Mobile Robot Integrated with Gyroscope by Using IKF

摘要

This paper mainly proposes absolute positioning instruments using camera positioning system and compass. The absolute positioning systems are used to estimate absolute position and orientation errors combined with estimated position and orientation from differential odometry integrated with gyroscope to calculate absolute position and orientation of mobile robot. In the method, the indirect Kalman filter is used to estimate absolute position and orientation errors and the estimated errors are fed back to odometry system, and also estimates some parameter errors to correct odometry system and gyroscope error. The simulation and experimental results show the estimated position and orientation of odometry system integrated with gyroscope, systematic errors of odometry system and gyroscope, absolute position from the camera positioning system and absolute orientation from compass compared with odometry system integrated with gyroscope.