基于编码器与惯性测量单元的定位系统设计  

Design of Positioning System Based on Encoder and Inertial Measurement Unit

作　　者：胡天林 陈志伟 赵德博 卞嘉炜 欧阳童洁 HU Tianlin;CHEN Zhiwei;ZHAO Debo;BIAN Jiawei;OUYANG Tongjie(School of Aerospace Engineering,Xiamen University,Xiamen 361002,Fujian,China;Modern Educational Technology and Practice Training Center,Xiamen University,Xiamen 361002,Fujian,China)

机构地区：[1]厦门大学航空航天学院,福建厦门361002 [2]厦门大学现代教育技术与实践训练中心,福建厦门361002

出　　处：《实验室研究与探索》2022年第5期83-87,284,共6页Research and Exploration In Laboratory

摘　　要：设计了一种基于正交编码器与惯性测量单元的定位系统,用于轮式机器人的室内自主定位。机械结构由一对从动轮、悬挂机构及支撑机构等组成;硬件主要由传感器光电编码器和惯性测量单元JY901、单片机STM32F103C8T6构成。通过对传感器的数据融合实现对机器人坐标位置的解算。提出了一种基于从动轮编码器里程转动分量和等分位移的坐标解算算法,与传统坐标解算方案进行对比,给出该定位系统的实验结果,验证了该系统的可靠性。An indoor positioning system based on orthogonal encoders and inertial measurement unit is designed,it can be used for autonomous positioning of indoor wheeled robot.The mechanical structure consists of a pair of driven wheels,a suspension and support mechanism.In hardware,the sensor includes a pair of photoelectric encoders and IMU JY901,the control chip is SCM STM32F103C8T6.By fusing the data of a pair of orthogonal photoelectric encoders and gyroscope,the coordinate position of the robot can be calculated.This paper presents a coordinate solution algorithm,which reflects the rotation component and equipartition displacement of the driven wheel encoder in recording the mileage.This method is compared with the traditional coordinate solution which ignores the rotary component in the encoder mileage.Finally,the experimental results of the positioning system are given to verify the reliability of the system.

关 键 词：正交编码器 惯性测量单元 室内定位系统 移动机器人 

分 类 号：TP242.9[自动化与计算机技术—检测技术与自动化装置]