Low-cost odometer design method based on MEMS IMU

Abstract

The invention discloses a low-cost odometer design method based on an MEMS IMU, and the method comprises the following steps: 1, enabling the IMU to be installed on the side surface of a wheel, enabling the IMU to rotate along with the wheel, and measuring the non-gravitational acceleration and angular velocity of the wheel relative to an inertial system; 2, establishing an output model of the IMUfor the IMU mounted on the wheel while considering the motion constraint of the vehicle; 3, establishing a Kalman filtering system model based on a constraint relation between states by taking a wheel rotation angle, an angular velocity and an angular acceleration as state variables, and establishing an observation model based on an IMU output model; 4, calculating the speed and mileage based onthe artificial neural network and updating the parameters, the method has the advantages of low cost, accurate result and the like, the defects of a traditional odometer are overcome, and the method has great application potential.

Description

technical field [0001] The invention belongs to the field of navigation, in particular to a MEMS IMU-based odometer design method Background technique [0002] With the rapid development of transportation worldwide, achieving reliable and accurate vehicle localization is becoming more and more important in various vehicle navigation and safety-related applications such as route guidance, autonomous driving, intelligent transportation, etc. The integrated navigation system based on Global Positioning System (GPS) and Inertial Navigation System (INS) has been widely used in vehicles to provide accurate position and speed information, but during the disconnection of GPS, the error of INS will quickly accumulate and cause divergence, especially However, in vehicle applications, due to commercial cost constraints, MEMS-level inertial measurement units (IMUs) with larger errors are often used, which will lead to faster divergence of errors. [0003] In recent years, many scholars...

AI Technical Summary

Problems solved by technology

Automotive odometers can provide absolute speed information, which can reduce the position error caused by the second integration of accelerometer data, but it is difficult to use due to different odometer data standards and connection standards of different vehicles

[0004] In addition, in robotics, wheeled robots have attracted much attention due to their mobility, stability, and high efficiency. The wheels are relatively small, and odometry is often designed with expensive sensors such as encoders for assisted navigation, which greatly increases the cost of wheeled robots

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