VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKF
With the development of the electric power industry, intelligent inspection systems for substations have been widely applied to ensure the safe operation of substations and maintain power supply quality. To address the issue of low localization accuracy in existing substation inspection robot naviga...
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| Format: | Article |
| Language: | zho |
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Harbin University of Science and Technology Publications
2024-10-01
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| Series: | Journal of Harbin University of Science and Technology |
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| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2366 |
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| author | ZHANG Guifeng ZHANG Zhongxuan ZHOU Chaorong YU Zhilong |
| author_facet | ZHANG Guifeng ZHANG Zhongxuan ZHOU Chaorong YU Zhilong |
| author_sort | ZHANG Guifeng |
| collection | DOAJ |
| description | With the development of the electric power industry, intelligent inspection systems for substations have been widely applied to ensure the safe operation of substations and maintain power supply quality. To address the issue of low localization accuracy in existing substation inspection robot navigation technologies, this paper proposes a fusion algorithm based on visual-inertial odometry and GPS using Extended Kalman Filtering (EKF). The algorithm propagates the filter state through visual-inertial estimation and updates it using GPS measurements, effectively eliminating cumulative drift in position and heading, while requiring minimal computational resources. Theoretical and experimental results demonstrate that this algorithm can achieve globally consistent and accurate six-degree-of-freedom pose estimation in outdoor substation environments. |
| format | Article |
| id | doaj-art-14260f9b669945dca1e796bec7d3b8e4 |
| institution | Kabale University |
| issn | 1007-2683 |
| language | zho |
| publishDate | 2024-10-01 |
| publisher | Harbin University of Science and Technology Publications |
| record_format | Article |
| series | Journal of Harbin University of Science and Technology |
| spelling | doaj-art-14260f9b669945dca1e796bec7d3b8e42025-08-20T03:33:31ZzhoHarbin University of Science and Technology PublicationsJournal of Harbin University of Science and Technology1007-26832024-10-012905485510.15938/j.jhust.2024.05.006VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKFZHANG Guifeng0ZHANG Zhongxuan1ZHOU Chaorong2YU Zhilong3China Southern Power Grid Research Institute Co. , Ltd. , Guangzhou 510000 , ChinaSchool of Instrument Science and Engineering, Harbin Institute of Technology, Harbin 150000 , ChinaWenshan Power Supply Bureau of Yunnan Power Grid Co. , Ltd. , Wenshan 663000 , ChinaSchool of Automation, Harbin University of Science and Technology, Harbin 150080 , ChinaWith the development of the electric power industry, intelligent inspection systems for substations have been widely applied to ensure the safe operation of substations and maintain power supply quality. To address the issue of low localization accuracy in existing substation inspection robot navigation technologies, this paper proposes a fusion algorithm based on visual-inertial odometry and GPS using Extended Kalman Filtering (EKF). The algorithm propagates the filter state through visual-inertial estimation and updates it using GPS measurements, effectively eliminating cumulative drift in position and heading, while requiring minimal computational resources. Theoretical and experimental results demonstrate that this algorithm can achieve globally consistent and accurate six-degree-of-freedom pose estimation in outdoor substation environments.https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2366visual-inertial odometryglobal positioning systemextended kalman filtersubstation inspectionrobot navigation |
| spellingShingle | ZHANG Guifeng ZHANG Zhongxuan ZHOU Chaorong YU Zhilong VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKF Journal of Harbin University of Science and Technology visual-inertial odometry global positioning system extended kalman filter substation inspection robot navigation |
| title | VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKF |
| title_full | VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKF |
| title_fullStr | VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKF |
| title_full_unstemmed | VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKF |
| title_short | VIO/GPS Fusion Positioning Algorithm of Substation Inspection Robot Based on EKF |
| title_sort | vio gps fusion positioning algorithm of substation inspection robot based on ekf |
| topic | visual-inertial odometry global positioning system extended kalman filter substation inspection robot navigation |
| url | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2366 |
| work_keys_str_mv | AT zhangguifeng viogpsfusionpositioningalgorithmofsubstationinspectionrobotbasedonekf AT zhangzhongxuan viogpsfusionpositioningalgorithmofsubstationinspectionrobotbasedonekf AT zhouchaorong viogpsfusionpositioningalgorithmofsubstationinspectionrobotbasedonekf AT yuzhilong viogpsfusionpositioningalgorithmofsubstationinspectionrobotbasedonekf |