Research And Design On Inertial Positioning System For Wheeled Mobile Robot

With the development of intelligent technology and sensor based on MEMS, the wheeled mobile robot is widely used in a dangerous, unknown of the indoor environment of the rescue, such as fired office building, or only the floor plan of the environment. Because the environment often face the lack of GPS or other wireless signal attenuation led to a decline in positioning accuracy, the inertial positioning technology is the application of principle of inertial navigation in indoor environment, has the advantages of autonomy is strong, good adaptability to the environment, can realize mobile robot in unknown environment indoor navigation and positioning.The cored technology of inertial positioning system is the data of inertial sensor based on the MEMS processing and integration. In this paper, the main research content is the research and design of the inertial positioning system for the wheeled mobile robot based on DSP, using Kalman filtering algorithm of odometer and inertial sensor data fusion, realize the inertial positioning of the robot. The main research content of this article is as follows:1. Architecture design of the inertial positioning systemFirstly introduces the structure of the wheeled mobile robot, and then introduces the working principle of the inertial positioning of the mobile robot, and the function and performance requirements of inertial positioning system is introduced in this paper. The architecture of inertial positioning system is introduced in this paper finally.2. Hardware design of the inertial positioning systemAccording to the functionality and performance requirements of the inertial positioning system design, the components of the system are selected. Based on the components selection designed the peripheral interface circuit for various parts of the system, including the minimum system of DSP design, the inertial sensor interface circuit design, low-ripple stabilivolt circuit design, etc. In order to ensure the design conforms to the system performance index, test the entire hardware system finally.3. The software design of inertial positioning systemFirstly analyzes the kinematics model of the mobile robot and the data acquisition function, and then introduces multi-sensor data fusion based on kalman filtering algorithm, and calculates the position of the mobile robot, finally introduces the data trasmition of the system.4. Simulation and debugging analysis of the inertial positioning systemsFirstly debugs the calibration function of the electronic compass, and then filter the data of the gyro output. Next analyzes the effect through the experiment to find out the problems and put forward improvement methods. Finally introduced the inertial positioning experiments.According to the structure and design requirements of inertial positioning system for the mobile robot, this article designs the hardware and software of various parts of the system. Through a large number of experiments and debugging, the inertial positioning system of the wheeled robot meets the design requirements.