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中文摘要：
针对移动机器人在室外环境中的定位提出了一种基于视觉量角计的定位算法.首先简单介绍一种使用码盘和惯导的定位方法,并且描述了视觉量角计的主要思想,然后给出了定位算法,并且对它进行了误差分析以确保该算法的可行性.同时在本实验室自主开发的机器人上进行了验证,从而从理论和实验两方面确保了本算法的可靠、有效.
英文摘要：
A localization algorithm based on visual protractor was proposed in order to solve the problem of mobile robot localization in outdoor environments. A localization method based on encoders and inertial navigation system was introduced, and the main idea of a visual protractor was described. The new localization algorithm was introduced and the detail error analysis was given to insure its feasibility. At the same time, a test experiment was made on the robot designed in the laboratory. So the reliability and effectiveness of the algorithm are confirmed theoretically and experimentally.
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