Complementary IMUs for Robot Localization

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摘要

An indoor positioning method for robots is presented to improve the precision of displacement measurement using only low-cost inertial measurement units(IMUs).Firstly,a high-fidelity displacement estimation for linear motion is proposed.A new robot motion model is designed as well as an axis alignment that only uses a single axis of the accelerometer.The integral error of velocity is eliminated by a new subsection calculation method.Two complementary IMUs are combined by assigning them different weights to obtain high accuracy displacement results.Secondly,an orientation estimation based on a fusion filter for the steering motion is proposed.Experiments show that the proposed method significantly improves the accuracy of linear motion measurement and is effective for the indoor positioning of a robot.

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来源
《机器人》 |2017年第3期|316-323|共8页
作者
ZHOU Qinqin; LEI Siyu; YU Zhangguo; LIN Hsien-I; CHEN Xuechao; ZHANG Weimin;
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作者单位

Intelligent Robotics Institute;

Beijing Institute of Technology;

Graduate Institute of Automation Technology;

Taipei University of Technology;

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原文格式 PDF
正文语种 chi
中图分类机器人;
关键词
axis alignment; displacement estimation; indoor positioning; orientation estimation; inertial measurement unit;

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Indoor Positioning System Using Axis Alignment and Complementary IMUs for Robot Localization

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