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Model of autonomous positioning Through Associating Environment Memory Information

Transactions of Nanjing University of Aeronautics and Astronautics 2016年第5期33卷 584-594页

作者： Du Jia Wu Dewei Zhou Yang College of Information and Navigation Air Force Engineering University Xi'an 710077 P. R. China Xi'an Communications Institute Xi'an 710065 P.R. China

A model of autonomous positioning through associating environment memory information is presented for unmanned combat aerial vehicle(UCAV).The representation strategy of environment by constructing place cells is used to produce the memory information,and the landmarks in memory are retrieved through perceiving and processing the *** UCAV′s flight,the landmarks are obtained in real-time and are matched with the landmarks in ***,the idea of ranging positioning is adopted to calculate UCAV′s location based on the corresponding relationship between current obtained landmarks and the memorized *** shows that the proposed model can realize autonomous positioning in the memorized environment,and the positioning performance is well when the sensor has a high precision.

关键词： autonomous positioning environment memory environment representation landmarkst positioning feature point

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autonomous positioning of omnidirectional mobile robot based on visual inertial navigation

Autonomous positioning of omnidirectional mobile robot based...

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第三十九届中国控制会议

作者： Peng Li Binghan Leng Huixuan Fu College of Automation Harbin Engineering University

With the development of artificial intelligence,robot intelligence has gradually become a hot research *** positioning of robot is an important part of realizing its *** technology can effectively solve this *** monocular camera is cheap and easy to install,but the monocular vision SLAM has the problem of scale uncertainty,which reduces its *** on the ORB-SLAM2 algorithm,this paper uses the monocular camera as the sensor,uses the integrated IMU inside the omni-directional mobile unmanned car to provide scale information,and carries out information fusion in a tightly coupled ***,the experiment on the autonomous positioning of the actual omni-directional mobile unmanned car platform verifies the feasibility and practicability of the ORB-SLAM2 algorithm with monocular camera as sensor combined with inertial element（IMU） in the autonomous positioning of mobile robot.

关键词： ORB-SLAM2 IMU Mobile robot autonomous positioning

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autonomous positioning and Marking of Flaw Detection Wall-climbing Robot Based on Large Spherical Oil Storage Tanks

Autonomous Positioning and Marking of Flaw Detection Wall-cl...

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作者： Gao-feng SONG Ying WU Yi-bin ZHANG Lu ZHANG Special Equipment Safety Supervision and Inspection Institute of Jiangsu Province Southeast University Automation School

The emergence of wall-climbing robots alleviates the limitations of traditional manual flaw detection, and the autonomous positioning and marking system is its core research problem. By installing a three-axis accelerometer and a three-axis gyroscope on the wall-climbing robot, this paper firstly establishes a 3D model of the oil storage tank and stores its data in a database, then realizes the autonomous positioning of the wall-climbing robot on the oil storage tank, and finally marks the unqualified weld seam points.

关键词： Wall-climbing robots autonomous positioning Marking system

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Pedestrian autonomous positioning System Based on Inertial Navigation

Pedestrian Autonomous Positioning System Based on Inertial N...

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第十一届中国卫星导航年会

作者： Bowen Xing Haonan Jia Pengfei Liu Guoju Ma Xiaonan Li The 54th Research Institute of CETC State Key Laboratory of Satellite Navigation System and Equipment Technology

Under the background of mobile Internet era, the application requirements of indoor positioning technology is increasingly urgent,and accurate positioning information has become an important prerequis

关键词： inertial navigation autonomous positioning algorithm design hardware design

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A Heading Drift Correction Method for Pedestrian Inertial positioning

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Journal of Sensor Technology 2023年第2期13卷 24-36页

作者： Yong Zhang Huaijun Li Yonghua Wei Jing Wang Hui Zhao State Grid Shanxi Province Electric Power Company Yangquan Power Supply Company Yangquan China School of Automation Beijing Information Science and Technology University Beijing China

Pedestrian inertial positioning is an effective means when satellites fail. Heading accuracy determines the performance of pedestrian inertial positioning. To realize an accurate positioning, a heading drift correction method was proposed. An in-situ active rotation is performed before autonomous positioning, and the error compensation coefficient of biaxial geomagnetic measurement is obtained by using the ellipse fitting correction method to achieve effective suppression of external environmental geomagnetic interference. The corrected biaxial geomagnetic measurement information is used to directly calculate the heading information and combine it with the peak stride detection method and linear step estimation model to achieve autonomous positioning of pedestrians. To verify the effectiveness and stability of the algorithm, several sets of experiments on the autonomous positioning of pedestrians are carried out in an outdoor environment. The experimental results show that the average deviation between the starting point and the endpoint of the proposed algorithm’s positioning trajectory accounts for 0.95% of the total travel in the 150 m positioning experiments.

关键词： Geomagnetic Measurement Heading Solution autonomous positioning Active Rotation Geomagnetic Correction

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