A Multi-Sensor Fusion-Based Localization Method for a Magnetic Adhesion Wall-Climbing Robot

摘要

To address the decline in the localization accuracy of magnetic adhesion wall-climbing robots operating on large steel structures, caused by visual occlusion, sensor drift, and environmental interference, this study proposes a simulation-based multi-sensor fusion localization method that integrates an Inertial Measurement Unit (IMU), Wheel Odometry (Odom), and Ultra-Wideband (UWB). An Extended Kalman Filter (EKF) is employed to integrate IMU and Odom measurements through a complementary filtering model, while a geometric residual-based weighting mechanism is introduced to optimize raw UWB ranging data. This enhances the accuracy and robustness of both the prediction and observation stages. All evaluations were conducted in a simulated environment, including scenarios on flat plates and spherical tank-shaped steel surfaces. The proposed method maintained a maximum localization error within 5 cm in both linear and closed-loop trajectories and achieved over 30% improvement in horizontal accuracy compared to baseline EKF-based approaches. The system exhibited consistent localization performance across varying surface geometries, providing technical support for robotic operations on large steel infrastructures.