移动机器人空间姿态测量系统研究与设计

未知环境中机器人的自主导航研究一直是非常具有挑战性的前沿课题,要求机器人在定向移动之前必须先调整好自己的空间姿态;捷联惯性导航对空间姿态信息有明确的定义,具体通过倾斜角、方位角和工具面角来体现;针对目前已公开的空间姿态信息的解算数学模型存在缺陷的问题,结合空间坐标变换、空间直线方程和狗腿角的定义推导出倾斜角、磁方位角和工具面角的数学模型,并利用三轴加速度计和三轴磁强计给出具体的实现方案;测试结果表明:该方案能获得正确的空间姿态数据,倾斜角误差在±0.1°以内,磁方位角和工具面角误差在±1.5°以内,且成本低廉,体积小巧,是测量空间姿态的理想选择。

Research and Design of a Spatial Attitude Measurement System for Mobile Robot

The research on mobile robot''s autonomous navigation in the unkown environment is still a challenging advanced topic,and it requests the robot to adjust his own spatial attitude before the directional migration.The Strapdown inertial navigation has the explicit definition of the spatial attitude information which is carried out by robot''s tilt angle,magnetic azimuth angle and tool face angle in detail.By considering that the spatial attitude which has been opened has flaw to resolve mathematical model,the mathematical model of the space coordinates transformation,the spatial straight line equation and the dog-leg angle''s definition,in addition,the specific achievable plan is given through the triple-axis accelerometer and the triple-axis magnetometer.The experimental result indicates that this plan can get the correct spatial attitude,tilt angle within the deviation of ±0.1°,magnetic azimuth angle and the tool face angle within the deviation of ±1.5°.So it is an ideal choice for the spatial attitude measurement system on account of the low cost and the small volume.