Mobile Robot Positioning Method Based on Improved Cubature Kalman Filter

被引：0
|
作者：
Xu, Yaoxin [1 ]
Li, Sheng [1 ]
Yang, Chun [1 ]
Chen, Qingwei [1 ]
Wu, Jingyuan [1 ]
Kang, Xiao [2 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing, Peoples R China
[2] China North Vehicle Res Inst, Res & Dev Ctr China, Beijing, Peoples R China
来源：
2019 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC 2019), VOL 2 | 2019年
关键词：
mobile robot; odometer; position; inertial navigation; Cubature Kalman;
D O I：
10.1109/IHMSC.2019.10106
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In order to solve the problem of low positioning accuracy of two-wheel mobile robot, a positioning method of mobile robot based on improved Cubature Kalman filter is proposed. According to the system model of two-wheel mobile robot, a positioning method which mainly uses odometer assisted by strapdown inertial navigation is designed, and the traditional Cubature Kalman filter algorithm is modified to restrain divergence and improve positioning accuracy. The experiment results show that the positioning method based on improved Cubature Kalman filter is effective and the positioning accuracy has been greatly improved.
引用
收藏
页码：46 / 49
页数：4
相关论文
共 50 条
  • [1] Improved Strong Tracking Cubature Kalman Filter for UWB Positioning
    Pu, Yuxiang
    Li, Xiaolong
    Liu, Yunqing
    Wang, Yanbo
    Wu, Suhang
    Qu, Tianshuai
    Xi, Jingyi
    [J]. SENSORS, 2023, 23 (17)
  • [2] Positioning Method for Robot Soccer Based on Kalman Filter
    Li, Jiaqi
    Xiao, Jin
    Xu, Shaochen
    [J]. 2017 13TH IEEE INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA), 2017, : 892 - 897
  • [3] Simultaneous Localization and Mapping Method Based on Improved Cubature Kalman Filter
    Chen, Chaoyang
    He, Qi
    Ye, Qiubo
    Yang, Guangsong
    Yang, Cheng-Fu
    [J]. SENSORS AND MATERIALS, 2021, 33 (08) : 2591 - 2606
  • [4] An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter
    Zhang, Yonggang
    Xu, Geng
    Liu, Xin
    [J]. SENSORS, 2019, 19 (24)
  • [5] An Indoor Mobile Robot Positioning Algorithm Based on Adaptive Federated Kalman Filter
    Xu, Xiaobin
    Pang, Fenglin
    Ran, Yingying
    Bai, Yonghua
    Zhang, Lei
    Tan, Zhiying
    Wei, Changyun
    Luo, Minzhou
    [J]. IEEE SENSORS JOURNAL, 2021, 21 (20) : 23098 - 23107
  • [6] Performance Improvement for Mobile Robot Position Determination Using Cubature Kalman Filter
    Zarei, Jafar
    Ramezani, Abdolrahman
    [J]. JOURNAL OF NAVIGATION, 2018, 71 (02): : 389 - 402
  • [7] Passive Localization Method Based on Cubature Kalman Filter
    Wang, Shoufeng
    Zhang, Hui
    Zhang Shihui
    Wang, Baobao
    [J]. PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 650 - 654
  • [8] An improved GNSS/INS navigation method based on cubature Kalman filter for occluded environment
    Liu, Wei
    Shi, Yihang
    Hu, Yuan
    Hsieh, Tsung-Hsuan
    Wang, Shengzheng
    [J]. MEASUREMENT SCIENCE AND TECHNOLOGY, 2023, 34 (03)
  • [9] State estimation based on improved cubature Kalman filter algorithm
    Zhu, Jun
    Liu, Bingchen
    Wang, Haixing
    Li, Zihao
    Zhang, Zhe
    [J]. IET SCIENCE MEASUREMENT & TECHNOLOGY, 2020, 14 (05) : 536 - 542
  • [10] Application Research of Cubature Kalman Filter in Vehicle Positioning
    Bian, Yuegen
    Sun, Miao
    [J]. PROCEEDINGS OF 2020 IEEE 2ND INTERNATIONAL CONFERENCE ON CIVIL AVIATION SAFETY AND INFORMATION TECHNOLOGY (ICCASIT), 2020, : 273 - 275
12345