中文摘要：

针对移动机器人的测距系统，采用了红外线传感器与超声波传感器共同测距，避免了因使用单个传感器进行多次测量而降低系统的实时性和产生信号串扰问题；应用自适应加权数据融合估计算法对实时测量数据进行在线融合估计，只对当前采样时刻的测量数据进行自适应加权融合，而各传感器的加权因子则通过传感器的测量数据进行方差在线学习估计以自适应方式进行调整，使融合结果的均方误差始终最小，实现两种传感器在功能上的互补；实验结果表明，该方法提高了整体测距精度，得到了被测距离更加准确的估计。

英文摘要：

A distance measurement method with infrared range sensors and ultrasonic sensors for mobile robot ranging system is adopted. It avoid the problems that reduce the system measurement real--time and generate signal interference by using one sensor to range for many times. Adaptive weighted fusion estimation algorithm, whieh makes up for the performances of the two kinds of sensors, is adopted to deal with measurement datum on--line. The algorithm only deals with the current measurement datum of sensors and the weighted factors of each sensor are adaptively adjusted by the variance study estimated algorithm on--line. The experiment results indicate that the algorithm improves ranging preeision and the estimation of distance measurement is more preeise than that of weighted average method.