Improved Kalman filter algorithm in positioning system for autonomous mobile robot
自主移动机器人定位系统中Kalman滤波算法改进*

In order to solve the problem that the large amount of computation and low accuracy of kalman filtering algorithm to the conventional mobile robot localization process, according to the analysis of the traditional kalman filter,the article gived a method of improving the conventional kalman filter by U-T parameter transformation, the improved kalman filtering algorithm reduced the error that brought by the traditional kalman filter which can not ignore the high-end items.The experimental results show that the maximum position deviation was reduced by the improved kalman filtering algorithm.The accuracy of the mobile robot positioning has been significantly improved. Error Simulation curve shows the results of the improved positioning error deviation is not obvious, the stability of the positioning system has been greatly improved.