基于IMU及UWB的微型弹跳机器人传感器节点位姿检测研究  

Research on Pose Detection of Miniature Jumping Robot Sensor Nodes Based on IMU and UWB

作　　者：江朝军 倪江生[1] 张军[1] 李汉 JIANG ChaoJun;NI JiangSheng;ZHANG Jun;LI Han(School of Instrument Science and Engineering,Southeast University,Nanjing Jiangsu 210000,China)

机构地区：[1]东南大学仪器科学与工程学院,江苏南京210000

出　　处：《传感技术学报》2021年第8期1123-1130,共8页Chinese Journal of Sensors and Actuators

基　　金：江苏省自然科学基金项目(BK20181270);国家自然科学基金项目(61873066);东南大学至善学者计划项目(2242020R40096)。

摘　　要：节点部署是移动无线传感器网络的重要研究方向之一,其中采用具有超强越障能力的微型弹跳机器人(MJR)作为移动传感节点,是针对崎岖环境的理想选择。然而MJR的尺寸小、负载能力弱,难以搭载高精度传感器实现精确位姿检测。本文提出了基于IMU与UWB(超宽带技术)的弹跳机器人位姿检测方案,以及基于该方案的MJR自复位和自主航向调节方法,开展了MJR基本功能和部署运动实验研究。结果表明,基于IMU姿态检测的自复位和自主航向调节功能具备良好的稳定性与精确性,基于UWB的平均定位误差约为9cm,可满足自部署定位需求。本文结果为后续MJR传感器节点实现自部署功能奠定了基础。Node deployment is an important research direction in mobile wireless sensor network. Using Miniature Jumping Robot(MJR)with strong obstacle negotiation capability as sensor nodes is an ideal choice for rugged environments. However, the MJR’s small size and weak load capacity make it difficult to carry high-precision sensors to achieve accurate pose detection. This paper proposes a MJR pose detection scheme based on IMU and UWB(Ultra Wide Band Technology),and MJR self-righting and autonomous heading adjustment method, carried out MJR basic function and deployment movement experiment research. The result shows that self-righting and autonomous heading adjustment functions designed based on IMU attitude detection have good stability and accuracy. The average positioning error based on UWB is about 9 cm, which can meet the needs of self-deployment positioning. The results of this article lay the foundation for the self-deployment function of MJR sensor nodes in the future.

关 键 词：移动无线传感器网络 弹跳机器人 惯性测量单元 超宽带技术 位姿检测 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]