基于ARM的移动机器人组合导航系统设计与实现

摘要

为了实现室外自主移动机器人的导航定位需求,利用微惯性测量单元(MIMU)和全球卫星定位系统(GPS)接收机,设计并实现了一种基于ARM Cortex M4内核的SINS/GPS组合导航系统.详细介绍了系统硬件组成、软件结构,并在此基础上实现了Kalman滤波的SINS/GPS组合导航算法.将该组合导航系统安装于旅行者Ⅱ移动机器人,采用差分GPS对组合导航系统性能进行评估.实验结果表明:该系统具有较高的精度,达到了设计要求,具有良好的实用性.%In order to realize requirement of outdoor auto mobile robot navigation positioning, addresses an ARM Cortex M4-based integrated navigation system is designed and realized with micro inertial measurement unit (MIMU) and GPS receiver. Hardware configuration and software are introduced in detail, and Kalman filter is used to implement SINS/GPS integrated navigation algorithm. The integrated navigation system is installed on the mobile robot Voyager-II and the system performance is evaluated by differential GPS. The experimental result shows that this navigation system has good precision and practicability,it reaches design requirement