摘要
微电子机械系统惯性测量单元(MEMS-IMU)因其精度低且温度敏感性大,以及传统安装方式通常存在航向角不可观等原因,在车载导航和轮式机器人应用场景中表现为定位误差迅速累积。为解决上述问题,设计了一种将MEMS-IMU安装在载体车轮中心的导航方案。利用MEMS-IMU与车轮一起旋转的运动特性,提取出运动速度信息,并结合运动约束构造了三维速度观测信息,从而改善最终的组合导航性能。该方案从安装方式和算法设计层面取代了对里程计传感器的依赖。基于轮式机器人的实测结果表明,该方案的平面定位误差(均方根值)相比于传统安装MEMS-IMU的导航方案降低了58.53%,相比于传统MEMS-IMU和里程计组合导航方案降低了29.67%。
The MEMS inertial measurement unit(IMU) is characterized by rapid accumulation of positioning errors in land vehicle navigation and wheeled robot application due to its low accuracy, high sensitivity to temperature, and the unobservable heading angle in traditional installation methods. To solve this problem, a novel navigation scheme with wheel-mounted MEMS-IMU is proposed. The velocity measurement can be obtained by using the moving feature of the MEMS-IMU rotated with the wheel, thus the three-dimensional velocity measurement, together with the non-holonomic constraint of the lateral and vertical velocity, can be utilized to improve the performance of the integrated navigation. This scheme avoids the dependence on odometer. Real field experiments demonstrate that the position error of the proposed method is decreased by 58.53% compared to that of traditional MEMS-IMU-mounted navigation, and is decreased by 29.67% compared to that of traditional INS/Odometer integration.
作者
陈映秋
旷俭
牛小骥
李由
高柯夫
刘经南
CHEN Yingqiu;KUANG Jian;NIU Xiaoji;LI You;GAO Kefu;LIU Jingnan(GNSS Center,Wuhan University,Wuhan 430079,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2018年第6期799-804,共6页
Journal of Chinese Inertial Technology
基金
国家重点研发计划(2016YFB0502202
2016YFB0501803)
武汉市应用基础研究计划(2017010201010112)
