基于北斗/iNEMO惯性模块的机器人运动姿态解算方法

Method of robot attitude calculation based on Beidou/ iNEMO inertial module

摘要:

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。

Abstract:

This paper researches a combined robot posture measurement system and attitude algorithm based on Beidou/iNEMO. Here designed an embedded combination attitude calculation platform cored by ARM, to calculate posture of robot in real-time under high dynamic condition, by quatemion and kalman filter technology fusing measured data of iNEMO inertial measurement unit. Meanwhile, using the Beidou receiver outputted 1pps rising edge pulse as synchronous time of subsequent data fusion, as well as its outputted navigation data aid iNEMO inertial measurement unit, fine alignment can be realized. The feasibility and correctness of the designed test has been verified, it provides robot attitude calculation with high precision, high stability, small volume, low power consumption.