基于ARM的移动机器人组合导航系统设计与实现  

Design and implementation of mobile robot integrated navigation system based on ARM

作　　者：曹超[1] 马磊[1] 赵舵[1] 李应[1] 

机构地区：[1]西南交通大学电气学院,四川成都610031

出　　处：《传感器与微系统》2013年第2期102-104,共3页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61075104)

摘　　要：为了实现室外自主移动机器人的导航定位需求,利用微惯性测量单元(MIMU)和全球卫星定位系统(GPS)接收机,设计并实现了一种基于ARM Cortex M4内核的SINS/GPS组合导航系统。详细介绍了系统硬件组成、软件结构,并在此基础上实现了Kalman滤波的SINS/GPS组合导航算法。将该组合导航系统安装于旅行者II移动机器人,采用差分GPS对组合导航系统性能进行评估。实验结果表明:该系统具有较高的精度,达到了设计要求,具有良好的实用性。In order to realize requirement of outdoor auto mobile robot navigation positioning,addresses an ARM Cortex M4-based integrated navigation system is designed and realized with micro inertial measurement unit（MIMU） and GPS receiver.Hardware configuration and software are introduced in detail,and Kalman filter is used to implement SINS/GPS integrated navigation algorithm.The integrated navigation system is installed on the mobile robot Voyager-II and the system performance is evaluated by differential GPS.The experimental result shows that this navigation system has good precision and practicability,it reaches design requirement.

关 键 词：ARM 微惯性测量单元 组合导航 卡尔曼滤波 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]