摘要
针对新型仿生六足机器人工作任务和作业环境的要求,设计了一种基于INS-GPS器件的专用组合式导航系统。该导航系统采用集中开环式组合方式,以INS和GPS器件输出的导航数据差作为滤波器的输入值,运用经典卡尔曼滤波理论对该导航系统进行了实时修正,并根据仿生六足机器人运动特性和测量任务的要求,建立了该导航系统的位置、速度组合测量方程,并运用MATLAB软件进行了仿真,仿真结果表明:采用该组合式导航系统可大大提高仿生六足机器人的导航精度,为仿生六足机器人实现智能化、实时化控制奠定了基础。
Biologically inspired hexapod robot＇ s navigation system based on INS-GPS is designed in order to meet its working surroundings and task＇ s demand. Centralized open-loop Kalman filter is applied in the navigation system. INS-GPS devices＇ outPUt difference is the filter＇ s input. The position-velocity integrated measurement equation is deduced based on the robot＇ s locomotion performance and measurement demand. Simulation experiments are conducted under MATLAB software environment. The simulation results show that the system＇ s navigation precision is improved effectively. The hexapod robot can realize intelligent and real-time control based on it.
出处
《传感器与微系统》
CSCD
北大核心
2008年第7期117-120,共4页
Transducer and Microsystem Technologies
基金
总装备部重点基金资助项目(6140528)
