Research on All Terrain Tracking Platform Based on Inertial Navigation
Gan Yong, Zhang Qiufeng, Pan Siliang, Meng Xu, Zhu Weiqiang · IOP Conference Series Materials Science and Engineering · 2019
Abstract In order to solve the dangerous situation that search and rescue personnel are not suitable for direct internal search and rescue in harsh closed environment without GPS signals, an all-terrain trajectory tracking platform based on inertial navigation is designed and studied. An autonomous navigation system is composed of low cost, low power consumption, small size MEMS inertial elements, which do not depend on external information and radiate energy. Kalman filter is used to fuse the data of accelerometer, gyroscope and magnetometer and output stable and reliable azimuth angle. By combining the Hexapod joint structure with the roller track structure, the multi-environment and all-terrain machine traveling is realized. The experimental results show that the three-dimensional and two-dimensional space trajectories can be clearly drawn in outdoor complex environment. In indoor environment, the platform achieves positioning error within 5 meters, deviation is not more than 10 cm, and draws a map that conforms to the platform trajectory. The development of the platform provides a powerful help for exploration work.