The task of code optimization is to refuse third-party libraries that provide a set of features and conditions, which lead to additional load on the microcontroller and reduces its computing capabilities. This task was solved by using only the library for the UART software configuration and the MС work on І2С bus, which allowed to increase the discretization frequency about twice. The error of the algorithmic drift significantly depends on the discretization frequency, at the same time influence of other parameters is almost insignificant, especially when the orders of the integration algorithm are greater than 2
The algorithm of complex information processing in the local navigation system of a terrestrial mobile robot and its physical model is developed. Experimental researches of this physical model have been carried out, as a result of which qualitative characteristics of the developed local navigation system have been determined. The trajectory of the object, based on the calculated navigation parameters, has a configuration identical to the actually passed route (adequate functioning of the system as a course indicator). The error in determining the coordinates of an offline object has value 0.012t2 (1.2 m per 10 s) when moving linearly and 0.022t2 (2.2 m per 10 s) when maneuvering. The orientation angles are worked out with precision (0.1÷0.3)о for roll and pitch angles and (2÷3)о for the angle of the course. Precise characteristics of the developed physical model LNS for determining orientation angles and motion parameters МR similar to the passport serial data SINS, and in some cases due to navigation features МR show even better accuracy.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.