室外移动机器人的组合导航定位系统设计  

Design of Outdoor Mobile Robot Navigation Positioning System

作　　者：吴平[1] 张海[1] 

机构地区：[1]北京航空航天大学飞行器控制一体化技术重点实验室,北京100191

出　　处：《单片机与嵌入式系统应用》2014年第6期34-37,共4页Microcontrollers & Embedded Systems

摘　　要：设计了一款基于MSP430F149微控制器的室外移动机器人自主定位系统。该系统通过GPIO引脚模拟SPI时序扩展接口电路,重点解决该款微控制器的硬件接口资源不足的问题,能够有效地接入卫星导航接收机、惯性测量单元、高度气压计,完成导航服务,同时可输出原始测量信息用于进一步高精度组合导航解算。此外,该系统还解决了由于高度气压计MS5803-02BA使用手册中的疏漏导致无法正常工作的问题,并分段线性化气压值与高度之间的函数关系,从而完成气压值到高度的转换。最后,给出了卫星数据与惯导数据时间对准的工程解决方法。The paper designes an outdoor mobile robot autonomous positioning system based on MSP430F149 microcontroller.The sys-tem applies the method of simulation SPI timing by GPIO pin to extend interface circuit,and the system focuses on solving the problem of lack of interface resources in the microcontroller,which can effectively complete the robot navigation services by accessing the satellite navigation receiver and inertial measurement unit,as well as the barometer.At the mean time the raw measured informations can be output for further precision navigation.In addition,this system solves the running problem of barometer MS5803-02BA which caused by negligences in the “user guide”.The conversion from pressure to height is also achieved by piecewise linear the function of pressure and height.The engineering solutions of aligning GNSS data and IMU data are given at last.

关 键 词：MSP430F149 多路数据采集 组合导航 时间对准 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]