This technology estimates a robot's base position by combining motor encoder and inertial sensor (gyroscope, accelerometer) data. It corrects cumulative errors by resetting the current position to specific coordinates when the robot passes through high-reliability reception zones (within 1.5m, -50dBm or higher) defined around pre-mapped Wi-Fi access points.
Positioning methods in indoor environments that rely solely on motor encoders and inertial sensors are vulnerable to external disturbances and struggle to resolve long-term cumulative errors. Furthermore, conventional methods that directly convert wireless LAN signal strength into distance information suffer from low precision due to signal instability caused by environmental factors.
This technology integrates a robot system, a wireless network system, and a positioning server to execute a position correction algorithm based on signal strength in proximity to access points. Specifically, it processes sensor data through a data fusion unit, switches to inertial sensor-based positioning during impacts, and resets position coordinates using signal strength thresholds near access points. Applicable to logistics transport, service robots, and autonomous platforms, it improves positioning accuracy by utilizing short-range wireless LAN signal strength for error correction.
This invention was developed with support from the Ministry of Education, Science and Technology for the development of renewable energy and intelligent robot convergence technology.
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