基于目标姿态角动态更新的自主稳定循迹系统设计  

Design of Autonomous Stable Tracking System Based on Dynamic Updating of Target Attitude Angle

作　　者：胡文彬[1] 王早 甘维兵[1] 沈敖 柳苗 HU Wenbin;WANG Zao;GAN Weibing;SHEN Ao;LIU Miao(National Engineering Research Center of Fiber Optic Sensing Technology and Networks,Wuhan Hubei 430070,China;School of Information Engineering,Wuhan University of Technology,Wuhan Hubei 430070,China)

机构地区：[1]武汉理工大学光纤传感技术与网络国家工程研究中心,湖北武汉430070 [2]武汉理工大学信息工程学院,湖北武汉430070

出　　处：《传感技术学报》2024年第11期1931-1936,共6页Chinese Journal of Sensors and Actuators

基　　金：湖北省自然科学基金项目(2022CFB330)。

摘　　要：针对直线或者小曲率路径的长距离循迹问题,设计了一个自主稳定循迹系统。系统基于STM32单片机进行搭建,采用RTK-GNSS和更经济的IMU模块相结合作为传感器模块。在循迹行驶过程中,通过传感器模块实时获取车体的位姿信息,采用目标姿态角动态更新的PID控制算法控制舵机,不断逼近目标轨迹和方向,实现车体沿目标轨迹的自主循迹行驶。实验结果表明:该套自主循迹系统可有效实现自动行驶,在130米的长距离循迹行驶中最大横向偏差为6.60 cm,平均偏差为2.94 cm,稳定行驶后航向角偏差不超过1.5°,平均航向角偏差为0.384°,基本满足工程应用中高精度少摇摆的自主循迹需求。An autonomous stable tracking system is proposed and designed for the long-distance tracking of straight line or small curvature path.The system is based on STM32 single-chip microcomputer,combining RTK-GNSS and more economical IMU chip as the location and attitude sensing module.In the process of tracking driving,the position and attitude information of the vehicle body is obtained in real time through the location and attitude sensing module.The PID control algorithm with dynamic updating of the target attitude angle is used to control the servo to continuously approach the target trajectory and direction,so that the vehicle can automatically drive along the target track.The experimental results show that the designed autonomous tracking system can effectively realize automatic driving.The maximum lateral deviation is 6.60 cm,and the average deviation is 2.94 cm in a long tracking driving of 130 m.The deviation of heading angle is no more than 1.5°and the average heading angle deviation is 0.384°during stable driving.These basically meet the requirements of high-precision and less swaying autonomous tracking for engineering applications.

关 键 词：信号处理技术 自主循迹 RTK-GNSS IMU 目标姿态角 动态更新 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]