The study analyzes and designs the structure of the forest robot,selects the crawler-type traveling mode,and analyzes the climbing slope.Aiming at the problems of accumulated errors and data distortion caused by single sensor in the positioning system accuracy of forest robot during outdoor operation,the study proposes a forest robot positioning method based on GPS and IMU integrated positioning,conducts integrated positioning on the forest robot based on GPS and IMU information,and analyzes the algorithm design method of GPS and IMU integrated navigation system.The solution is provided when the singularity appears in Euler Angle method of system.There is a good complementarity between inertial navigation system and GPS.The integrated navigation of inertial navigation and GPS with the optimal estimation Kalman filter can give full play to the advantages and disadvantages of the two systems,and the binocular camera can be used to conduct real-time survey of the external environment.
维普
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