Robot indoor trajectory tracking system and method based on nine-axis inertial sensor

Abstract

The invention discloses an indoor robot trajectory tracking system based on a nine-axis inertial sensor. The system comprises a mobile robot, wherein a sensor module, a sensor control module and an upper computer which are connected sequentially are arranged on the robot; when the robot moves, the sensor module can produce a triaxial acceleration value, a triaxial angular velocity value and a triaxial intensity value in real time, the sensor control module is used for performing operation control of the sensor module and data transceiving work, and the upper computer is used for processing obtained data and tracking the moving trajectory of the robot. The indoor robot trajectory tracking system is independent of GPS signals, is less affected by environment factors, can be used for trackingand positioning of the indoor moving trajectory of the robot in the environment without GPS signals and has higher accuracy and practical value. The invention further discloses an indoor robot trajectory tracking method based on the nine-axis inertial sensor.

Description

technical field [0001] The invention relates to a robot indoor trajectory tracking system and tracking method based on a nine-axis inertial sensor. Background technique [0002] In a normal outdoor environment, the integrated GPS sensor on the mobile robot can locate the location of the device, but in an indoor environment with a weak signal or without a GPS signal, its positioning effect is not ideal or fails. Indoor positioning using an inertial measurement unit (IMU) combined with a three-axis accelerometer and a three-axis gyroscope can track the trajectory of the robot, but it is affected by drift and noise, and its trajectory error increases with time. The divergence is serious, resulting in serious deviation between the reconstructed trajectory and the actual robot movement trajectory, and low accuracy. [0003] In order to reduce the error of the IMU, the commonly used methods are to use lidar equipment to assist the IMU in indoor positioning and navigation, or to u...

AI Technical Summary

Problems solved by technology

Although these methods have improved the accuracy of positioning, they all need to provide information about the external environment. In many cases, this information cannot be obtained due to insufficient equipment, and the price of these equipment is relatively expensive, which greatly limits these methods. Application of method

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