The navigation system is able to implement accurate tracking in accordance with the actual conditions of specific path,which requires a very high level design for the platform sensors.The automatic Navigation System based on eddy current principle is developed,and the signal acquisition,processing and optimization of the metal coil eddy current sensor,the mechanical control of the system,the execution and debugging of control algorithm are tested.The system platform with hardware is set up,and some logic gates and F/V conversion circuits are used to replace traditional inductive digital converter,to construct remote sensing module for identifying the path.The signal collected is converted into digital signal which can be accepted by the single chip computer,the operational quality of the system is controlled by gyroscope acceleration sensor.The noise interference problem is optimized by modeling,to against the disadvantages of small detection range and distance of the sensor,the size of the coil is increased,and the amplification circuit is added.In order to improve the reliability of the data of sensor,and robustness,the method of normalization for the data of sensor is proposed.The test results show that the system possesses better success rate of obstacle avoidance and control accuracy.%导航系统能够根据具体路径的实际状况实现精准循迹,因而对平台传感器的设计要求很高.开发了基于电涡流原理的自动导航控制系统,对金属线圈电涡流传感器信号采集处理与优化、系统机械控制、控制算法的执行和调试等环节进行了试验,并配合硬件进行系统平台的搭建.同时,采用逻辑门及频压转换电路等方案替代传统的电感数字转换器,作为循迹遥感模块来识别路径.采集信号并将其转换为能被单片机识别的数字信号,通过陀螺仪加速度传感器来控制系统的运行质量.通过建模,优化了传感器工作时存在干扰噪声的问题;针对传感器检测范围和距离小的问题,提出了通过增大线圈尺寸、加一级放大电路来扩大传感器检测范围的方法;针对传感器数据可靠性、鲁棒性不高的问题,提出了对传感器数据的归一化处理方法.测试结果表明:该系统具有较高的避障成功率和控制精度.
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