Abstract
The low-cost MEMS inertial system is difficult to achieve high-precision measurement for path track, which decreases accuracy of output. Aiming at this problem, a distributed optical track assisted the low-cost inertial system scheme is proposed in this paper. Firstly, the positional relationship of the sub-modules is pre-calibrated on the test track. Secondly, the position and speed are calculated by processing the time difference of the photoelectric interruption. In this system, the low-cost MEMS inertial system is used to measure the attitude, speed, and position information. Subsequently, the data of the inertial system and the optical system are fused by the extended Kalman filter algorithm. To verify the feasibility of the scheme, a short rail speed measurement experimental platform is built in an indoor environment. Compared with the low-cost gyroscope, the result shows that the error divergence assisted by the optical system can be effectively suppressed. The positioning accuracy can reach the centimeter level in the results of the experiment.
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