基于智能空间的变电站机器人复合全局定位系统设计

梁林勋; 杨俊杰

梁林勋,杨俊杰.基于智能空间的变电站机器人复合全局定位系统设计[J].电测与仪表,2018,55(24):100-105.
Liang Linxun,Yang Junjie.Research on substation robot composed global localization system based on intelligent space[J].Electrical Measurement & Instrumentation,2018,55(24):100-105.

基于智能空间的变电站机器人复合全局定位系统设计

Research on substation robot composed global localization system based on intelligent space

DOI：

中文关键词: 变电站机器人智能空间全局定位粒子滤波粒子群算法

英文关键词:substation robot, intelligent space, global localization, particle filter, particle swarm optimization

基金项目:国家自然科学基金项目(61202369)；上海市自然科学基金资助项目(14ZR1417400)；上海市教育委员会科研创新项目(13YZ102)

作者中文名	作者英文名	单位
梁林勋	Liang Linxun	上海电力学院
杨俊杰	Yang Junjie	上海电力学院

摘要点击次数: 1464

中文摘要:

变电站机器人对于坚强智能电网的建设具有重要意义，针对室外大范围环境下巡检机器人在没有任何初始位姿先验知识情况下通过传感器观测全局定位的问题，结合智能空间技术，本文提出了一种智能空间下基于ZigBee指纹定位与改进粒子滤波的复合全局定位系统。该方法首先利用变电站环境下已有的无线网络，通过UPnP技术将机器人接入智能空间，在智能空间中采用BP神经网络进行ZigBee指纹初步定位，然后在初定位基础上利用粒子群优化的粒子滤波算法完成精确定位。实验结果表明，本文设计的算法实现了变电站机器人与智能空间的零配置与松耦合，可有效提高初始全局定位精度并改善算法性能，缩短迭代时间。

英文摘要:

With the intelligent space technology, a composed global localization system based on ZigBee fingerprint and improved particle filter is proposed for solving substation robot global localization problem in which the initial pose of robot is unknown and the robot pose is determined according to sensor information under large scale outdoor environment, which is of great significance for the construction of smart grid. In the composed localization method, initial location is ?rstly realized using the ZigBee ?ngerprint localization based on BP network under the support of existing wireless network in substation, and then on the basis of initial location, particle swarm optimized particle filter is used to locate accurately. The experiment results show the proposed system can realize zero configuration and loose coupling between substation robot and intelligent space, improve global positioning accuracy and the performance of the algorithm, and reduce the iteration time.

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