The Research On Application Of Multi-sensor Information Fusion In Target Locatiing Of Mobile Robots

Nowadays, target locating with multi-sensor information fusion technology is one of the key technologies in researching on application of mobile robots. Multi-sensor information fusion technology is able to combine every aspect of information provided by several sensors; and increase the precision of target locating. The performance of the locating is more accurate and all-sided.In this paper, an adaptively target tracking method based on double-Kalman filter in existence of outliers has been proposed. If there are outliers in measurements, the method can adaptively adjusting the measurement, to ensure the property of the innovation, meanwhile, it can change the measurement noise covariance based on the movement state of target, and it also solves the problem of the hysteretic of the big step filter. The simulation results proved that, the method is higher precision on target tracking. The main work of the paper is as follows:Firstly, the basic principle, significance, fusion model and estimation theory are introduced more detailed.Secondly, because the outliers and the measurement noise covariance infect the precision of Kalman filter, an adaptive Kalman filter is proposed. The simulation shows that the effect is good.Thirdly, based on the normal distribution fusion structure, a multi-sensor optimal information decentralized fusion filtering with a two-layer fusion structure and Kalman filter is given for discrete time linear stochastic control systems. The simulation shows that the algorithm is effective.Finally, Based on the Experimental platform, designed a set of information fusion locating system, and target calculation program flow chart. It combines visual sensors, audition sensors and the ultrasonic sensors to formation a new model of localization. And, proposed an innovative new method for mobile robot locating target.