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In the motion control research of mobile robot, the mobile robot pose is obtained by derivation of the Kinematic model of the robot. Generally, the motion model relies simply on the data from encoder feedback. Due to cumulative error, the robot pose accuracy is relatively poor by mileage positioning with encoder. Here a new method is put forward based on data fusion of gyro sensor with the encoder data, and the robot pose accuracy is analyzed and improved.

Robot Pose Measurement Based on Sensor Fusion