Research on automatic lawn mower system based on differential GPS and IMU fusion
Xiaodong Huang, Jianjun Yi, Tian Shen · 2023
Aiming at the problem that lawn mowing in cities is time-consuming and laborious by manual mowing, and the GPS signal is lost due to the low positioning accuracy and easy to be blocked by buildings and trees in the environment by using intelligent mowers, an automatic mower based on differential GPS and IMU fusion is designed. The system hardware power supply module, sensing module, control module, driver module, and interaction module are designed by analyzing the requirements; the software is based on the system operation flow, and Keil software is selected to realize the automatic control program and complete the control system design; the Kalman filter for GPS/IMU pine combination navigation is designed, and the traceless Kalman filter is used for data fusion because of the nonlinearity problem of the state equation of the system, and the experiment shows that the use of GPS and IMU fusion has significantly improved the positioning accuracy.