Wireless ranging omnidirectional image combined locating system

The invention is a composite locating system for wireless distance measuring on the omnidirectional image, which belongs to the technical field of image locating and wireless communication locating. The system is composed of fixed node and move node. The fixed node comprises an omnidirectional imaging device, a wireless transceiver and a fixed bolster, while the move node comprises a mobile robot, a wireless transceiver and a cooperative light source. The omnidirectional imaging device on the fixed node can gain the real-time 360-degree scene around, and establish the system of polar coordinates by taking the center of the omnidirectional image as the top. The location of the mobile robot in the omnidirectional image is marked by polar coordinates Rho and Theta. The polar diameter Rho is measured by the wireless distance measuring system through the wireless transceiver on the move node and the wireless transceiver on the fixed node, while the polar angle is measured by the omnidirectional image. The invention is used for complete and independent locating and guiding of the mobile robot, and used for the collaboration and relative positioning sum of a plurality of mobile robots in the scene, which can fulfill the tasks like scene real-time monitoring, as well as scene digitization and visualization, etc.