When Strap-down Inertial Navigation System (SINS) works in a vibratory environment, the precision of velocity update will decrease. To solve this problem, researchers have proposed lots of sculling compensation algorithms. However, there are little works have been done on their precision analysis, selection and applicability. In this paper, general compensation precision (CP) expressions of sculling compensation algorithms in three kinds of environments are established respectively. By substituting the coefficients of each sculling compensation algorithm into the general CP expressions, its corresponding CP expression can be obtained. To verify the accuracy of it, simulations in different environments were preformed, through which some useful conclusions for CP, algorithms selection and applicability of those algorithms were drawn.
This paper presents a feasible algorithm for mobile robot localization. Localization system is composed of an encoder, an electronical compass, a fixation vision system including a CCD camera and a stepping motor. Multisensor information fusion technology, extended information filter, is adopted for estimating the position and heading of robot. New measurement equation which is based on fixation vision geometric constraint is proposed in this paper. The coordinates of the landmark is not needed to know in this method, in other words, any point in the observed scene can be selected as a landmark. The results of simulation show the algorithm validity. The comparative results show this algorithm has advantage in autonomous mobile robot localization application than Dead-Reckoning.