| 摘要: |
| 针对里程计（ODOM）、惯性测试单元（IMU）累计误差以及超宽带（UWB）非视距误差导致的定位不准问题，提出一种基于改进扩展卡尔曼滤波的交互式多模型（IMM-IEKF）算法，实现温棚内机器人的多传感器融合定位.首先，引入滑动窗口处理测量信息并调整协方差矩阵，对传统的扩展卡尔曼滤波（EKF）算法进行改进；然后，引入交互式多模型（IMM）算法，并设计匀速（CV）运动模型和匀转向（CT）运动模型；最后将改进的扩展卡尔曼滤波（IEKF）算法作为IMM的滤波器，通过IMM-IEKF算法实现UWB/IMU/ODOM的融合定位.实验结果表明：本文提出的IMM-IEKF算法定位效果较好，相较于单一UWB、传统EKF以及IEKF算法，定位精度分别提高了49.4%，28.8%和18.2%，具有较好的应用价值. |
| 关键词: 温室 多传感器融合定位 扩展卡尔曼滤波（EKF）算法 交互式多模型（IMM）算法 |
| DOI：10.20192/j.cnki.JSHNU（NS）.2025.02.018 |
| 分类号:TP249 |
| 基金项目: |
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| Research on robot localization in greenhouses based on interactive multi-model algorithm |
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ZHANG Dingni, CAO Zhijun, LI Chuanjiang
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College of Information, Mechanical and Electrical Engineering, Shanghai Normal University, Shanghai 201418, China
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| Abstract: |
| To address the issues of positioning inaccuracies caused by cumulative errors in odometer （ODOM） and inertial measurement unit （IMU）， as well as non-line-of-sight errors in ultra-wide band （UWB）， an interactive multi-model based on improved extended Kalman filter （IMM-IEKF） algorithm was proposed. By means of this algorithm multi-sensor fusion localization was achieved for robots within greenhouse. Firstly， a sliding window was introduced to process measurement information and adjust the covariance matrix， while enhancing the traditional extended Kalman filter （EKF）. Secondly， the interactive multi-model （IMM） algorithm was incorporated， and constant velocity （CV） and constant turn （CT） motion models were designed. Finally， the improved extended Kalman filter （IEKF） algorithm was used as the filter of the IMM framework， enabling the fusion localization of UWB， IMU and odometry data through the IMM-IEKF algorithm. Experimental results demonstrated that the proposed IMM-IEKF algorithm achieved superior positioning performance. Compared to single UWB， traditional EKF， and IEKF， the positioning accuracy was improved by 49.4%， 28.8%， and 18.2%， respectively， highlighting significant application value. |
| Key words: greenhouse multi-sensor fusion localization extended Kalman filter （EKF） algorithm interactive multi-model （IMM） algorithm |
