Design and implementation of mobile robot integrated navigation system based on ARM

In order to realize requirement of outdoor auto mobile robot navigation positioning,addresses an ARM Cortex M4-based integrated navigation system is designed and realized with micro inertial measurement unit(MIMU) and GPS receiver.Hardware configuration and software are introduced in detail,and Kalman filter is used to implement SINS/GPS integrated navigation algorithm.The integrated navigation system is installed on the mobile robot Voyager-II and the system performance is evaluated by differential GPS.The experimental result shows that this navigation system has good precision and practicability,it reaches design requirement.