Design Of Inertial Positioning Information Display System For Robot

In recent years, mining accidents, earthquakes and other disasters occur frequently, that causes serious injury or death. Generally, injuries are a direct result of the disaster, however, some of that occurred during the process of rescue search.In order to reduce injuries in process of rescue search, robot-assisted rescue is particularly important.In order to make the robot to successfully participate in the rescue work, we must locate the position of the robot and display it. Inertial positioning information display system for Robot can display the location of robot on Android handheld terminal, which can help rescuers to search and rescue work.The main contents of thesis is design of inertial positioning information display system for robot, the system implement electronic map modeling and displaying on Android handheld terminals, implement robot’s positioning information receiver and transmitter by wireless and the positioning error detection and correction. The primary contents are as follows:(1)The overall design of inertial positioning information display systemFirstly introduces the working principle inertial positioning information display system for robot works, and proposes the design requirements of system. It also describes the architecture of system. Finally introduces the development tools under android system and the flow chart of system.(2)The electronic map modeling and displaying design of inertial positioning information display systemFirstly makes an overview of electronic map modeling, and then describes the major components and Android graphics interface. Finally, according to method of common electronic map modeling loading electronic map vector data, drawing the electronic map and displaying electronic map.(3)The design for data wireless transmission of inertial positioning information display systemFirstly introduces relevant content of Bluetooth development of under Android platfrom and multi-threaded processing mechanism, then according to the design requirements design a data packet protocol uses to implement reliable communication between the robot and terminal the terminal, at the same time elaborate packet format definitions and data packet transceiver thread. Finally, determinines the baud rate of robot’s Bluetooth serial module according to the data of experiment.(4)The design of positioning information display design for robotThe terminal receives the data via Bluetooth interface, and then displays them on the map. Taking into account the inertial navigation errors accumulate over time, so the location information may be subject to drift, and finally there will be positioning error. This system uses a positioning error detection algorithm for detecting the positioning errors of the robot, it also will correct positioning errors and back to the robot.This thesis design of the various modules according to the architecture and the system requirements of inertial positioning information display system, and successlly implement that the robot inertial positioning information display on the handheld terminal.