Degraded Environment Localization Inertial Navigation Correction via ArUco Markers for Cable-Pulling Robots in Narrow Trenches

Based on the application of cable-pulling robot in the laying of secondary cables, aiming at the localization problem of four-wheel cable-pulling robot in cable laying, this paper proposes a localization scheme of correcting inertial navigation pose by observing ArUco markers fixed on the wall of cable trench with camera. This method is to solve the problem that localization methods based on vision and laser sensors and GPS-RTK can't achieve high precision localization of cable-pulling robot in cable trench environment. The experimental results show that the method can enable the four-wheel cable-pulling robot to achieve real-time and accurate localization in the cable trench. This further enhances the intelligence of the secondary cable laying process in substations and improves the construction efficiency and quality of substations.