| Mobile robot which is widely applied both in military and civilian areas, has become one of the most popular research subjects in many institutions and organizations for a long time all over the world. Navigation and positioning system plays an important part in Mobile robots. In this paper, author particularly emphasizes on the study and application of IDGPS for Mobile robot.Firstly, the paper gives a review of the current navigation and positioning methods of Mobile robot, presents the structure of Mobile robot and Inverse Differential GPS system. The second chapter of this paper emphasizes on the structures of GPS and theories of IDGPS. In the third chapter, concerning the disadvantages of IDGPS, a research on the IDGPS/DR integrated navigation is given. The simulation result shows that the integrated navigation system can give a better performance on accuracy, reliability and its anti-jamming ability. The forth chapter gives the general scheme of applied Inverse Differential GPS system based robotic conditions, and divides the system into function modules. From hardware to software, the chapter gives a military explanation. In the fifth chapter analyses the IDGPS system for Mobile robot. The paper deduces the mathematics modal to estimate the position accuracy of IDGPS data and to use fuzzy theory according to the HDOP and the SNR3 to solve the surveying position answer.Author sums up the whole work about the paper, and the future ideas of the navigation and positioning system for Mobile robot are discussed and prospected in the final part of this thesis. |
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