Designed On Miniature Integrated Navigation System Of Outdoor Monitoring Robot

Outdoor Monitoring Robot is an integrated application of computer engineering, control engineering, artificial intelligence pattern recognition and other sciences. By means of its own sensors and other technologies, it can perceive the environment and own states, realiz-ing security and patrol in large buildings, airports, transportation hubs, military bases etc. In this thesis, in order to improve the positioning accuracy of the navigation system and adaptive capacity in complex environment, the micro integrated navigation system was de-signed. This system consists of Strapdown inertial navigation system (SINS), Global Posi-tioning System (GPS), Electronic compass (EC) and Virtual Sensor. Using Federated Kal-man filter fusing attain the high precision navigation information output in the hardware platform.Firstly, the thesis analysises navigation subsystem principle and its error are analyzed, and establish the corresponding error model and compensation algorithm from the point of view of improves the micro integrated navigation system accuracy. Secondly, for expanding the scope of system application and reducing dependence of system on the GPS and the EC, Virtual sensor/INS integrated navigation system is designed, and the validity of the method is verified by computer simulation. Finally, the multi-sensor information fusion technology was investigated deeply for the sake of improve the overall accuracy and reliability of micro integrated navigation system. MSINS/GPS speed of sub-filter, MSINS/GPS location of sub-filter, MSINS/EC attitude sub-filter and MSINS/Virtual Sensor speed of sub-filter were designed, and No Replacement Federal Kalman filter was made up of the master filter and four sub-filters. According to the validity of GPS, federal Kaman filter with a dual system was designed, because the backup effect of virtual sensors, the system overall reliability was improved. From the view of the result of simulation in MATLAB, it validates federal Kal-man filter and centralized Kalman filter have similar precision and have better reliable fault tolerance.According to ceaseless optimization of the system function, software and hardware de-velopment of the micro integrated navigation system which based on the distributed modu-lar design are accomplished, and the federal Kalman filter algorithm and human-machine interface design and application debugging are achieved in the host computer. Through the results of simulation and experimentation, validates the validity of the algorithm and the availability of the micro integrated navigation system on Outdoor Monitoring Robot is veri- fied. These work laid the foundation for Outdoor Monitoring Robot achieving autonomous navigation in unknown environment.