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针对煤矿救灾机器人导航系统的导航精度低的问题,结合煤矿井下非结构化环境的特点,提出一种适于煤矿井下灾后环境的超声波导航和惯性传感器的导航方法,并利用粒子滤波技术进行算法设计。结果表明,基于超声波和惯性传感器融合的导航性能满足煤矿救灾机器人的导航需求,算法的收敛速度很快,提高了煤矿救灾机器人的导航性能和应急抢险能力。
Aiming at the problem of low navigation precision of coal mine rescue robot navigation system and combined with the characteristics of unstructured coal mine underground environment, this paper proposes a navigation method of ultrasonic navigation and inertial sensor which is suitable for post-disaster environment in coal mine and uses particle filter technology to design algorithm . The results show that the navigation performance based on fusion of ultrasonic and inertial sensors meets the navigation needs of disaster relief robots. The convergence speed of the algorithm is fast and the navigation performance and emergency rescue capability of coal mine rescue robots are improved.