GPS/INS navigation system with magnetic nail positioning assistance

A technology of positioning assistance and navigation system, applied in the field of GPS/INS navigation system, can solve the problems of error, insufficient navigation accuracy, difficult to achieve, etc., and achieve the effect of precise navigation, improved positioning accuracy, continuous and continuous navigation

Pending Publication Date: 2018-02-27
ZHEJIANG SCI-TECH UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

The positioning accuracy of today's GPS navigation system in civilian use can reach within 10 meters, but there is still a certain error, and it is easily affected by the environment. In bad weather, the navigation accuracy is insufficient, the real-time performance is not high, and it is difficult to achieve effective control

Method used

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  • GPS/INS navigation system with magnetic nail positioning assistance
  • GPS/INS navigation system with magnetic nail positioning assistance
  • GPS/INS navigation system with magnetic nail positioning assistance

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Experimental program
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Embodiment Construction

[0021] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following examples.

[0022] A GPS / INS navigation system assisted by magnetic nail positioning, including a GPS data receiving and processing module, an inertial navigation system (INS) and an inertial navigation system (INS) processing module, and a number of magnetic nail arrays pre-laid on the station. A magnetic nail, a magnetic sensor module, a servo motor, an encoder module and a central processing unit; the central processing unit includes a Kalman filter module and a servo motor control module.

[0023] The central processing unit adopts PID control mode to control the servo motor.

[0024] Except for the magnetic nail array, other components are installed on the mobile robot.

[0025] All components and parts of the present invention can be obtained by outsourcing.

[0026] Job starts as figure 1 As shown, the m...

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Abstract

The invention relates to the technical field of mobile robot navigation and positioning. The purpose is to propose a GPS/INS navigation system assisted by magnetic nail positioning. During GPS navigation, the robot uses the magnetic nail positioning technology to adjust the direction to make the navigation more accurate. The technical solution is: a GPS/INS navigation system assisted by magnetic nail positioning, comprising a GPS data receiving and processing module; characterized in that: the navigation system further comprises an inertial navigation system, an inertial navigation system processing module, and several a magnetic nail, a magnetic sensor module, a servo motor, an encoder module and a central processing unit for controlling the servo motor; the central processing unit includes a Kalman filter module and a servo motor control module; the inertial navigation system and the inertial navigation system processing module It is electrically connected with the Kalman filter module of the central processing unit in sequence, and the GPS data receiving and processing module is electrically connected with the Kalman filter module of the central processing unit.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation and positioning, in particular to a GPS / INS navigation system assisted by magnetic nail positioning. Background technique [0002] The automatic navigation technology of mobile robots has applications in many aspects, such as the mechanization and precise operation of agricultural machinery, detection and search in extreme environments, and unmanned driving of various vehicles. The positioning accuracy of today's GPS navigation system in civilian use can reach within 10 meters, but there is still a certain error, and it is easily affected by the environment. In bad weather, the navigation accuracy is insufficient, and the real-time performance is not high, so it is difficult to achieve effective control. Therefore, the research on the automatic navigation and positioning technology of mobile robots has important practical significance and strong practicability. Contents of the in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47
CPCG01S19/47
Inventor 邵京贺磊盈王冠华徐飞鸿李昂武传宇
Owner ZHEJIANG SCI-TECH UNIV
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