机器人紧凑型惯性导航系统的数学模型

A. Lagunov, A. Orlov
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引用次数: 2

摘要

本文介绍了惯性导航系统的数学装置,开发了导航系统功能的算法,特别是惯性导航系统读数的运动检测和校正,这可以提高坐标的精度,以及基于卡尔曼滤波的无带惯性导航系统和转速表数据的集成方法。在建立数学模型的基础上,运用DFD方法以功能图的形式构建了导航系统的工作流程图。基于该算法,我们制作了一个带有惯性导航系统的机器人原型。机器人的测试是成功的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Mathematical Model of the Compact Inertial Navigation System of the Robot
The article describes the mathematical apparatus of the inertial navigation system, developed algorithms for the functioning of the navigation system, in particular, motion detection and correction of inertial navigation system readings, which allow to improve the accuracy of coordinates, as well as the method of integrating data from a strapless inertial navigation system and tachometers based on Kalman filter. Based on the mathematical model, we built a flowchart of the navigation system operating in the form of functional diagrams by the DFD methodology. Based on the algorithm, we created a prototype of a robot with an inertial navigation system. The tests of the robot were successful.
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