Aiming at the difficult problem of indoor robot positioning,a combined positioning method using omni-directional wheel,encoder and inertial measurement unit(IMU)is proposed.Operation principle of the locator is analyzed,the design of the locator hardware system is introduced,and the extended Kalman filtering (EKF )algorithm is introduced,multiple measurement data are fused and filtered.The field experiment shows that within the positioning range of 10 m ×10 m,the linear motion error is less than 20 mm,the random motion error is less than 50 mm,and the positioning frequency can reach 20 Hz,which meets the requirements of robot motion control.
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