Absolute positioning using redundant ultrasonic information fusion

作者：Jiang Lin^*; Yan Jihong; Zhu Yanhe; Zhao Jie

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2008, 36(5): 63-66.

• Absolute positioning
• Error about TOF
• Error revising strategies
• Experiment system
• Fusion methods
• Measurement accuracy
• Mobile robot
• Positioning accuracies
• Propagation characteristics
• Ultrasonic information fusion
• Wave lagging error

Aiming at weakness of the existing ultrasonic absolute positioning method and the ultrasonic propagation characteristic, the fusion method for redundancy ultrasonic information (FMRUI) is proposed. For different wave lagging errors, different strategies were used to revise the error. When the error of the receivers is identical, a variable was used to revise the error. Otherwise something must firstly be done to make the error to be identical. FMRUI can well eliminate the error about times of flight (TOF), moreover, it can give an estimation of the measurement accuracy. Finally, an experiment system is developed and the experiment results show that the FMRUI is effective and the positioning accuracy of 0.5 cm is obtained.

• 出版日期2008