黄小春1,2

（1.福建（泉州）先进制造技术研究院，福建 泉州 362000 

2.福建省智能运维机器人技术重点实验室，福建 泉州362000）

摘要：针对复杂场景下，因环境特征变化导致的定位稳定性和精度下降等问题，提出基于反光柱的融合定位方法。通过基于最小二乘的反光柱圆心拟合、基于反光柱观测的粒子滤波定位、基于扩展卡尔曼滤波的即时定位与地图构建与反光柱的融合定位方法，实现了一种轻量的、具有较高精度及鲁棒性的机器人定位系统。经试验验证，该融合定位方法在动态环境下有较大的容错纠偏范围，在静态定位上可达毫米级的定位精度，能满足移动机器人、搬运AGV等场景使用要求。

关键词：反光柱；融合定位；圆心拟合；粒子滤波定位；即时定位与地图构建 

中图分类号：TP242.6           文献标志码：A          文章编号：1674-2605(2024)02-0002-07

DOI：10.3969/j.issn.1674-2605.2024.02.002

Research on Fusion Localization Method Based on Reflective Columns

HUANG Xiaochun1,2 

(1.Fujian (Quanzhou) Institute of Advanced Manufacturing Technology, Quanzhou 362000, China

2. Fujian Key Laboratory of Intelligent Operation and Maintenance Robot Technology, Quanzhou 362000, China)

Abstract: A fusion localization method based on reflective columns is proposed to address the issues of localization stability and accuracy degradation caused by changes in environmental features in complex scenes. A lightweight, highly accurate, and robust robot positioning system has been achieved through the fitting of the center of the reflective column based on least squares, particle filtering positioning based on reflective column observation, real-time positioning based on extended Kalman filtering, simultaneous localization and mapping, and fusion positioning method with reflective columns. Through experimental verification, this fusion positioning method has a large range of fault tolerance and correction in dynamic environments, and can achieve millimeter level positioning accuracy in static positioning, which can meet the requirements of mobile robots, handling AGVs and other scenarios.

Keywords: reflective column; fusion positioning; center fitting; particle filter localization; simultaneous localization and mapping