基于MEMS陀螺的微小型移动机器人嵌入式导航定位系统的研究

本文针对微小型移动机器人的实时导航定位需求，采用嵌入式系统设计思想，以新型村田公司的MEMS陀螺器件为核心，利用ARM/CPLD构建了一种结构紧凑、低功耗、低成本、通用性强的实时导航定位系统硬件平台；利用μC/OS-II实时操作系统开发了其嵌入式软件平台，实现了数字信号处理、插值升频、导航信息解算等处理算法；最后，通过在机器人上的搭载实验，验证了系统的功能和可靠性。 关键词：MEMS；微小型移动机器人；嵌入式系统；数字信号处理

Abstract: This paper targets at the real-time navigation and positioning of mobile micro-robot. Conforming to the idea of embedded system design, firstly a compact, low-power, low-cost and universal real-time navigation and positioning hardware platform is established with ARM/CPLD based on muRata MEMS inertial device. Furthermore, the embedded software platform is developed utilizing μC/OS-II operating system, and the algorithm of digital signal processing, data interpolation and navigation calculating is then realized. Finally through the experiment conducted on the robot, it validates the function and reliability of the referring system. Key words: MEMS; mobile micro-robot; embedded system; digital signal processing