中文摘要：

针对作者所在团队研制的沿输电线路地线行驶的巡检机器人,分别提出了基于倾角传感器、GPS和线路先验信息模型GIS的全局环境定位方法和基于行走轮编码器及其打滑识别、机器视觉、超声波测距传感器和霍尔接近传感器的局部环境定位方法,给出了机器人定位的相关模型或算法.经现场线路试验研究表明,该方法行之有效.

英文摘要：

On the basis of inspection robot along ground wire of high-voltage transmission lines which was researched by the team the authors belonged to,respectively proposed global environment positioning which based on tilt sensors,GPS and GIS-line prior information model,and partial environment positioning on the basis of the encoders and skid recognition of wheels,machine vision,ultrasonic distance sensors and Hall proximity sensors.The relevant model or algorithm are presented for the robot positioning.The field experiences proved that the above-mentioned method is effective.