基于单轴光学陀螺与MEMS IMU的室内移动机器人寻北  

Indoor mobile robot north-finding based on single-axis optical gyroscope and MEMS IMU

作　　者：谭彩铭 谢晓龙 Tan Caiming;Xie Xiaolong(College of Automation&College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China;Robotics Information Sensing and Control Institute,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)

机构地区：[1]南京邮电大学自动化学院人工智能学院,南京210023 [2]南京邮电大学机器人信息感知与控制研究所,南京210023

出　　处：《仪器仪表学报》2024年第7期132-138,共7页Chinese Journal of Scientific Instrument

基　　金：江苏省自然科学基金项目(BK20210599);江苏省高等学校自然科学研究面上项目(20KJB510023)资助。

摘　　要：三轴高精度光学陀螺成本高体积大,限制了陀螺寻北技术在移动机器人领域的应用。针对该问题,提出一种基于单轴光学陀螺和微机电系统(MEMS)惯性测量单元的室内移动机器人寻北方法,达到或者接近三轴光学陀螺的寻北精度,成本和体积降低约2/3。移动机器人于第1位置静止时,根据单轴光学陀螺的输出与MEMS三轴加速度计的输出,获得两个可能方位角,以相同的方式获得移动机器人在第2位置的两个可能方位角,两个位置的方位角相减得到4个可能的方位角变化值,通过和MEMS捷联惯导系统所得方位角变化值比较,确定第2位置的唯一方位角。误差分析显示在方位角接近90°和270°时,所提出的方法接近三轴光学陀螺的寻北精度,仿真实验和跑车实验证实了所提出方法的有效性。The high cost and large volume of three-axis high-precision optical gyroscope have hindered the widespread application of the gyroscope-based north-finding technology in the field of mobile robotics.In response to this issue,a method for indoor mobile robot north-finding based on a single-axis optical gyroscope and Micro-Electro-Mechanical System(MEMS)Inertial Measurement Unit is proposed.This method achieves or approaches the heading accuracy of three-axis optical gyroscope while reducing costs and volume by approximately two-thirds.When the mobile robot is stationary at its initial position,two potential heading angles are obtained by combining the output of the single-axis optical gyroscope with the output of a MEMS three-axis accelerometer.Similarly,two potential heading angles at the second position are obtained in the same manner.By subtracting the heading angles at the two positions,four potential heading change values are derived.A unique heading angle for the second position is determined by comparing these values with the heading change value obtained from the MEMS strapdown inertial navigation system.Error analysis shows that the proposed method achieves a heading accuracy close to three-axis optical gyroscopes,especially when the heading angles are near 90°and 270°.Experimental results from on-vehicle tests confirm the effectiveness of the proposed method.

关 键 词：陀螺寻北 捷联惯导 单轴光学陀螺 MEMS IMU 室内移动机器人 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计] TH761[机械工程—仪器科学与技术]