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中文摘要：
针对现有超声波绝对定位方法不足及超声波传播的特点,提出了冗余超声波信息融合法（FMRUI），针对FMRUI中各个接收器波头延迟误差一致与不一致的情况分别提出了不同的误差修正策略,当各个接收器误差一致时通过一个统一的变量消除掉,当误差不一致时先修正到一致再统一消掉，FMRUI能很好地消除渡越时间误差,并能评价测量精度的高低，搭建了实验系统并用全方位移动机器人做了实验,实验结果证明FMRUI法是正确的,绝对定位精度有明显提高。
英文摘要：
Aiming at weakness of the existing ultrasonic absolute positioning method and the ultrasonic propagation characteristic, the fusion method for redundancy ultrasonic information （FMRUI） is proposed. For different wave lagging errors, different strategies were used to revise the error. When the error of the receivers is identical, a variable was used to revise the error. Otherwise something must firstly be done to make the error to be identical. FMRUI can well eliminate the error about times of flight （TOF）, moreover, it can give an estimation of the measurement accuracy. Finally, an experiment system is developed and the experiment results show that the FMRUI is effective and the positioning accuracy of 0.5cm is obtained.
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