Three‐dimensional dead reckoning of wall‐climbing robot based on information fusion of compound extended Kalman filter

摘要

Abstract Dead reckoning accuracy determines the operation quality of pipeline mobile robot to a certain extent. With the progress of the industry, the research on the dead reckoning system of pipeline robot is more and more in‐depth, but how to improve dead reckoning accuracy is still a difficult problem for pipeline mobile robot. In this paper, to overcome the sensor defects of the traditional dead reckoning system, an error backpropagation neural network (BPNN) is introduced to compensate the sensor error caused by static drift and poor dynamic response. To reduce the interference of noise information, the covariance matching technique based on the Adaptive Neuro‐Fuzzy Inference System is used to estimate the measurement noise information. And then the two are combined in the algorithm based on the extended Kalman Filter (EKF) framework for data fusion. An EKF algorithm based on adaptive neural fuzzy combined with BPNN is proposed. Finally, a complete three‐dimensional dead reckoning system is established by coordinate transformation. The motion experiment of the quadruped wall‐climbing robot in the pipeline proves that the proximity of the calculated trajectory is not more than 6.00%, and the lowest is 1.07%, which effectively improves the reliability, robustness, and positioning accuracy of the dead reckoning.