Strap-down Inertial Navigation System Applied in Estimating the Track of Mobile Robot Based on Multiple-sensor
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
multiple-sensor strap-down inertial navigation system mobile robot track estimation
Zhang Qingxin Qiu Xiaoyan Xu Guangyan HuJingtao
School of Automation,Shenyang Aerospace University,Shenyang,China Shenyang Institute of Automation,C School of Automation,Shenyang Aerospace University,Shenyang,China Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,China
国际会议
太原
英文
110-113
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）