TY - GEN
T1 - An inertial navigation pre-integration algorithm based on multi-sensor fusion for indoor mobile robot positioning
AU - Kong, Minxiu
AU - Niu, Caoyuan
N1 - Publisher Copyright:
© 2019 Association for Computing Machinery.
PY - 2019/3/22
Y1 - 2019/3/22
N2 - Accurate position estimation is a key technology for mobile robots to reflect intelligence. It has very important research value and significance. In order to solve the problems of large error, low precision and error accumulation over time of the current algorithm, this paper proposes an inertial navigation pre-integration algorithm integrating multiple sensors, and estimates the initial visual scale s with the loose-coupling algorithm. Aiming at the low positioning accuracy of the loose-coupling algorithm, a tight coupling algorithm based on multi-sensor fusion is proposed, and the system model and observation model are delivered. Finally, the establishment of the Create2 experimental platform and the corresponding software design, and then the positioning and contrast experiments on different material surfaces, the comparison of positioning accuracy in indoor small scenes and large scenes, and the optimization of VISLAM system for tight coupling algorithms based on multi-sensor fusion The comparison experiment is carried out to verify the robustness and feasibility of the algorithm, and to test the positioning accuracy of the actual application scenario of the mobile robot.
AB - Accurate position estimation is a key technology for mobile robots to reflect intelligence. It has very important research value and significance. In order to solve the problems of large error, low precision and error accumulation over time of the current algorithm, this paper proposes an inertial navigation pre-integration algorithm integrating multiple sensors, and estimates the initial visual scale s with the loose-coupling algorithm. Aiming at the low positioning accuracy of the loose-coupling algorithm, a tight coupling algorithm based on multi-sensor fusion is proposed, and the system model and observation model are delivered. Finally, the establishment of the Create2 experimental platform and the corresponding software design, and then the positioning and contrast experiments on different material surfaces, the comparison of positioning accuracy in indoor small scenes and large scenes, and the optimization of VISLAM system for tight coupling algorithms based on multi-sensor fusion The comparison experiment is carried out to verify the robustness and feasibility of the algorithm, and to test the positioning accuracy of the actual application scenario of the mobile robot.
KW - EKF
KW - Inertial navigation pre-integration
KW - Mobile robot
KW - Multi-sensor fusion
KW - Tight coupling algorithm
KW - VISLAM
UR - https://www.scopus.com/pages/publications/85068733937
U2 - 10.1145/3325693.3325698
DO - 10.1145/3325693.3325698
M3 - 会议稿件
AN - SCOPUS:85068733937
T3 - ACM International Conference Proceeding Series
SP - 43
EP - 47
BT - Proceedings of the 2019 2nd International Conference on Service Robotics Technologies, ICSRT 2019
PB - Association for Computing Machinery
T2 - 2nd International Conference on Service Robotics Technologies, ICSRT 2019
Y2 - 22 March 2019 through 24 March 2019
ER -