论文部分内容阅读
基于北斗/iNEMO惯性模块研究了一种组合式机器人运动姿态测量系统和解算方法;设计了以ARM为核心的嵌入式组合姿态解算平台,通过四元数法和卡尔曼滤波技术,对iNEMO惯性组件测量数据进行融合,进而在高动态环境中实时解算出机器人的运动姿态;同时,以北斗接收机输出的1PPS上升沿脉冲作为数据融合的同步信号,并利用其输出的导航信息辅助iNEMO惯性模块实现精对准;测试结果验证了设计方案的可行性和正确性,为机器人姿态解算提供了一种高精度、高稳定性、小体积、低功耗的解决方案。
Based on the BeiDou / iNEMO inertial module, a combined robot attitude measurement system and its solution method are studied. The embedded combined pose solution platform with ARM as the core is designed. By using the quaternion method and Kalman filter, Component measurement data fusion, and then real-time solution in high dynamic environment to calculate the robot’s attitude; the same time, the Beipu receiver output 1PPS rising edge pulse as a data fusion synchronization signal and use its output navigation information to assist the iNEMO inertial module The test results verify the feasibility and correctness of the design scheme and provide a solution of high precision, high stability, small volume and low power consumption for robot attitude solution.