Research and Simulation of the Local Navigation System of Terrestrial Mobile Robot

Abstract

<jats:p>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.</jats:p>

Strapdown Inertial Navigation Systems for Positioning Mobile Robots—MEMS Gyroscopes Random Errors Analysis Using Allan Variance Method

“…When the angular velocity is integrated, the angle is determined wrongly ( Figure 6 ) due to the error accumulation (low-frequency noise) and accelerometer’s making a high-frequency interference. Therefore, to reduce the effects of noise, the sensor data (accelerometer and gyroscope) must be processed with an alpha-beta filter or the Kalman filter [ 31 , 32 , 33 ].…”