一种基于卡尔曼滤波的DR/LMS组合导航定位算法

摘要

This paper introduces a kind of integrated navigation and positioning system based on DR navigation and LMS ranging technology, it aims to be used in strong electromagnetic interference environment of the transformer substation for the automatic inspection robot. The DR/LMS navigation and positioning system is easy to realize. Compared with the other intergrated navigation system, it needs lower cost and has relatively good operation effects. This paper also proposes a method based on Kalman filter to improve the precision of the positioning. The algorithm of the system is realized by LABV1EW and running on the industrial use PC. The field operation test results prove that the positioning and navigation precision can meet the application requirements of the industrial environment.%本文介绍了一种基于DR航位推算与 LMS高精度激光雷达全向测距技术的组合式导航定位系统,旨在应用于强电磁干扰环境下的变电站智能机器人自动巡检环境.DR/LMS组合式导航定位系统原理相对简单、实现方便、实时性强,目与其他组合式导航系统相比,在满足同样定位精度的前提下,成本低廉,现场运行效果良好.特别地,本文提出了一种基于卡尔曼滤波方法的定位精度优化估计方法,对原有定位及导航精度(定位精度可以达到cm级)加以改进与优化,进一步提高了导航系统的稳定性与精确性.整个系统模型及控制策略的实现基于工业用PC控制板的上位机LABVIEW软件控制系统,并结合MATLAB软件进行仿真与数据分析,经现场运行测试,定位及导航精度完全可以满足现场工业环境的应用需求.