阅读说明：本技术 一种基于gps和ins的移动机器人定位系统 (Mobile robot positioning system based on GPS and INS ) 是由 张学恒 于 2021-08-17 设计创作，主要内容包括：本发明提供一种基于GPS和INS的移动机器人定位系统,属于计算机设备技术领域,包括机器人终端设备和机器人监控平台两个部分。采用GPS全球定位技术和INS惯性导航相结合的方式对机器人进行精准定位,可以有效避免传统定位方式中由于GPS盲区和基站位置限制带来的定位误差。通过基于GPS和INS的机器人精准定位系统,用户可以用系统监控平台远程监控机器人,有效管理机器人的位置。(The invention provides a mobile robot positioning system based on a GPS and an INS, belonging to the technical field of computer equipment. The robot is accurately positioned by adopting a mode of combining a GPS global positioning technology and INS inertial navigation, and positioning errors caused by GPS blind areas and base station position limitation in the traditional positioning mode can be effectively avoided. Through the accurate positioning system of the robot based on the GPS and the INS, a user can remotely monitor the robot by using a system monitoring platform, and the position of the robot is effectively managed.)

1. A mobile robot positioning system based on GPS and INS is characterized in that,

the robot monitoring system comprises two parts, namely robot terminal equipment and a robot monitoring platform; positioning the robot by combining a GPS global positioning technology and INS inertial navigation;

the robot terminal equipment completes robot positioning data acquisition, robot state, positioning data transmission and positioning data optimization processing;

the robot monitoring platform centralizes and manages data sent by the robot terminal equipment, so that a user can inquire the position of the robot and playback a historical track.

2. The system of claim 1,

the optimization processing comprises the judgment of inflection points, the processing of speed drift and the processing of blind areas.

3. The system of claim 1,

the hardware board card of the robot terminal equipment adopts Air800 as a main control module, the module integrates a GSM communication unit and a GPS positioning unit, and meanwhile, the control and data acquisition of a peripheral function module can be realized, and terminal data can be processed.

4. The system of claim 3,

the robot adopts the GPS to position in the non-GPS positioning blind area, and when the robot enters the GPS positioning blind area, the INS technology is adopted to carry out dead reckoning according to the running state of the robot.

5. The system of claim 1,

in addition, the robot power control system also comprises a power supply module, a sensor module and a robot power control module.

6. The system of claim 1,

and the monitoring platform can also register a new user and manage user information and robot state information.

7. The system of claim 1,

in addition, the robot monitoring platform is developed by adopting java language based on a web end.

8. The system of claim 1,

the upper computer and the lower computer communicate by adopting an MQTT protocol, so that a positioning blind area caused by weak network quality is avoided.

Technical Field

The invention relates to the technical field of computer equipment, in particular to a mobile robot positioning system based on a GPS and an INS.

Background

With the rapid development of economy and the improvement of the living standard of people, the number of various robots (such as distribution robots, security robots, customer service robots and the like) is also increased rapidly. How to utilize modern technology to ensure the safe operation of robot, reduce the drawback that robot management brought, the convenient management robot of science is the common problem that various robot users face. With the development of GPS global positioning technology, INS inertial navigation technology and MQTT communication protocol, technical support is provided for solving the problems.

The complexity and variability of the environment in which the robot terminal device is located will cause instability of the communication quality of the terminal device. In a conventional communication mode between a terminal device and a server, HTTP is a communication protocol widely used. However, when the communication characteristics of low bandwidth and high delay in the field of internet of things are faced, the Request/Response communication mode has a high protocol overhead, and the requirements on the network quality of the terminal and the server are high.

The drift phenomenon of the positioning data and the judgment of the motion state of the robot at the corner are key problems influencing the correct drawing of the running track of the robot. In the environment near trees or tall buildings, the phenomenon of serious positioning data drifting exists in GPS positioning, and the phenomenon is also serious when the robot is in a static state. In order to solve the above problem, the positioning data needs to be optimized to obtain a reasonable moving track on the map. Most of the traditional positioning data optimization processing modes are carried out at a server side, such as a GIS technology, a Kalman filtering algorithm and the like, and the mode greatly increases the operation pressure of the server.

When the robot is in a GPS blind area, the running track of the robot can generate the false image of 'disappearance' of the evidence. The traditional solution is to adopt base station positioning, but because of the influence of the number and position of the mobile phone base stations, the positioning accuracy of the base station positioning mode is greatly limited.

Disclosure of Invention

In order to solve the technical problems, the invention provides a mobile robot positioning system based on a GPS and an INS.

The technical scheme of the invention is as follows:

a mobile robot positioning system based on GPS and INS comprises a robot terminal device and a robot monitoring platform.

The robot terminal equipment completes the work of robot positioning data acquisition, robot state, positioning data transmission, positioning data optimization processing (including judgment of inflection points, processing of speed drift, processing of blind areas) and the like.

The robot monitoring platform centralizes and manages data sent by the robot terminal equipment, so that a user can inquire the position of the robot and playback a historical track, and registration of a new user and management of user information and robot state information can be performed on the monitoring platform.

Further, in the above-mentioned case,

the hardware board card of the robot terminal equipment adopts Air800 as a main control module, the module integrates a GSM communication unit and a GPS positioning unit, and meanwhile, the control and data acquisition of a peripheral function module can be realized, and terminal data can be processed.

The robot adopts the GPS to position in the non-GPS positioning blind area, and when the robot enters the GPS positioning blind area, the INS technology is adopted to carry out dead reckoning according to the running state of the robot.

In addition, the robot system also comprises a power module, a sensor module (acceleration and ultrasonic), a robot electric quantity control module and the like.

Further, in the above-mentioned case,

in addition, the robot monitoring platform is developed by adopting java language based on a web end. The upper computer and the lower computer communicate by adopting an MQTT protocol, and the protocol can avoid a positioning blind area caused by weak network quality.

The invention has the advantages that

The robot is accurately positioned by adopting a mode of combining a GPS global positioning technology and INS inertial navigation, and positioning errors caused by GPS blind areas and base station position limitation in the traditional positioning mode can be effectively avoided. Through the accurate positioning system of the robot based on the GPS and the INS, a user can remotely monitor the robot by using a system monitoring platform, and the position of the robot is effectively managed.

Drawings

FIG. 1 is a system block diagram of the present invention;

fig. 2 is a block diagram of a hardware control board.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.

A mobile robot positioning system based on GPS and INS comprises

(1) And the communication between the terminal equipment and the server is realized by adopting an MQTT communication protocol.

(2) And carrying out optimization processing on the robot positioning data at the terminal.

(3) Positioning mode combining GPS (global positioning system) and INS (inertial navigation system)

(1) And the communication between the terminal equipment and the server is realized by adopting an MQTT communication protocol. In consideration of the above factors, the system adopts the MQTT protocol to realize the communication between the terminal device and the server, realizes the encoding and decoding of the binary format of the protocol, is easy to develop and realize, is small-sized transmission, has 2 bytes of fixed-length headers and low overhead to reduce the network flow overhead, and adopts a Publish/Subscribe mode to greatly reduce the requirement of the device on the network quality.

(2) And carrying out optimization processing on the robot positioning data at the terminal.

The system provides that the positioning data are filtered and optimized in the terminal processor, the precision of the positioning data is improved, and meanwhile, the turning point of the robot at the turning position is judged in a threshold value comparison mode, so that the running track of the robot is more reasonable. The optimized processing of the positioning data by the terminal greatly reduces the operation burden of the server.

(3) And a positioning mode combining GPS and INS (inertial navigation technology) is adopted.

The system provides a positioning mode combining a GPS and an INS, the robot adopts the GPS to perform positioning in a non-GPS positioning blind area, and when the robot enters the GPS positioning blind area, the INS technology is adopted to perform dead reckoning according to the running state of the robot. Compared with the traditional positioning mode in the GPS blind area, the inertial navigation technology provided by the system has higher positioning precision, and the requirement on the network quality of the terminal equipment is greatly reduced.

The above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.