| 基于ARM处理器AGV用微小型捷联惯导系统的研究 |
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| 引用本文： | 李楠,高云峰.基于ARM处理器AGV用微小型捷联惯导系统的研究[J].传感器与微系统,2008,27(8). |
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| 作者姓名： | 李楠 高云峰 |
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| 作者单位： | 哈尔滨工业大学,黑龙江,哈尔滨,150001 |
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| 摘 要： | 阐述了自动导航小车(AGV)用微小型惯性导航系统的工程设计与实现问题。以ARM处理器为导航计算机,以微机电惯性测量元件(MEMS-IMU)为惯性传感器,设计并研制了一种微小型捷联惯性导航系统。给出了系统的硬件结构图和程序设计流程图,并提供了一种解决微机电陀螺漂移问题的实用方法。实验证明了本系统的性能可靠。
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| 关 键 词： | ARM处理器 捷联惯导系统 自动导航小车 |
Research on miniature SINS for AGV based on ARM processor |
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| LI Nan,GAO Yun-feng.Research on miniature SINS for AGV based on ARM processor[J].Transducer and Microsystem Technology,2008,27(8). |
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| Authors: | LI Nan GAO Yun-feng |
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| Abstract: | Some engineering designing and realizing problems of the miniature inertial navigation system for AGV are described and a miniature strap-down inertial navigation system is designed and developed to use ARM processors as the navigation computer,and the microelectromechanical system inertial measurement unit(MEMS-IMU) as the inertial sensors.The hardware architecture and the software flow chart are shown,and one useful way for dealing with the excursion problem of gyroscope is offered.The experiments demonstrate the good performance of this SINS. |
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| Keywords: | ARM processor strapdown inertial navigation sysytem(SINS) automatic guided vehicle(AGV) |
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