Affiliation:
1. Chongqing University of Posts and Telecommunications
Abstract
In structured environment, according to the requirement of indoor robot navigation for accuracy and real-time performance, On the basis of a novel positioning method using infrared landmarks, another novel infrared landmark indoor positioning method which uses high power infrared tube as landmarks, infrared camera as receiving sensor ,and combines track deduction is proposed in this paper. An improved Interacting Multiple Models Unscented Kalman Filter (IMM-UKF) data fusion algorithm for the two positioning scheme is used to improve the precision. Experimental results show that the novel infrared landmark indoor positioning method can increase the location speed and precision effectively.
Publisher
Trans Tech Publications, Ltd.
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