Robot Positioning System for Underground Pipelines
In order to solve the problem that underground pipeline robots are difficult to locate,a multi-sensor fusion positioning system is designed based on the inertial measurement unit.The system is equipped with a six-axis inertial measurement device to measure the acceleration and angular velocity of the underground pipeline robot,equipped with an odometer to measure the displacement of the underground pipeline robot,use the quaternion method to solve the angle and attitude,and integrate the Kalman filter algorithm to compensate for the error of the positioning system to realize the design of the positioning system of the underground pipeline robot.
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维普
