基于9DOF IMU的AUV惯性导航技术研究

Study of Navigation for AUV Based on 9 DOF IMU

摘要:

水下机器人(underwater vehicle)惯性导航技术是目前机器人控制技术的难点,通过加装不同类型的IMU组件,可以实现水下机器人姿态、方位等参数的测量,并将这些参数作为反馈输入来实现水下机器人的精确控制；针对低成本微惯性传感器的应用特性,采用Sparkfun、Arduino Mega和Raspberry Pi,设计了基于Raspberry Pi集中处理、Arduino控制板分布式控制的微小型捷联惯导系统,实现了水下机器人惯性导航系统的全部导航和制导参数读取,包含位置坐标、线速度、角速度、姿态角、方位角等信息,通过水池试验表明应用表明本系统满足Eco-dolphin的水下定航控制要求。

Abstract:

The inertial navigation technology of underwater vehicle is the difficulty robot control technology, through the installation of different types of IMU components we can measure parameters underwater vehicle posture, orientation, etc., and achieve the underwater vehicle precise control of the robot using these parameters as feedback. In this paper, we designed the basic AUV control system based on the low-cost micro inertial sensor applications including Spark fun, Arduino Mega and Raspberry Pi and so on. The designed navigation and guidance systems focused on Raspberry Pi, micro SINS distributed control Arduino control board can achieve the AUV inertial navigation requirements, which can read and process these parameters, including location coordinates, linear velocity, angular velocity, attitude angle, azimuth and other information. The pool test application results show that the system meets the Eco-dolphin underwater scheduled flight control requirements.