Fusion Navigation System Based on Micro-Inertial Navigation and Simple Image Processing

JIA-LING ZOU, ZHI-LIN WU, JIN-QIANG ZHANG, MEI-LIN ZHOU, CHUN-HUA REN

Abstract


A fusion navigation and positioning system is designed in the paper to improve efficiency of warehouse transportation with low cost. In the system, MEMS inertial navigation module uses the method of quaternion for attitude calculation, and determines the velocity and position of a vehicle by specific force transformation and integral operation. The integral operation results in the drift error in measurement over time. Therefore the system rectifies the drift by image processing including border and figure recognition. According to abundant experiment results, during long-term navigation the maximum of errors is 20.0cm and the average is 16.8cm. The experiment demonstrates that the image processing improves the accuracy of inertial navigation well. With simple hardware structure, flexible algorithm, low cost and good stability, the system can be widely applied in various navigation fields sensitive to cost such as warehouse cargo transportation and position measurement of robots.

Keywords


Micro-inertial navigation system, Simple image processing, Warehouse AGVText


DOI
10.12783/dtetr/ecae2018/27708

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