Strap-down inertial navigation system applied in estimating the track of mobile robot based on multiple-sensor

摘要

In strap-down inertial navigation system, traditionally, gyro are used to measure the angle velocity of the mobile robot, and accelerometer is adopted to obtain the velocity increment of the mobile robot, Then we carry out a serial of transform by azimuth matrix to get its position and azimuth. But successful result cannot be gained when using low resolution gyro and accelerometer. In this paper we adopt multiple-sensor to measure parameters of the mobile robot, and put the measurements into filters. After that, the estimated result will be put into the strap-down inertial navigation system to get its track. The simulation results show that this method is effective and is suitable for strap-down inertial navigation system with low resolution sensors.