Positioning Technology Of Indoor Substation Equipment Inspection Robot Based On ROS

With the advance of automation and intelligence of China's power system and the rapid development of the smart grid, the demand of substation equipment inspection robot is changing significantly. To complete automatic inspection equipment tasks inside the substation, indoor substation equipment inspection robot needs accurate pose estimation. This paper focuses on positioning problems that robot encountered during the inspection, carries out theoretical and practical research based on odometer, inertial measurement units, and laser sensors, optimizes the positioning strategy, and proposes new positioning solutions. According to actual inspection indoor su bstations, the positioning error is usually required to be: position error ?10cm, angle error ?5 °, and repetitive positioning accuracy is not less than 95%. Finally, the proposed location solutions were implemented and experiments were carried out based o n the substation inspection robot XK-XJ-2 platform using ROS. By optimizing the positioning strategy and the help of ROS platform, we achieve the expected positioning accuracy, reduce the difficulty of development and costs, and improve substation inspection robot intelligence; meanwhile we improve code reuse rate and shorten development time. The main contents include the following aspects:1. For the indoor high-voltage substations, complex electromagnetic environment with high security requirements, insp ection robot positioning means difficult to implement, costly and require high positioning accuracy problem. This article combines odometry, inertial measurement unit, and laser sensors for positioning changes, optimizing the positioning strategy, presente d in an easy to implement and can effectively improve the positioning accuracy of the positioning scheme.2. For positioning the scanning task proposed indicators, on the basis of the establishment of the robot body and sensor model positioning problem mod eling. As the same time, studies the practical application of core algorithms for positioning: fusion algorithm based on Kalman data and estimation algorithms based on particle filter Pose.3. The XK-XJ-2 robot platform combineing ROS realizes the proposed location solutions. In the prior ROS function package basis, through renovation and new features package implements the proposed location solutions. By optimizing the positioning strategy, positioning algorithm used on the project to achieve a combination of inspection robot positioning. Its positioning performance to fully meet the target metric based on engineering practice raised.