Azimuth Estimation of Mobile Robot Based on Federated Kalman Filter
Mobile robot is an important branch of robotics research, and the azimuth of mobile robot is a very important moving process parameter. In this paper, we adopted multi-sensor integrated, combining digital magnetic compass, fiber optic gyro and photoelectric encode to estimate the azimuth of mobile robot, and putting each measurement result into Federated filter. We use Unscented Kalman filter as the subfilter of the federated filter. This approach has been simulated under Matlab and the result proved that multi-sensor angle information based on the Federated filter can better estimated the orientation angle of mobile robot.
mobile robots angle estimation Federated Kalman Filter Unscented Kalman Filer
Qingxin Zhang Xiaoyan Qiu Guangyan Xu Qinglong Di
Automation Department Shenyang Aerospace University Shenyang, China
国际会议
长春
英文
202-205
2010-08-24（万方平台首次上网日期，不代表论文的发表时间）