Combined navigation system for substation inspection robot based on DGPS/DR multi-sensor fusion

Abstract

Abstract To realize the routine inspection work of the capacitor tower inspection operation robot on the capacitor tower in the substation, and to guarantee the accuracy and safety of the robot’s movement in the substation, a multi-sensor combination navigation system and the corresponding Kalman fusion filter are designed. Combined with the overall structure of the substation and the working environment of the inspection robot, the navigation and positioning requirements of the robot are analyzed and compared, and the multi-sensor combination positioning technology using a combination of DGPS, attitude sensors and velocity sensors is determined. The Kalman fusion filter based on the constant velocity model is used to fuse the positioning information of multiple sensors, and more accurate and reliable navigation information is obtained compared with the single-sensor positioning system. According to the working environment of the substation, an outdoor planar robot mobile navigation experiment is carried out to collect the positioning information of multiple sensors and carry out data fusion processing to verify the accuracy and robustness of multi-sensor combination navigation and positioning.