Mobile Robot GPS/INS Integrated Navigation System Design

The mobile robot system is a type of robot system that can sense its own state and envi-ronmental state through a sensing system,and realize target-oriented autonomous movement in a complex environment,thereby completing a robot system of a specific job function.Mobile robot navigation technique is the method to guide the carrier from the original position to the destina-tion.In some working environment,mobile robots need to use integrated navigation technologies to complete navigation tasks in a complex environment.According to the complementarity of each navigation technology,Integrated navigation system formed by two or more navigation technolo-gies can achieve higher navigation performance.Inertial Navigation System(INS)is an autonomous navigation system which neither receive nor send information outside,INS has good navigation accuracy in the first short time,but if time gets longer,the accuracy will diverge because of error accumulation.GPS has high precision without error accumulation,but its performance is susceptible to interference.Inertial Navigation System and Global Position System have good complementarity in the navigation principle,error characteristics and output characteristics.Therefore,based on the actual mobile robot working environment,this paper designs a mobile robot GPS/INS integrated navigation system to solve the problems of GPS signal interference and robot self-jitter in the working environment.In this paper,we have defined the coordinate system used in the mobile robot Integrated Navigation System,established SINS movement model and the corresponding error model of the mobile robot,and the GPS interference information correction plan is also designed.Researching Kalman filter algorithm,analyzing the principle and characteristics of extended Kalman and unscented Kalman.Constructing the state equation to describe the dynamic charac-teristics of the mobile robot system and the measurement equation to describe the measurement.we propose the noise characteristics of measurement and eliminate outliers in measurement in-formation to ensure the reliability of measurement information.We design the Kalman filter and simulate the motion trajectory.Then,based on the information extracted from simulation trajec-tory,the simulation of the mobile robot integrated navigation system is given to verify the validity of the Kalman filter.We have Designed the hardware platform and the software system of mobile robot inte-grated navigation system,based on Digital Signal Processor(DSP).Inertial measurement unit ADIS 16375,GPS receiver and DSP development board,power supply,compiler and computer constitute the integrated navigation system hardware platform.Based on DSP embedded develop-ment process,the integrated navigation software system is designed with C language.It including software modules such as data acquisition,preprocessing,navigation solution and output results to the user interface.