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针对煤矿井下干扰严重的特点,设计了基于多传感器融合的煤矿救灾机器人定位系统,提出了信任度相加的数据融合算法,并通过Matlab软件验证了该算法的可行性。将定位系统搭载在CUMT-Ⅲ型煤矿搜救机器人平台上进行了矿井环境下的模拟试验,结果表明,基于信任度相加的融合算法具有较强鲁棒性,在多干扰的情况下能够很好地过滤干扰数据。
Aiming at the serious interference in underground coal mine, a coal mine rescue robots positioning system based on multi-sensor fusion was designed. A data fusion algorithm based on trust degree addition was proposed. The feasibility of the algorithm was verified by Matlab software. The simulation results of the coal mine environment were carried out by locating the locating system on the CUMT-Ⅲ coal mine rescue robot platform. The results show that the fusion algorithm based on trust addition has strong robustness and can work well under multi-interference conditions Filter the interference data.