Localization Research Based on Special Fusion Method for Redundancy Ultrasonic Information

Author

Jiang, Lin ; Yan, Jihong ; Zang, Xizhe ; Zhao, Jie

Author_Institution

Harbin Inst. of Technol. Harbin, Harbin

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

700

Lastpage

704

Abstract

This paper proposes a novel method to improve the accuracy of ultrasonic absolute localization. The characteristic and problem of ultrasonic absolute localization are analyzed and the insufficiency in existing methods is pointed out. Aiming at these questions, the special fusion method for redundancy ultrasonic information (SFMRUI) has been proposed. SFMRUI can well eliminate the error about times of flight (TOF) and can accurately calculate the wave lagging error. Moreover it can give an estimation of the measuring accuracy. Finally the experiment and the simulation have been performed, the experiment and the simulation results proved the SFMRUI law is effective and it can greatly improve the absolute localization accuracy.

Keywords

sensor fusion; ultrasonic applications; localization research; redundancy ultrasonic information; special fusion method; Acoustic sensors; Error analysis; Hardware; Infrared sensors; Mechatronics; Mobile robots; Redundancy; Robotics and automation; Temperature sensors; Ultrasonic variables measurement; Redundancy ultrasonic information; Times of flight; Ultrasonic absolute localization; Wave lagging error;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303629

Filename

4303629