The Research Of Electromagnetic Navigation Control Technology Based On The Freescale Intelligence Car

Electromagnetic navigation technology as a branch of intelligent vehicletechnologies has broad application prospects in the field of intelligent transportation.Analysis and process the test data of the sensor to acquire the position information ofthe intelligent vehicle, by which control the direction and speed. Two-wheeledself-balancing electric vehicle combines the idea of autonomous mobile which candetect the attitude information, control the dynamic balance and drive the motor rolledat the same time, so that it is able to complete the control of self-balance, movementdirection and speed.Choose the Freescale smart car as the hardware platform; deeply study theelectromagnetic navigation technology and the key technologies of self-balance control,namely attitude detection technology, respectively.First, design two kinds of schemes of electromagnetic smart car navigation systemthrough a thorough of the electromagnetic navigation and algorithms. Then by theexperimental comparison, select two-level coil sensor as an intelligent vehicle pathinformation collection system.Secondly, study three different attitude estimation methods based on attitudedetection system consisting of accelerometers and gyroscopes: Kalman filter,unscented Kalman filter and complementary filter then simulate with MATLABrespectively. By comparison, select Kalman filter as the attitude estimation algorithmof intelligent vehicle.Finally, choose Freescale Microcontroller as the control unit. Verify thecorrectness and reliability of electromagnetic navigation algorithm and attitudedetection algorithm with the microcontroller program. Experiments show that intelligent vehicle can autonomous tracking fast and stable along the electromagnetictrack, and complete balance control and keep upright in the movement.