Method for calibrating drifting of robot inertial navigation system
A technology of an inertial navigation system and a calibration method, which is applied in the field of drift calibration of a robot inertial navigation system, can solve problems such as loss of life, reduced efficiency, and large vibration of accelerometer output values, and achieves the effect of high calibration accuracy
Active Publication Date: 2016-07-06
INST OF ELECTRONICS CHINESE ACAD OF SCI
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However, zero-speed calibration is not suitable for sweeping robots. Sweeping robots usually have to work non-stop for a long time, and it is difficult to have a static moment
[0007] Although there will be moments close to zero speed such as hitting the wall and turning back, turning in situ, etc., at this time, because the motor power system of the robot has not stopped working, affected by the vibration of the motor, the output value of the accelerometer is vibrating greatly, and it is difficult to judge zero speed through acceleration. time
[0008] If you need to rely on frequent shutdowns for zero-speed calibration, it will greatly prolong the sweeping time of the robot and reduce efficiency, and frequent shutdowns for zero-speed calibration will cause serious fluctuations in motor load and damage the lifespan
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[0026] According to an embodiment of the present invention, the drift calibration method of the robot inertial navigation system includes:
[0027] S1, get the adjacent robot motion state change time t n-1 and t n , wherein, the motion state of the robot includes the linear motion state, the original turning state, and the static state, so the motion state change moment refers to the moment when the robot transitions between the linear motion state, the original turning state, and the static state;
[0028] S2, obtain the inertial navigation system at two state change moments t n-1 and t n The measured velocity v n-1 and v n , and calculate the change slope v d :
[0029] v d = v n - v n - 1 t ...
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The invention provides a method for calibrating drifting of a robot inertial navigation system.The method is used for calibrating the robot speed measured by the inertial navigation system.The method comprises the steps that firstly, two adjacent movement state change time points of a robot are acquired, then, the speed values of the robot at the two state change time points are acquired so that the change slope of robot speed drifting can be calculated, and finally, the speed measured by the inertial navigation system is corrected according to the change slope of the robot speed drifting so that the corrected speed can be obtained.By means of the method, the speed measured by the inertial navigation system can be corrected without frequent halt, and the method has the advantage that the correction precision is high.
Description
technical field [0001] The invention belongs to the field of robots, and in particular relates to a drift calibration method of a robot inertial navigation system, which is used for calibrating the robot speed measured by the inertial navigation system. Background technique [0002] As one of the most successful robot technologies for civilian use, sweeping robots are entering more and more families, and intelligent cleaning is making people's home life more and more warm. The pursuit of a higher level of intelligence is a main line of robot development. Through sensors with various new functions, some common use problems of sweeping robots such as anti-collision and anti-drop have been successfully solved. It is convenient for people to use. [0003] At present, the latest development trend of sweeping robots is to realize 100% indoor environment cleaning without dead ends by automatically planning cleaning routes, which will be much better than the currently commonly use...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 曹天扬蔡浩原方东明黄辉刘昶
Owner INST OF ELECTRONICS CHINESE ACAD OF SCI