Research on indoor navigation of mobile robot based on INS and ultrosound

The inertial navigation system(INS) composed of inertial measurement unit with low cost and high positioning speed is widely applied to indoor positioning, but as a result of interference of magnetic field, the constant error accumulating make it impossible to obtain high accuracy. Ultrasound sensor has high measuring accuracy in a simple indoor environment, so as to compensate the accumulative errors of INS. In this paper, four ultrasonic ranging elements are used to expanding indoor robot's measuring range while Kalman filter is in use for information fusion algorithm. After applying this multiple sensors with INS method, good practicability for its relatively high measurement precision is obtained.