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基于UWB和IMU的煤矿机器人紧组合定位方法研究

郁露 唐超礼 黄友锐 韩涛 徐善永 付家豪

郁露,唐超礼,黄友锐,等. 基于UWB和IMU的煤矿机器人紧组合定位方法研究[J]. 工矿自动化,2022,48(12):79-85.  doi: 10.13272/j.issn.1671-251x.2022070058
引用本文: 郁露,唐超礼,黄友锐,等. 基于UWB和IMU的煤矿机器人紧组合定位方法研究[J]. 工矿自动化,2022,48(12):79-85.  doi: 10.13272/j.issn.1671-251x.2022070058
YU Lu, TANG Chaoli, HUANG Yourui, et al. Research on tightly combined positioning method of coal mine robot based on UWB and IMU[J]. Journal of Mine Automation,2022,48(12):79-85.  doi: 10.13272/j.issn.1671-251x.2022070058
Citation: YU Lu, TANG Chaoli, HUANG Yourui, et al. Research on tightly combined positioning method of coal mine robot based on UWB and IMU[J]. Journal of Mine Automation,2022,48(12):79-85.  doi: 10.13272/j.issn.1671-251x.2022070058

基于UWB和IMU的煤矿机器人紧组合定位方法研究

doi: 10.13272/j.issn.1671-251x.2022070058
基金项目: 国家自然科学基金项目(61772033);安徽省高校协同创新项目(GXXT-2019-048,GXXT-2020-54)。
详细信息
    作者简介:

    郁露(1999—),女,安徽淮南人,硕士研究生,主要研究方向为机器人定位技术,E-mail:858219635@qq.com

  • 中图分类号: TD655

Research on tightly combined positioning method of coal mine robot based on UWB and IMU

  • 摘要: 针对煤矿井下环境复杂,现有煤矿机器人定位方法受非视距误差等因素影响导致定位精度低、实时性不高等问题,提出了一种基于UWB(超宽带)和IMU(惯性测量单元)的煤矿机器人紧组合定位方法。首先利用UWB模块测量煤矿机器人与UWB基站之间的距离,使用煤矿机器人与UWB基站之间的距离真实值和实测值训练最小二乘支持向量机(LSSVM)模型,得到LSSVM修正模型;然后将煤矿机器人定位过程中UWB模块测得的实测值作为LSSVM修正模型的输入,通过LSSVM修正模型对UWB实测值进行修正,减小非视距误差对定位精度的影响,得到较为准确的距离信息;最后将经过LSSVM修正模型修正后的测距信息作为误差状态卡尔曼滤波(ESKF)的量测输入,与惯性导航解算出的位置信息构成量测方程,使用ESKF对UWB测距修正值与惯性导航解算的距离信息紧组合,完成状态更新,得到更为精确的位置信息,实现煤矿机器人的精确定位。UWB基站不同布置方案下的模拟实验结果表明:使用LSSVM修正模型可使UWB测距信息更为准确,进而提高定位精度。静态定位实验时,当4个UWB基站等高对称布置时,定位的均方根误差由0.146 4 m减小到0.1398 m;当4个UWB基站不等高对称布置时,均方根误差由0.300 8 m减小到0.200 6 m;当4个基站无规律布置时,均方根误差由0.317 5 m减小到0.314 2 m。因此,在实际场景中,应尽可能使UWB基站等高对称布置。动态定位实验时,通过LSSVM修正模型对UWB测距信息进行修正后的融合定位轨迹相较于修正前的融合定位轨迹更接近煤矿机器人的真实轨迹,验证了该紧组合定位方法能够减小非视距误差,提高定位精度。

     

  • 图  1  基于UWB和IMU的煤矿机器人紧组合定位方法原理

    Figure  1.  Principle of tightly combined positioning method of coal mine robot based on UWB and IMU

    图  2  实验场景

    Figure  2.  Experimental scenario

    图  3  UWB测距仿真结果

    Figure  3.  UWB ranging simulation results

    图  4  3种基站布置方案的定位结果

    Figure  4.  Positioning results of three base stations layout schemes

    图  5  UWB/IMU紧组合定位结果

    Figure  5.  UWB/IMU tightly combined positioning results

    表  1  UWB基站位置坐标

    Table  1.   UWB base station layout coordinates m

    方案位置坐标
    基站0基站1基站2基站3
    方案1(4.48,0,2)(−4.48,0,2)(4.15,8.06,2)(−4.15,8.06,2)
    方案2(4.48,0,2)(−4.48,0,2)(4.15,8.06,1)(−4.15,8.06,1)
    方案3(4.48,0,2)(−4.48,0,2)(4.59,7.80,1.44)(−4.5,6.4,1.2)
    下载: 导出CSV

    表  2  3种基站布置方案的实验均方根误差

    Table  2.   Experimental root mean square error of three base stations layout schemes m

    方案原始误差LSSVM模型修正后的误差
    方案10.146 40.139 8
    方案20.300 80.200 6
    方案30.317 50.314 2
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-07-21
  • 修回日期:  2022-12-03
  • 网络出版日期:  2022-11-28

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