研究了服务机器人在室内环境中运用卡尔曼滤波算法定位的一种方法.服务机器人事先将特定的墙壁与墙角信息存储,依靠自身配备的里程计获得基本的位置信息,通过声纳传感器进行观测,对墙壁进行识别匹配,根据事先的墙壁信息获得观测位置,通过将预测值与实际观测值之间匹配和修正的递归过程实现定位算法,用Matlab软件仿真验证了该方法的可行性. A method of locating service robot using Kalman filter algorithm in indoor environment is studied.Services robot stores the information of specific wall and corner in advance and obtains the basic position information by using its own odometer to observe by sonar sensor, The recognition and matching of the wall are carried out. The observation position is obtained according to the prior wall information. The positioning algorithm is realized through the recursive process of matching and correcting the predicted value with the actual observation value. The feasibility of the method is verified by Matlab software simulation.