Research On Smart Car Combination Positioning Method Based On Strapdown Inertial Navigation

Smart car involves cross-disciplinary electronic,mechanical,automatic control,artificial intelligence,mechanics,etc.It is also a type of mobile robot.With the development of society,computer technology and sensing and technology are changing with each passing day,mobile robot technology has also made rapid development,has been used in aerospace,military,navigation and other major areas.Mobile robot technology has become one of the hot spots of people's attention.The navigation and positioning problem in robots has always been the focus of research by scientists,scholars and world-famous companies in various countries.However,the limitations of various navigation and positioning sensors make integrated navigation a hot topic of current research.This paper uses the general car as the research platform for the research,and considers the combination of factors such as usage,cost,and experimental conditions,and finally determines the navigation solution using inertial navigation/encoder as a combination.The main research contents of this article are as follows:1.The inertial components of the current strapdown inertial navigation system basically use the data output in increments.This paper presents the basic Strapdown algorithm theory applicable to incremental form output.The basic algorithm theory includes: direction cosine,four elements,equivalent rotation vector algorithm,rowing error and compensation algorithm,scroll error and compensation algorithm.2.In the research of navigation and positioning of mobile robots,the most important thing is where am I.Integrated Navigation of Inertial Devices and Encoders In order to overcome the deficiencies of the respective sensors,this paper studies the inertial navigation related algorithms and track calculation algorithms.In order to improve the accuracy of positioning and navigation,the two are combined to achieve complementary defects.The use of Karl filter algorithm for information fusion,algorithm simulation,has a good filtering effect,to achieve the purpose of design.3.The C language program design and simulation were carried out for the integrated navigation system based on the smart car's plane.