基于MIMU的相对定位技术研究+MATLAB仿真
本课题重点研究了基于MIMU（Micro Inertial Measurement Unit，MIMU）/光电编码器的组合导航技术，首先介绍了MIMU/光电编码器组合导航以及卡尔曼滤波等的基本原理，在此基础上给出了总体方案设计以及组合导航算法的设计。论文选择MATLAB作为仿真平台，介绍了仿真软件各模块的设计方法，并对得到的仿真结果进行了详细的分析。仿真的结果表明，采用基于MIMU/光电编码器的组合导航定位系统是进行移动机器人室内准确导航的有效方法。5454
关键词 移动机器人 导航定位 MIMU 卡尔曼滤波 组合导航
毕业论文设计说明书（论文）外文摘要
Title The research of relative positioning technology based on MIMU
Abstract
Mobile robots can run in the unknown environment through sensors that carried by themselves, and they create maps for man. Navigation and positioning technology is the core of the mobile robots’ research direction. It is pided into relative positioning technology and absolute positioning technology. In the short term, the former can provide precise positioning, but with the increase in time the error will accumulate gradually. The latter is good at updating in time but it is vulnerable to environmental interference. So it is very important to study a kind of technology to meet the requirements of the robots’ navigation.
This paper focuses on the research of the integrated navigation technology based on MIMU (Micro Inertial Measurement Unit) and the photoelectric encoder. Firstly, it introduces fundamentals of the integrated navigation and kalman filter, and designs the integrated navigation algorithm. This paper chooses MATLAB as the simulation platform, and introduces design methods for each module, besides, it analyses the results of simulation. IT turns out that the integrated navigation technology based on MIMU and the photoelectric encoder works for realizing the accurate indoor navigation for mobile robots.
Keywords Mobile robots Navigation and positioning MIMU Kalman filter Integrated navigation
目 次
1 绪论 1
1.1课题研究背景和意义 1
1.2 移动机器人导航定位系统国内外研究现状 1
1.3 MIMU国内外发展现状 3
1.4主要研究内容 5
1.5论文各章节安排 6
2 室内相对定位技术 7
2.1引言 7
2.2 移动机器人导航定位技术分类概述 7
2.3 移动机器人相对定位 8
2.4 移动机器人绝对定位 11
2.5 研究问题分析 12
2.6 本章小结 13
3 基于MIMU/光电编码器的组合导航系统 14
3.1 引言 14
3.2 基于MIMU的机器人导航系统 14
3.3 基于光电编码器的机器人导航系统 16
3.4 基于MIMU和光电编码器的组合导航系统 17
3.5 组合导航系统的组成 23
3.6 本章小结 23
4 组合定位软件的实现 24
4.1引言 24
4.2传感器仿真模块 24
4.3数据读取模块 29
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