九轴陀螺仪在AGV自主导航中的应用设计

Application Design of Nine - axis Gyroscope in AGV Automatic Navigation

摘要:

AGV小车自主导航的应用研究,是利用MPU9250传感器集成的三轴加速度计、三轴陀螺仪、三轴磁力计。本文研究了地理坐标系,并给出车体坐标系和场地坐标系的定义,在此基础上,首先进行车体坐标与地理坐标的转换,确定小车从停车点到目标点的初始航向角,然后通过卡尔曼滤波进行数据融合得到融合后的航向角,随后通过PID控制算法控制小车运动过程的角度,最后通过手动控制引导小车到达目标点的停车板上。并且在此基础上形成了不同应用场所的导航图,经现场实现卡尔曼滤波与导航效果良好。

Abstract:

The applied research of AGV automatic navigation uses MPU9250 sensor integrating three-axis accelerometer, three-axis gyroscope and three-axis magnetometer．In the process of AGV moving, first, transformation of the car coordinates and geographic coordinates, determine the initial heading Angle from the parking point to the target point, and then obtain the course angle after fusion through the kalman filter data fusion, then fix the angle of AGV running process through the PID control algorithm, finally through manual control to guide the car parking to reach the target board. In this paper, the unfixed length navigation map of vehicle coordinate system and geographic coordinate system is studied.