Improving Tightly LiDAR/Compass/Encoder-lntegrated Mobile Robot Localization with Uncertain Sampling Period Utilizing EFIR Filter

摘要

In order to overcome the uncertainty of the data sampling period of the sensor due to equipment reasons, a mobile robot localization system is developed under the uncertain sampling period for the tightly-fused light detection and ranging (LiDAR), compass, and encoder data. The errors of position and velocity, the robot's yaw, and the sampling period are chosen as state variables. The ranges between the corner feature points (CFPs) and the mobile robot measured by the LiDAR, compass, and encoder are considered as an observation. Based on the tightly-integrated nonlinear model, the extended unbiased finite-impulse response (EFIR) filter fuses the sensors' data for the integrated localization system. The performances of the traditional loosely-coupled integration scheme, tightly-coupled integration scheme with a constant sampling interval, and tightly-coupled integration with an uncertain sampling interval are compared based on real data. It is shown experimentally that the proposed scheme is more accurate then the traditional loosely-coupled integration and the one relying on a constant sampling interval, which improves by about 10.2%.