Research On Performance Enhancement Method Of Inspection Robot Integrated Navigation System Based On Environment Map Information Matching

With the rapid development of robot technology and the complexity of inspection tasks,it has become a reality to use robot instead of manual power inspection,and it is widely used in power system.Inspection robot has both flexibility and intelligence of artificial inspection at the same time,and it can make up for the potential safety hazard in manual inspection as well as the lack of efficiency and precision.It also provides a new way of inspection and monitoring means for electrical equipment inspection.Intelligent inspection robot combines autonomous path planning,the precision of navigation and positioning technology based on multi-sensor fusion,image recognition,infrared temperature measurement,non-contact detection technologies,and network information technology such as Cyber-Physical-System.Among them,the navigation technology is the precondition for the inspection robot to realize the intelligent autonomous inspection,which is necessary to guarantee the quality and efficiency of inspection.Under the background of the application of the smart grid inspection,in order to apply to substation inspection robot as the carrier,the multi-information fusion method of INS/GPS integrated navigation and electronic map matching are studied in this paper.Through the analysis of the existing INS/GPS integrated navigation algorithm,the existing shortcomings and the need to be improved are summed up,and a variety of auxiliary correction schemes based on inertial navigation are proposed in this thesis.In the case of GPS failure,an auxiliary for kinematic constraints and a zero velocity correction method are introduced.On this basis,a improved map matching algorithm is added.Firstly,the work mode and basic algorithms of INS/GPS integrated navigation system are studied in this thesis,and the limitations of single navigation system are overcome,and the advantages of the navigation systems are brought into play.In order to improve the positioning accuracy of the INS/GPS system in the case of GPS failure,the vehicle kinematic constraints and zero-speed constraint conditions are studied as the new method of auxiliary INS/GPS.In the case of a long-time failure of GPS and a long-time inspection robot operating,in order to further improve the navigation precision of the system,the common map matching algorithm based is improved,and a probability matching algorithm is proposed based on the weight of the grid,which can tumble the electronic map grid and reduce the search scope of the candidate matching section.Then,the appropriate error area is built according to the size of the mesh.The matching algorithm based on weight and the probability matching algorithm are combined,to further reduce the number of candidate matching sections,which can not only improve the efficiency of map matching algorithm,but also improve the matching precision.After the research on the integrated navigation algorithm based on kinematics of auxiliary and the map matching algorithm is complete,further design are proposed to realize the combination of multiple information fusion navigation system and the development of both software and hardware platform.The experiment results show the effectiveness of the proposed algorithm and the availability of the integrated navigation system.