Research And Realization Of Mobile Robot Attitude Measurement And Control System Based On Multi-sensors Integrity Monitoring

Mobile robot has high practical value and it is widely used in military and civil field due to its simple structure. In order to make the robot getting higher reliability and precision, the attitude measurement and control system often adopts a detection algorithm. Based on this research background, this paper puts forward a kind of redundancy configuration scheme by five single degree of freedom gyros. This paper analysis and verify two traditional reliability test method with the scheme of the system. At the same time, this paper puts forward a new method to solve the problem when the system is under dynamic conditions. At last, this paper also makes experiments to verify the effectiveness of the proposed method.Firstly, this paper puts forward the engineering application background of mobile robots. Through the analysis of the robot in the operation process of safety and reliability problems, it puts forward the research direction of the attitude measurement and control system. This paper introduces the present situation of domestic and foreign about the inertial sensor configuration of attitude measurement and control system, as well as the research progress about the integrity detection method of sensor system.Secondly, this paper focused on the principle of multiple sensors configuration based on the configuration scheme of the attitude measurement and control system. In the purpose of improving the reliability and safety, reducing the cost and implementing easily of the attitude measurement and control system, this paper designed redundant configuration scheme of five single degree of freedom inertial sensors. At the same time, this paper studied the reliable performance and attitude estimation precision of the configuration.Following, this paper introduces several kinds of common sensor failure and the basic principle of classical generalized likelihood ratio and principal component analysis method. The two methods are verified through the simulation experiments that designed for integrity detection. This paper presents an improved method combined with odd-even pretreatment for the problem that the traditional principal component analysis method can't detect attitude measurement and control system in dynamic conditions. And the improved method has been verified by simulation experiments. This paper fuses the information of redundant gyroscope by the principle of equivalent and accelerometer based on improved complementary filter. The simulation results show that the improved algorithm can improve the convergence speed.Finally, this paper designs the hardware platform to verify the performance of the improved principal component analysis algorithm. The experimental results show that the improved algorithm can solve the problem of the fault IMU detection when the system under motion posture.