{"title":"Mathematical Model of the Compact Inertial Navigation System of the Robot","authors":"A. Lagunov, A. Orlov","doi":"10.1109/IDAACS.2019.8924276","DOIUrl":null,"url":null,"abstract":"The article describes the mathematical apparatus of the inertial navigation system, developed algorithms for the functioning of the navigation system, in particular, motion detection and correction of inertial navigation system readings, which allow to improve the accuracy of coordinates, as well as the method of integrating data from a strapless inertial navigation system and tachometers based on Kalman filter. Based on the mathematical model, we built a flowchart of the navigation system operating in the form of functional diagrams by the DFD methodology. Based on the algorithm, we created a prototype of a robot with an inertial navigation system. The tests of the robot were successful.","PeriodicalId":415006,"journal":{"name":"2019 10th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 10th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IDAACS.2019.8924276","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
The article describes the mathematical apparatus of the inertial navigation system, developed algorithms for the functioning of the navigation system, in particular, motion detection and correction of inertial navigation system readings, which allow to improve the accuracy of coordinates, as well as the method of integrating data from a strapless inertial navigation system and tachometers based on Kalman filter. Based on the mathematical model, we built a flowchart of the navigation system operating in the form of functional diagrams by the DFD methodology. Based on the algorithm, we created a prototype of a robot with an inertial navigation system. The tests of the robot were successful.
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