Research on Seamless Indoor-outdoor Localization Algorithm of Substation Inspection Robot
In order to improve the positioning performance of inspection robots in complex scenarios of indoor and outdoor in-teractions in substations,a combined positioning scheme based on multi-sensor accuracy and multi-source information fusion was proposed.The scheme achieved seamless positioning of the inspection robot in the indoor-outdoor interactive environment of the substation through smooth switching between outdoor GPS/IMU integrated location and indoor AMCL location.Aiming at the problem of robot kidnapping during the positioning process,the robustness of the positioning algorithm was improved by using GPS positioning information to assist the AMCL in relocating.The algorithm was tested in a simulation experiment scenario.The results show that in the indoor and outdoor switching scenario of the substation,stable and continuous positioning data can be obtained through this algorithm,and its RMSE is 63.4%and 54.9%lower than that of GPS/IMU and AMCL location alone.Compared with the original algorithm,the robot repositioning time is reduced by 47.1%.
万方数据
维普
