| In military exercise experimental scenarios,mobile robots often play an important role instead of humans.It plays an important role in unmanned reconnaissance,unmanned strike,and unmanned imaginary enemy targets.In the intelligent equipment system test,the perception of the position,posture,and other states of multiple moving targets is the basis for the operational effectiveness evaluation of the system equipment.For experimental equipment where the sensing system is not open or available,users cannot read the equipment position and posture information through the application interface,making it difficult to achieve multi-objective integration.At this point,adding an external integrated positioning and navigation system can effectively solve the problem of posture measurement,while building a heterogeneous fusion gateway to solve the problem of system integration.Based on theoretical analysis and practice,this paper conducts the following related research on the robot pose measurement system using a mobile robot in the experimental field as the object of measurement:(1)According to the functional requirements of the pose measurement system,a GPS/IMU lightweight integrated positioning hardware navigation platform is built,and the hardware design of the pose data transmission gateway is completed,thereby completing the acquisition and analysis of the original pose data of the robot in the experimental field,After preprocessing the analyzed original positioning information through outlier filtering,the original positioning accuracy is initially improved,providing a better input for the integrated navigation system.(2)Aiming at the precise measurement of robot posture in the test field,a loose coupling method is adopted to design the robot posture measurement algorithm through the error complementarity characteristics of GPS and inertial navigation system.The loose coupling system equation is established.The Cortex-M4 core controller is selected as the navigation computer,and Kalman filtering is used to fuse and correct the GPS data filtered by outliers and the inertial navigation subsystem data;The mobile robot is equipped with a hardware platform for experimental testing,using the RTK differential system as a control;The experimental results show that compared to a single subsystem,the combined system has a significant inhibitory effect on GPS static drift,and the dynamic posture measurement trajectory is closer to the RTK differential trajectory,achieving accurate robot posture measurement.(3)For posture data transmission in the test field,Lora communication is used as a reliable communication part in posture data transmission,and a heterogeneous gateway communication system is formed together with a high bandwidth and low latency Wi Fi network.Through the embedded Lora gateway,the problem of heterogeneous network protocol conversion in the test field is solved,the external application interface for the test field posture data is provided,and a posture data storage center is established to achieve unified data management.The robot pose measurement system in this paper is composed of three parts: an attached pose measurement device,a telemetry heterogeneous gateway,and a data center.The entire pose measurement system has high engineering integrity and can be directly used in engineering applications. |
