中文摘要：

根据双足机器人足部惯性导航系统与轮式机器人航位递推/同步定位与建图（SLAM）导航系统不同的误差发散特性构建信息双向融合滤波器,即利用双足机器人导航系统中的误差零速修正（ZUPT）方法减少轮式机器人导航系统误差,并利用轮式机器人导航系统中的SLAM算法在一定环境条件下修正双足机器人的定位误差,从而同步提高两类机器人导航系统的定位与航向精度。实验结果表明：导航系统定位误差约为行进距离的2.3%,在室内等卫星导航系统失效的环境中可有效提高机器人群体导航系统的综合导航性能。

英文摘要：

The method builds information bidirectional fusion filters on the basis of different error divergence of the foot-mounted inertial navigation system and dead reckoning / simultaneous localization and mapping（ SLAM）navigation system. The zero-velocity update（ ZUPT） of biped robot is used to reduce the error of navigation system,while the SLAM algorithm of wheeled robot is used to correct the positioning error,which both improve the positioning and heading precision of two navigation systems synchronously. Experimental results show that,the positioning error of navigation system is about 2. 3 % of the walking distance,which can effectively improve the navigation performance of the robot group in the environment without GNSS.