关键词: 除冰机器人, 障碍物测距, 信息融合, 扩展卡尔曼滤波

Abstract: Obstacle distance measurement is one of the key techniques for the deicing robot on high voltage transmission line.According to the structure of 220 kV transmission line，an improved measurement method of obstacle distance data fusion based on EKF is put forward.At first this paper designs the structure of deicing Robot multi-sensor detect system according to the distribution of obstacles，builds the obstacle data fusion system.Then for the non-linear characteristics of the obstacle information state model，processing asynchronous sensor measurement data synchronization，then uses improved extended kalman filter for multi-sensor obstacle distance data filtering and fusion，the improved method is compared with fusion result of single sensor method，Results of experiments show that the improved method effectively applies to different sensor data fusion，also has higher distance measurement precision and quicker convergence rate.

Key words: deicing robot, obstacle distance measurement, data fusion, extended kalman filter