Design and implementation of mobile robot integrated navigation system based on ARM

CAO Chao; MA Lei; ZHAO Duo; LI Ying

doi:10.13873/j.1000-97872013.02.021

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Design and implementation of mobile robot integrated navigation system based on ARM

更新时间：2025-09-11

- Design and implementation of mobile robot integrated navigation system based on ARM
- Vol. 32, Issue 2, Pages: 102-104(2013)
- 作者机构：
  
  西南交通大学电气学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872013.02.021
  CLC： TN967.2;TP242.6
- Published：2013
- 稿件说明：
移动端阅览
[1]曹超,马磊,赵舵,李应.基于ARM的移动机器人组合导航系统设计与实现[J].传感器与微系统,2013,32(02):102-104.

CAO Chao, MA Lei, ZHAO Duo, et al. Design and implementation of mobile robot integrated navigation system based on ARM[J]. 2013, 32(2): 102-104.
[1]曹超,马磊,赵舵,李应.基于ARM的移动机器人组合导航系统设计与实现[J].传感器与微系统,2013,32(02):102-104. DOI： 10.13873/j.1000-97872013.02.021.

CAO Chao, MA Lei, ZHAO Duo, et al. Design and implementation of mobile robot integrated navigation system based on ARM[J]. 2013, 32(2): 102-104. DOI： 10.13873/j.1000-97872013.02.021.

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ARM20Cortex20M4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。

Abstract

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.

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references

INS/GPS多传感器车载组合导航系统算法研究 [J]. 李宝林,李勇建,刘勇,李星海. 压电与声光 . 2012(01)

微机械IMU数据建模与滤波方法研究 [J]. 赵伟臣,付梦印,张启鸿,邓志红. 中国惯性技术学报 . 2005(06)

MIMS/GPS组合导航系统中卡尔曼滤波器设计与实验研究 [J]. 尚捷,顾启泰. 中国惯性技术学报 . 2005(02)

GPS/SINS组合导航系统混合校正卡尔曼滤波方法 [J]. 林敏敏,房建成,高国江. 中国惯性技术学报 . 2003(03)

现代信息融合技术在组合导航中的应用[M]. 国防工业出版社 , 卞鸿巍, 2010

惯性导航[M]. 科学出版社 , 秦永元编著, 2006

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