| As a product of multidisciplinary and high-tech integration of modern society,mobile robots have now penetrated into all aspects of human production and life,and are widely used in industries such as industry,agriculture,and services.As long as the mobile robot moves,navigation is indispensable,and navigation performance is the key to the mobile operation of the mobile robot When the mobile robot is working in an outdoor environment,the single navigation method often fails to meet the requirements of the task for navigation accuracy due to its insufficient.Generally,two or more kinds of navigation information are fused to form a combined navigation system,which can improve the navigation accuracy and stability of mobile robots.GPS(Global Position System)and INS(inertial navigation)are very complementary in principle and error characteristics.In this thesis,all-terrain mobile robots are used as research objects to achieve autonomous navigation in outdoor environments of mobile robots.Through theoretical analysis and experimental methods,related research was carried out on GPS/INS navigation and control of all-terrain mobile robots.(1)A GPS/INS navigation combined navigation hardware platform is constructed to realize autonomous navigation and walking of all-terrain mobile robots in outdoor environments.By analyzing the principles and error sources of GPS and inertial navigation systems,the position,velocity and attitude angle error models of GPS/INS navigation are established.The all-terrain mobile robot developed by the research group is used as a navigation mobile carrier,equipped with GPS and inertial navigation measurement units,and a GPS/inertial navigation combined navigation hardware platform is constructed to realize autonomous navigation movement of the all-terrain mobile robot.(2)GPS/INS navigation data fusion algorithm has been reserched.Based on the complementary relationship between the principles and error characteristics of GPS and inertial navigation,the combined navigation mode is used to improve the navigation accuracy and stability of the system.A GPS/INS navigation mathematical model containing state equations and measurement equations is established,and the system output is fused and feedback corrected using the loose combination model.The basic principles of Kalman filtering are described.Based on the nonlinear characteristics of the mobile robot integrated navigation system,dimensionality reduction extended Kalman filtering is used to fuse GPS and inertial data.(3)Outdoor environment integrated navigation experimental study has been carried out,tested the integrated navigation accuracy of all-terrain mobile robots,and verified the effectiveness of the integrated navigation data fusion algorithm.Under the outdoor environment,carry out integrated navigation experimental research on all-terrain mobile robots,including dynamic navigation experiment and autonomous navigation experiment program design,data processing and analysis of experimental results.The experimental results show that the dimensionality reduction extended Kalman data fusion algorithm has a good effect,and the mobile robot combined navigation has high navigation accuracy.This thesis aims to study autonomous navigation and control of mobile robots based on GPS/INS data fusion.In the outdoor working environment,taking the all-terrain mobile robot carrier as the research object,by carrying a GPS receiver and an inertial navigation measurement unit,the autonomous navigation movement of the mobile robot is realized.As a self-moving vehicle,it can be used in materials transportation in industry and agriculture to reduce labor costs,increase production efficiency,and promote economic and social development. |
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