Relative Location Technology Based on Dead Reckoning and Ultrasonic Data Fusion

For the robot location in indoor environment, first we give the encoder dead reckoning theory and algorithms, then in order to resolve the accumulated error problem caused by long-distance navigation in a single sensor, we use ultrasonic sensor together with the dead reckoning technology at the precondition of long distance and signpost. Then we use Kalman filter algorithm to amalgamate the data, and modify the cumulate orientation. Simulation results show the validity of fusing algorithm.