Unlock instant, AI-driven research and patent intelligence for your innovation.

Mobile robot posture angle solution method

A mobile robot and attitude angle technology, applied in the field of mobile robots, can solve the problem of low accuracy of mobile robot attitude angle calculation

Inactive Publication Date: 2019-08-20
TAIZHOU ZHITONG TECH CO LTD
View PDF3 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the above-mentioned deficiencies in the prior art, the present invention provides a mobile robot attitude angle solution method based on quaternion fusion extended Kalman filter and explicit complementary filter, to solve the problem of existing mobile robot The problem of low accuracy of attitude angle calculation, this method can get higher precision attitude angle, so that the attitude of mobile robot can be better controlled

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mobile robot posture angle solution method
  • Mobile robot posture angle solution method
  • Mobile robot posture angle solution method

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment

[0087] The step 2 specifically includes the following sub-steps:

[0088] 2.1. Perform windowing processing on the original data of the gyroscope, accelerometer and magnetometer, taking the sliding window length n = 10, and the step length l = 1;

[0089] 2.2. Perform average processing on the data in the window, and output the result as the value at the current moment. The formula is as follows:

[0090]

[0091] 2.3. After sub-step 2.2, I(n-9) comes out of the window, and I(n+1) comes into the window;

[0092] 2.4. Sub-step 2.2 and sub-step 2.3 loop until the last data enters the window and output the final result.

[0093] In the step 3:

[0094] The system state vector is:

[0095] x(k)=(q 0 (k) q 1 (k) q 2 (k) q 3 (k) b gx (k) b gy (k) b gz (k));

[0096] In the above formula, q 0 (k), q 1 (k), q 2 (k), q 3 (k) is the quaternion attitude at time k, b gx (k), b gy (k), b gz (k) The zero drift error of the three axes of the gyroscope;

[0097] The system state equation established by t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a mobile robot posture angle solution method. The method comprises the steps that 1 raw data of a sensor are acquired; 2 raw data of the sensor are preprocessed; 3 a process model based on a quaternion fusion extended Kalman filter and dominant complementary filter fusion algorithm is established; 4 an observation model based on the quaternion fusion extended Kalman filter and dominant complementary filter fusion algorithm is established; and 5 the posture angle of a mobile robot is solved. The invention provides the mobile robot posture angle solution method based on aquaternion fusion extended Kalman filter and a dominant complementary filter. The problem of poor accuracy of the existing mobile robot posture angle solution is solved. The method can acquire the posture angle of higher precision to better control the posture of the mobile robot.

Description

Technical field [0001] The invention relates to a mobile robot including an unmanned aerial vehicle, in particular to a method for calculating the attitude angle of a mobile robot based on a quaternion fusion extended Kalman filter and an explicit complementary filter. Background technique [0002] At present, the robot pose estimation mainly uses the pose matrix for calculation, and the pose matrix can be defined in different mathematical ways. The attitude matrix update methods mainly include directional cosine method, Euler angle method and quaternion method. When the mobile robot climbs over obstacles, the pitch angle is close to 90°. The quaternion method is used to update the attitude of the mobile robot carrier, which can avoid the problem of "singularity" when the mobile robot climbs over obstacles, and is relatively Euler angle The calculation is smaller and the algorithm is simpler. [0003] The existing mobile robot attitude calculation filters include explicit complem...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 郑凯郑力达魏丽娜陈英米
Owner TAIZHOU ZHITONG TECH CO LTD