【摘要】 为获得室内移动机器人的准确航向,利用惯性传感器与磁力计搭建了一套基于Zynq的航向测量系统。该系统使用ARM和FPGA相结合的形式,实现了高性能、高集成度的控制算法。本系统中FPGA部分实现了计算性能要求高的扩展卡尔曼滤波算法,ARM部分实现了可移植性强的数据采集模块与数据滤波算法等。实验结果表明,该航向测量系统准确可靠,并且算法执行效率相较于传统方案有很大提高,取得了较好的效果。更多还原

【Abstract】 In order to obtain the accurate course of indoor mobile robot,a set of Zynq-based on heading measurement system is built using the inertial sensor and magnetometer.In the system,ARM and FPGA are combinated to realize the high integration of the high performance control algorithm.In this system,the extended Kalman filter algorithm is realized in FPGA for high computational performance requirements,while high data acquisition module and data filtering algorithm are realized in ARM for high scalability.The experiment results show that the heading system is accurate and reliable,and it is more efficient compared with traditional methods.更多还原