中圖分類號：TP242.6 文獻(xiàn)標(biāo)志碼：A DOI: 10.16157/j.issn.0258-7998.234141 中文引用格式： 牛志朝，任磊，賀韜，等. 低成本慣性多冗余導(dǎo)航控制一體機(jī)設(shè)計[J]. 電子技術(shù)應(yīng)用，2024，50(2)：102-106. 英文引用格式： Niu Zhichao，Ren Lei，He Tao，et al. Design of low-cost inertial multi-redundant navigation control integrated machine[J]. Application of Electronic Technique，2024，50(2)：102-106.
Design of low-cost inertial multi-redundant navigation control integrated machine
Niu Zhichao，Ren Lei，He Tao，Cui Mengnan
Beijing Aerospace Automatic Control Institute， Beijing 100854， China
Abstract： In order to accurately locate and position the wheeled mobile robot and realize its stable motion control, a low-cost inertial multi-redundant navigation and control integrated machine is designed, and specific software and hardware design methods are given. The switching power supply MP2482DN and linear power supply JW29300U-3.3V of the voltage stabilizing circuit provide a stable 5 V and 3.3 V higher power power for the integrated machine; the SPI of the controller STM32H7 uses a star topology bus to communicate with three six-axis inertial chips BMI088, and two TTL serial ports communicate with the differential satellite positioning board in two directions to realize the differential positioning and attitude determination of the robot; the CAN bus interface of the controller STM32F4 communicates with the robot chassis two-way to realize motion control, and one TTL serial port realizes two-way communication with the controller STM32H7
Key words : inertial multiple redundancy；differential positioning and attitude determination；integrated navigation and control；low cost
