Self-Moving Navigation Control with Satellite-Inertial Fusion
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Solution Overview
Problem
Autonomous mower systems face challenges in maintaining precise navigation without relying on external satellite signals, as satellite signals can be blocked by obstacles, leading to inaccurate positioning and incomplete coverage of work areas.
Innovation Solution
A self-moving device equipped with a fusion processing unit that integrates satellite navigation signals with inertial navigation data, using multiple sensors such as accelerometers, gyroscopes, and environmental detection sensors to provide continuous and precise navigation, adjusting weights based on signal reliability and correcting errors through motion parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite navigation signals are used for positioning, then positioning accuracy is improved, but reliability deteriorates when signals are blocked by buildings or trees
Solution Approach 1:
The patent combines satellite navigation signals with inertial navigation signals through a fusion processing unit. When satellite signals are blocked or unreliable, the inertial navigation system continues to provide positioning information based on previously obtained satellite data, ensuring continuous and reliable positioning without interruption.
Solution Approach 2:
The fusion processing unit acts as an intermediary that processes and integrates data from both satellite navigation receivers and inertial navigation sensors. It selectively uses satellite signals when available and transitions to inertial navigation data when satellite signals are blocked, maintaining positioning reliability in all conditions.
2Reliability
If inertial navigation system is used for positioning, then reliability is improved by not relying on external signals, but measurement precision deteriorates due to error accumulation over time
Solution Approach 1:
The system merges inertial navigation with satellite navigation through data fusion. The inertial navigation system provides continuous positioning with high reliability, while satellite navigation periodically corrects accumulated errors, achieving both reliability and precision simultaneously.
Solution Approach 2:
The fusion processing unit continuously monitors the quality of satellite signals and provides feedback to adjust the weighting between inertial and satellite navigation data. When satellite signals improve, the system incorporates more satellite data to correct inertial navigation errors, maintaining high positioning accuracy.
Data Source
AI summary
The present invention relates to a self-moving device moving and working in a work area defined by a border, includes: a housing; a moving module, mounted in the housing, and driven by a drive motor to drive the self-moving device to move; a control module, controlling the self-moving device to move and work; a satellite navigation device, receiving a satellite signal; at least one position sensor, detecting a feature related to a position of the self-moving device; and a fusion processing unit comprising at least two inputs, one is the satellite signal, and the other is an output of the position sensor; the fusion processing unit performs operation on the satellite signal and the output of the position sensor, and outputs position information of the self-moving device; and the control module controls the moving module to drive the self-moving device to move based on the position information.