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Inertial integrated navigation system based on magnetic nail deviation correction and position encoder assistance

An inertial combination and navigation system technology, applied in the field of inertial integrated navigation system, can solve the problems of difficult maintenance, poor environmental adaptability, poor system flexibility, etc., to reduce maintenance frequency and intensity, overcome inherent shortcomings, and achieve high navigation accuracy. Effect

Inactive Publication Date: 2017-03-08
苏州兄友智能科技有限公司
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Problems solved by technology

[0020] The purpose of the present invention is to overcome the existing problems in the prior art, provide an inertial integrated navigation system based on magnetic nail deviation correction and position encoder assistance, and solve the problems of poor system flexibility and poor function in traditional navigation methods such as optical tape navigation and magnetic tape navigation. Weakness and poor environmental adaptability, etc., to solve the problems of high cost, difficult maintenance, poor technology maturity and poor stability in the visual navigation method

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  • Inertial integrated navigation system based on magnetic nail deviation correction and position encoder assistance

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Embodiment Construction

[0032] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and the embodiments.

[0033] Reference figure 1 As shown, an inertial integrated navigation system based on magnetic nail deviation correction and position encoder assistance, the system includes a main controller 1, and the main controller 1 is respectively connected with a magnetic nail sensor, a position encoder 4, and an inertial sensor 5 And communication interface 6, where:

[0034] The magnetic nail sensor is used to detect the position of the magnetic nail, and calculate the AGV offset distance and offset angle, and then feedback to the main controller 1;.

[0035] Position encoder 4 is used to calculate the running mileage of the AGV trolley and send it to the main controller 1;

[0036] The inertial sensor 5 is used to measure the AGV angle change data and send it to the main controller 1 as the main basis for AGV attitude control;

[0037] The communication int...

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Abstract

The invention relates to an inertial integrated navigation system based on magnetic nail deviation correction and position encoder assistance. The inertial integrated navigation system comprises a main controller, wherein the main controller is connected with a magnetic nail sensor, a position encoder, an inertial sensor and a communication interface, the position encoder is used for calculating an AGV vehicle running distance and transmitting the AGV vehicle running distance to the main controller; the inertial sensor is used for measuring AGV angle variation data, and transmitting the AGV angle variation data to the main controller to serve as a main basis for AGV attitude control; and the communication interface is used for transmitting data processed by the main controller to a higher-level control system. The inertial integrated navigation system based on the position encoder and magnetic nail deviation correction reduces maintenance cost, improves navigation precision, and is wider in application occasion.

Description

Technical field [0001] The invention belongs to the technical field of AGV navigation, and in particular relates to an inertial integrated navigation system based on magnetic nail correction and position encoder assistance. Background technique [0002] The existing AGV navigation technologies are mainly as follows: 1. Optical tape navigation; 2. Tape navigation; 3. Laser navigation; 4. Visual navigation; 5. Inertial navigation. [0003] The advantages and disadvantages of various navigation methods: [0004] Optical navigation [0005] Advantages: simple implementation, convenient maintenance, and low cost. [0006] Disadvantages: poor stability and reliability, susceptible to interference from ambient light and pollution, relatively large environmental requirements, and relatively large restrictions under complex paths. [0007] Tape navigation [0008] Advantages: simple implementation, convenient maintenance, low cost, good stability and reliability, high technological maturity, and ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G01C21/00G01C21/16
CPCG01C21/005G01C21/165G05D1/0891
Inventor 季振东王宏明
Owner 苏州兄友智能科技有限公司
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