低成本慣性多冗余導航控制一體機設計
電子技術(shù)應用
牛志朝,,任磊,,賀韜,,崔孟楠
北京航天自動控制研究所,北京 100854
摘要: 為了智能體的精確定位和定姿,,實現(xiàn)其穩(wěn)定運動控制,設計了一種低成本多慣性冗余導航控制一體機,,給出了設計方法,。穩(wěn)壓電路的開關(guān)電源MP2482DN和線性電源JW29300U-3.3V為一體機提供穩(wěn)定5 V和3.3 V的較大功率電源;控制器STM32H7的SPI采用星形拓撲總線與3片六軸慣性芯片BMI088通信,,2路TTL串口與差分衛(wèi)星定位板雙向通信,,實現(xiàn)智能體定位和定姿;控制器STM32F4的CAN總線接口與智能體底盤雙向通信,,實現(xiàn)其運動控制,,1路TTL串口實現(xiàn)與控制器STM32H7的雙向通信;兩控制器的網(wǎng)絡接口與上位機組成無線局域網(wǎng),,實現(xiàn)數(shù)據(jù)交換和狀態(tài)監(jiān)控,。整個系統(tǒng)具有功耗低、體積小,、成本低,、接口豐富的特點。
中圖分類號:TP242.6 文獻標志碼:A DOI: 10.16157/j.issn.0258-7998.234141
中文引用格式: 牛志朝,,任磊,,賀韜,等. 低成本慣性多冗余導航控制一體機設計[J]. 電子技術(shù)應用,,2024,,50(2):102-106.
英文引用格式: Niu Zhichao,Ren Lei,,He Tao,,et al. Design of low-cost inertial multi-redundant navigation control integrated machine[J]. Application of Electronic Technique,2024,50(2):102-106.
中文引用格式: 牛志朝,,任磊,,賀韜,等. 低成本慣性多冗余導航控制一體機設計[J]. 電子技術(shù)應用,,2024,,50(2):102-106.
英文引用格式: Niu Zhichao,Ren Lei,,He Tao,,et al. Design of low-cost inertial multi-redundant navigation control integrated machine[J]. Application of Electronic Technique,2024,50(2):102-106.
Design of low-cost inertial multi-redundant navigation control integrated machine
Niu Zhichao,,Ren Lei,,He Tao,Cui Mengnan
Beijing Aerospace Automatic Control Institute,, Beijing 100854,, China
Abstract: 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
Key words : inertial multiple redundancy;differential positioning and attitude determination,;integrated navigation and control,;low cost
引言
為了實現(xiàn)對室外智能體的穩(wěn)定運動控制[1],需要對其精確定位和定姿?,F(xiàn)階段,,普遍采用慣性/差分衛(wèi)星組合導航系統(tǒng)進行定位和定姿,文獻[2]給出了一種四石英撓性加速度計和四光纖陀螺組成的多傳感器冗余捷聯(lián)慣性導航系統(tǒng),,文獻[3]研究了一種多冗余捷聯(lián)慣組配置優(yōu)化與應用方案,,采用慣性導航信息融合的方法,提升相應測量通道的穩(wěn)定性和系統(tǒng)使用精度,。文獻[4]設計了SINS/GPS組合導航系統(tǒng)方案,,并在ARM平臺進行了設計與驗證。由于控制理論和計算機技術(shù)的發(fā)展,,采用冗余配置技術(shù)提高導航系統(tǒng)的可靠性和精度成為慣性導航技術(shù)的發(fā)展方向[5-7],。雖然市面上組合導航種類眾多,但是普遍集成度低,、體積大,、價格偏高,不具備導航控制一體化功能,,不能滿足實際需求,。本文設計了一種低成本慣性多冗余導航控制一體機,給出了具體的軟硬件設計方法,。穩(wěn)壓電源單元,、三冗余慣性/差分衛(wèi)星組合導航定位單元和穩(wěn)態(tài)運控單元的設計,實現(xiàn)了室外移動智能體的導航控制功能,。
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作者信息:
牛志朝,,任磊,賀韜,,崔孟楠
北京航天自動控制研究所,,北京 100854
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