Design of low-cost inertial multi-redundant navigation control integrated machine
In order to accurately locate and position the wheeled mobile robot and realize its stable motion control, a low-cost inertial multi-redundant navigation and control integrated machine is designed, and specific software and hardware design methods are given. The switching power supply MP2482DN and l...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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National Computer System Engineering Research Institute of China
2024-02-01
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| Series: | Dianzi Jishu Yingyong |
| Subjects: | |
| Online Access: | http://www.chinaaet.com/article/3000163487 |
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| _version_ | 1849423452380856320 |
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| author | Niu Zhichao Ren Lei He Tao Cui Mengnan |
| author_facet | Niu Zhichao Ren Lei He Tao Cui Mengnan |
| author_sort | Niu Zhichao |
| collection | DOAJ |
| description | In order to accurately locate and position the wheeled mobile robot and realize its stable motion control, a low-cost inertial multi-redundant navigation and control integrated machine is designed, and specific software and hardware design methods are given. The switching power supply MP2482DN and linear power supply JW29300U-3.3V of the voltage stabilizing circuit provide a stable 5 V and 3.3 V higher power power for the integrated machine; the SPI of the controller STM32H7 uses a star topology bus to communicate with three six-axis inertial chips BMI088, and two TTL serial ports communicate with the differential satellite positioning board in two directions to realize the differential positioning and attitude determination of the robot; the CAN bus interface of the controller STM32F4 communicates with the robot chassis two-way to realize motion control, and one TTL serial port realizes two-way communication with the controller STM32H7 |
| format | Article |
| id | doaj-art-80e70ac0df0148d6b2a961cdc1c2ef6b |
| institution | Kabale University |
| issn | 0258-7998 |
| language | zho |
| publishDate | 2024-02-01 |
| publisher | National Computer System Engineering Research Institute of China |
| record_format | Article |
| series | Dianzi Jishu Yingyong |
| spelling | doaj-art-80e70ac0df0148d6b2a961cdc1c2ef6b2025-08-20T03:30:35ZzhoNational Computer System Engineering Research Institute of ChinaDianzi Jishu Yingyong0258-79982024-02-0150210210610.16157/j.issn.0258-7998.2341413000163487Design of low-cost inertial multi-redundant navigation control integrated machineNiu Zhichao0Ren Lei1He Tao2Cui Mengnan3Beijing Aerospace Automatic Control Institute， Beijing 100854， ChinaBeijing Aerospace Automatic Control Institute， Beijing 100854， ChinaBeijing Aerospace Automatic Control Institute， Beijing 100854， ChinaBeijing Aerospace Automatic Control Institute， Beijing 100854， ChinaIn order to accurately locate and position the wheeled mobile robot and realize its stable motion control, a low-cost inertial multi-redundant navigation and control integrated machine is designed, and specific software and hardware design methods are given. The switching power supply MP2482DN and linear power supply JW29300U-3.3V of the voltage stabilizing circuit provide a stable 5 V and 3.3 V higher power power for the integrated machine; the SPI of the controller STM32H7 uses a star topology bus to communicate with three six-axis inertial chips BMI088, and two TTL serial ports communicate with the differential satellite positioning board in two directions to realize the differential positioning and attitude determination of the robot; the CAN bus interface of the controller STM32F4 communicates with the robot chassis two-way to realize motion control, and one TTL serial port realizes two-way communication with the controller STM32H7http://www.chinaaet.com/article/3000163487inertial multiple redundancydifferential positioning and attitude determinationintegrated navigation and controllow cost |
| spellingShingle | Niu Zhichao Ren Lei He Tao Cui Mengnan Design of low-cost inertial multi-redundant navigation control integrated machine Dianzi Jishu Yingyong inertial multiple redundancy differential positioning and attitude determination integrated navigation and control low cost |
| title | Design of low-cost inertial multi-redundant navigation control integrated machine |
| title_full | Design of low-cost inertial multi-redundant navigation control integrated machine |
| title_fullStr | Design of low-cost inertial multi-redundant navigation control integrated machine |
| title_full_unstemmed | Design of low-cost inertial multi-redundant navigation control integrated machine |
| title_short | Design of low-cost inertial multi-redundant navigation control integrated machine |
| title_sort | design of low cost inertial multi redundant navigation control integrated machine |
| topic | inertial multiple redundancy differential positioning and attitude determination integrated navigation and control low cost |
| url | http://www.chinaaet.com/article/3000163487 |
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