【摘要】 为了直接测量移动机器人的绝对方位角,利用磁阻式传感器对大地磁场敏感的特性开发了移动机器人方位测量仪。主要介绍了磁阻元件、信号放大、转换电路和误差补偿各部分的原理和方法,并通过引入神经网络补偿器,有效地减少了传感器的系统性误差,经过在移动机器人上的现场试验证明:该方位测量仪是可行的。更多还原

【Abstract】 In order to measure orientation of mobile robot directly,an orientation apparatus is developed using magneto-resistive sensor which is sensitive to earth magnetic field.Principle and method of magneto-resistive sensor,signal amplifier,converting circuit and error compensator are mainly introduced.A neural network (NN) compensator is adopted in the system to reduce systemic error.It is tested on a mobile robot and proved to be feasible.更多还原