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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20060529-31; Saint Petersburg(RU) >GNSS /INS INTEGRATED SYSTEM: EXPERIMENTAL RESULTS AND APPLICATIONS IN MOBILE ROBOTS CONTROL
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GNSS /INS INTEGRATED SYSTEM: EXPERIMENTAL RESULTS AND APPLICATIONS IN MOBILE ROBOTS CONTROL

机译：GNSS / INS集成系统：实验结果及其在移动机器人控制中的应用

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摘要

Two systems are described in this paper. The first system is based on four dual-band GNSS (L1+L2 GPS + GLONASS) receiver boards. This system provides 3D attitude and RTK position, as well as the Doppler-based velocity. The system is augmented by an IMU block of low cost inertial sensors comprising three MEMS gyroscopes, three MEMS accelerometers, ADC, and processor. The use of the IMU block in combination with the GNSS attitude sensor makes it possible to update the attitude and position estimation at the 100 - 200 Hz rate, and to improve accuracy owing to smoothing GNSS related noise. The numerical scheme of the filtering, as well as a model of biases, is described. Testing results obtained in aircraft flights are described. Another system described in the paper consists of a single dual-band GNSS receiver and the INS block. The single antenna architecture significantly restricts the ability of the GNSS component to observe the attitude. Moreover, to observe two angles - pitch and heading - from the GNSS velocity vector, the system is assumed to be subjected to an additional non-holonomic constraint. In terms of the dynamics of the wheeled mobile robots, like cars or tractors, the nonholonomic constraint means movement without cross-track slippage. Even under the presence of this constraint, the third angle - roll - is still not observable from the GNSS data. The problem of the control of the wheeled mobile robot is also considered in the paper. The control goal is to force the target point of the robot to follow a certain trajectory by applying controls to the front wheels. The vehicle must find the desired path from an arbitrary initial position and orientation. Synthesis of a control algorithm based on the feedback linearization concept is presented in the paper.
机译：本文介绍了两种系统。第一个系统基于四个双频GNSS（L1 + L2 GPS + GLONASS）接收器板。该系统提供3D姿态和RTK位置，以及基于多普勒的速度。 IMU低成本惯性传感器模块增强了该系统，该模块包括三个MEMS陀螺仪，三个MEMS加速度计，ADC和处理器。通过将IMU块与GNSS姿态传感器结合使用，可以以100-200 Hz的速率更新姿态和位置估计，并由于平滑了GNSS相关的噪声而提高了精度。描述了滤波的数值方案以及偏差模型。描述了在飞机飞行中获得的测试结果。本文中描述的另一个系统由单个双频GNSS接收器和INS模块组成。单天线架构显着限制了GNSS组件观察姿态的能力。此外，为了从GNSS速度矢量观察两个角度（俯仰和航向），假定系统受到了额外的非完整约束。就轮式移动机器人（如汽车或拖拉机）的动力学而言，非完整约束意味着运动不会发生跨轨滑移。即使存在此约束条件，仍无法从GNSS数据中观察到第三角度-滚动。本文还考虑了轮式移动机器人的控制问题。控制目标是通过对前轮施加控制来迫使机器人的目标点遵循一定的轨迹。车辆必须从任意初始位置和方向找到所需的路径。本文提出了基于反馈线性化概念的控制算法的综合。

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