Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter

• In order to further improve positioning accuracy, this paper proposes an indoor vision/INS integrated mobile robot navigation method using multimodel-based multifrequency Kalman filter. Firstly, to overcome the insufficient accuracy of visual data when a robot turns, a novel multimodel integrated scheme has been investigated for the mobile robots with Mecanum wheels which can make fixed point angled turns. Secondly, a multifrequency Kalman filter has been used to fuse the position information from both the inertial navigation system and the visual navigation system, which overcomes the problem that the filtering period of the integrated navigation system is too long. The proposed multimodel multifrequency Kalman filter gives the root mean square error (RMSE) of 0.0184 m in the direction of east and 0.0977 m in north, respectively. The RMSE of visual navigation system is 0.8925 m in the direction of east and 0.9539 m in north, respectively. Experimental results show that the proposed method is effective. © 2021 Yuan Xu et al.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)

Nyckelord

Air navigation

Indoor positioning systems

Inertial navigation systems

Information filtering

Mean square error

Mobile robots

Integrated navigation systems

Mecanum wheels

Mobile Robot Navigation

Multi frequency

Position information

Positioning accuracy

Root mean square errors

Visual navigation systems

Kalman filters

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