Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter

Yuan Xu, Tongqian Liu, Bin Sun, Yong Zhang, Siamak Khatibi and Mingxu Sun

Mathematical Problems in Engineering, 2021, vol. 2021, 1-8

Abstract:

In order to further improve positioning accuracy, this paper proposes an indoor vision/INS integrated mobile robot navigation method using multimodel-based multifrequency Kalman filter. Firstly, to overcome the insufficient accuracy of visual data when a robot turns, a novel multimodel integrated scheme has been investigated for the mobile robots with Mecanum wheels which can make fixed point angled turns. Secondly, a multifrequency Kalman filter has been used to fuse the position information from both the inertial navigation system and the visual navigation system, which overcomes the problem that the filtering period of the integrated navigation system is too long. The proposed multimodel multifrequency Kalman filter gives the root mean square error (RMSE) of 0.0184 m in the direction of east and 0.0977 m in north, respectively. The RMSE of visual navigation system is 0.8925 m in the direction of east and 0.9539 m in north, respectively. Experimental results show that the proposed method is effective.

Date: 2021
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2021/6694084.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2021/6694084.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6694084

DOI: 10.1155/2021/6694084

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().