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A mobile robot combined inertial navigation system and method

An inertial navigation system and mobile robot technology, applied in the field of navigation systems, can solve problems such as increased positioning errors, inability to give time information, and expensive high-precision equipment, and achieve the effect of reducing impact errors and reducing costs

Active Publication Date: 2020-08-18
XIAN UNVERSITY OF ARTS & SCI
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Problems solved by technology

But at the same time, inertial navigation also has disadvantages: 1) due to the integration of navigation information, the positioning error increases with time, and the long-term accuracy is poor; 2) the price of high-precision equipment is relatively expensive; 3) time information cannot be given

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  • A mobile robot combined inertial navigation system and method
  • A mobile robot combined inertial navigation system and method
  • A mobile robot combined inertial navigation system and method

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, where the schematic embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0037] Mobile robot combined inertial navigation system of the present invention, as figure 1 As shown, it includes two driven imitation gait structures that can meet the constant speed correction information conditions installed on the mobile robot, and at least two inertial navigation devices IMU1 and IMU2 ( image 3 Middle left inertial guidance device I9, right inertial navigation device II7); also includes an inertial navigation device IMU3 ( image 3 Middle III 8). The system of the present invention requires three or more inertial navigation devices to work simultaneously to realize that two driven imitation gait structures touch the ground in turn and remain stationary relative t...

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Abstract

The invention discloses an integrated inertial navigation system for a mobile robot and method. The system comprises two driven gait simulation structures mounted on the mobile robot and capable of meeting constant-speed correction information conditions, at least two inertial navigation devices mounted on the driven gait simulation structures and an inertial navigation device mounted on the rackof the mobile robot, wherein the two driven gait simulation structures contact the ground in turn and remain stationary relative to the ground in a certain time range; the two inertial navigation devices mounted on the two driven gait simulation structures can use the moment of being stationary relative to the ground to complete constant-speed correction information; and the inertial navigation device mounted on the rack of the mobile robot performs calculation according to the correction results of the two inertial navigation devices to obtain navigation information. The system is simple in design, low in cost and wide in application range.

Description

technical field [0001] The invention relates to a navigation system, in particular to a mobile robot combined inertial navigation system and method. Background technique [0002] With the rapid development of robot technology, various mobile robots are being developed and applied to different occasions to meet various needs. Reliable and accurate navigation information is the key condition for the normal operation of mobile robots. Broadly speaking, the process of guiding a navigation carrier from a starting point to a destination is collectively called navigation. In a narrow sense, navigation refers to the technology and method of providing real-time attitude, speed and position information to the navigation carrier. Several modern navigation technologies are more common, including celestial navigation, inertial navigation, satellite navigation, radio navigation, visual navigation and so on. Of these, only inertial navigation is fully autonomous. Inertial navigation is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 汪建国刘凌梁小明吴神丽
Owner XIAN UNVERSITY OF ARTS & SCI
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