| 摘要 |
A robot positioning method, comprising: when a robot moves, collecting orientation data by a photoelectric image sensor, a position-sensitive sensor, a speedometer and a gyroscope (201); inputting the orientation data collected by the photoelectric image sensor into all the local filters and a main filter; inputting the orientation data collected by the position-sensitive sensor into a first local filter; the first local filter processing the input orientation data, and inputting a processing result into the main filter; inputting the orientation data collected by the speedometer into a second local filter; the second local filter processing the input orientation data, and inputting a processing result into the main filter; and inputting the orientation data collected by the gyroscope into a third local filter; the third local filter processing the input orientation data, and inputting a processing result into the main filter (202); and the main filter processing the data output by the photoelectric image sensor and the data output by all the local filters, so as to obtain positioning information about the robot (203). |
