Open AccessApplication of Multi Sensor Fusion in Attitude Measurement of Crawler Mountain Forest Robot
Author(s) -
Bin Liu,
Rongfang Yan
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1575/1/012233
Subject(s) - gyroscope , terrain , robot , accelerometer , sensor fusion , computer vision , computer science , web crawler , artificial intelligence , remote sensing , simulation , control theory (sociology) , engineering , geography , aerospace engineering , cartography , control (management) , world wide web , operating system
Due to the complex terrain of the special robots in mountain forests application environment and the roughness of the road, it is difficult to solve the problem of the measurement of robot’s attitude, especially the real-time dynamic solution. In this paper, an attitude measurement system based on gyroscope, accelerometer and three-axis magnetometer multi-sensor fusion is proposed, and adds the complementary filtering algorithm to the attitude solution, the real-time dynamic attitude measurement of the robot is improved obviously.