基于GPS惯性导航的高速小车设计

Design of High-speed Vehicle Based on GPS Inertial Navigation

GPS导航的较小物体会出现震荡或者完全不能正常按预设轨迹前进,针对此问题,设计了一种基于GPS惯性导航的高速智能小车控制系统。该系统以MM32F3277作为主控制器,配备双频GPS系统、HWT101陀螺仪系统和MM32SPIN360C控制的无刷电机驱动系统,采用位置式PID算法进行舵机控制。引入可调速度系数pv,当前点与目标点距离小于车速与pv乘积时,跳换下一个目标点,以此实现提前控制。为避免偏移,人工修正采集的GPS数据,使其能拟合出标准的路径。经测试小车具有一定前瞻性,运动稳定性高、鲁棒性好。

Smaller objects navigated by GPS will oscillate or fail to follow the preset trajectory normally in the case of high speed movement.In view of this problem,a high-speed intelligent cart control system based on GPS inertial navigation is designed.The system uses MM32F3277 as the main controller,equipped with a dual-frequency GPS system,HWT101 gyroscope system and brushless motor drive system controlled by MM32SPIN360C.Position-based PID algorithm is used for servo control.An adjustable speed factor pv is introduced,and advance control is achieved by jumping to the next target point when the distance between the current point and the target point is less than the product of the vehicle speed and pv.To avoid drift,the collected GPS data is manually corrected so that a standard path can be fitted.The vehicle has been tested to be forward-looking,with high stability of motion and good robustness.