Research on Multi-sensor Fusion Positioning and Navigation of Substation Inspection Robot Based on Beidou RTK and 3D Laser

Substation as an important part of the power system, with the power system in the "two alternatives" promotion and application. In the past, the staff needed to patrol the power equipment in the substation, which is gradually replaced by substation inspection robot. In order to ensure the safe, stable and reliable operation of the substation, a stable, reliable and strong substation inspection robot is needed. As a key technology of robot operation, autonomous navigation of robot has become a research hotspot. The traditional robot navigation method based on laser radar single sensor has the problems of yaw, lost, poor accuracy and poor environmental adaptability in complex scenes. In order to improve the stability and accuracy of navigation, this paper proposes a multi-sensor fusion positioning and navigation algorithm based on Beidou RTK and 3D lidar. The Beidou RTK positioning terminal, 3D Lidar, IMU and odometer sensors carried by the robot are used, and the extended Kalman filter algorithm is used to fuse the data of each sensor. The algorithm integrates the positioning advantages of each sensor and outputs the fused positioning information, which effectively improves the stability and accuracy of robot navigation. The algorithm is portable and suitable for legged robots. The experimental results show that the distance deviation is better than 5cm, and the Angle deviation is less than 1°. It can meet the positioning accuracy requirements of the robot in the complex substation environment and improve the use effect of the robot.