Attitude Measurement System of Patrol Inspection Robot Based on Multi-Sensor Fusion
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DOI: 10.23977/icmee.2019.2715
Author(s)
Zhiqiang Fan, Chaoyi Dong, Qilai Wang, Bochen Li, Yingze Mu, Qiming Chen
Corresponding Author
Chaoyi Dong
ABSTRACT
A strapdown inertial attitude measurement system based on STM32F767 and MEMS sensor ADIS16405 is designed to solve the current real-time attitude measurement and navigation control problems of inspection robots. When the gyroscope or accelerometer and the magnetometer are used alone to calculate the attitude angles, the results are susceptible to the external conditions, and therefore have low precisions. In the paper, a Kalman filter is employed to fuse the data of multiple sensors so as to effectively overcome such difficulties. The experimental results show that the accuracy of the Kalman filter is higher than that of a complementary filter. The angle error of Kalman filter is maintained under 1°and can fulfill engineering requirements.
KEYWORDS
Inspection robot, attitude angle,ADIS16405,Kalman filter, complementary filter