为了实现移动机器人的快速高精度定位, 提出了一种基于多个传感器的室内定位模型, 研究了其可见光通信技术(VLC)室内定位算法, 并对该算法进行了实验验证。首先研究基于AOA定位算法, 利用传感器的响应曲线, 结合室内定位模型, 通过拟合预测算法计算出信号到达角度实现定位; 然后综合多个传感器的定位模型和AOA定位算法, 分析得出一种室内定位的实现方式, 通过实验验证了该定位模型和定位算法的实现可行性。结果表明：其定位精度达13.6cm, 定位周期为0.1s, 相较于传统的AOA定位算法, 该算法定位精度高、成本低、可行性高且定位速度快。

In order to achieve rapid and high-precision positioning of mobile robots, an indoor positioning model based on multiple sensors was proposed. VLC indoor location algorithm based on multiple sensors was researched and experiments were carried out to verfiy the algorithm. Based on the AOA localization algorithm, this study uses the sensor response curve, combining with the indoor positioning model, to calculate the signal arrival angle to achieve positioning by using the fitting prediction algorithm. Based on the positioning model of multiple sensors and the AOA localization algorithm, a kind of indoor positioning was analyzed. The feasibility of the localization model and the localization algorithm was verified by experiments. The positioning accuracy of 13.6cm and positioning cycle of 0.1s were achieved. Compared with the traditional AOA localization algorithm, the proposed algorithm realizes high positioning accuracy, low cost, high feasibility and fast positioning speed.