UWB/IMU integrated inspection robot positioning in underground substation

Abstract

The task of the underground inspection robot is to detect the environment of the underground substation and the operating parameters of the electrical equipment in it, and precise positioning is the guarantee for the inspection robot to complete the above tasks. In order to solve the problems of large drift of inertial sensors based on micro-electro-mechanical systems, and susceptibility to NLOS errors in UWB positioning, a fusion positioning algorithm with extended Kalman filtering as the core was designed. The algorithm suppresses the drift of position information by estimating the deviation of the inertial device, and integrates the UWB ranging information to improve the long-term positioning stability of the carrier. Finally, a parallel window smoother is designed to smooth the fusion result. The simulation results show that the fusion algorithm has a strong ability to resist drift and non-line-of-sight errors. Compared with the traditional fusion algorithm, the error is reduced by 38%.