Multi sensor fusion of imu/ electronic compass / wheel encoder (Kalman filter)

Sensor analysis

Electronic compass

For planar motion robots , It only needs xy The absolute angle can be obtained from the data on the plane , Here, the electronic compass needs to make an ellipse -> Sensor calibration of circle

For other sensor analysis, see ：IMU/ Photoelectric mouse / Multi sensor fusion of wheel encoder （ Nonlinear Kalman filter ）_z15f34 The blog of -CSDN Blog Analysis of each sensor imu For planar mobile robots （ Like a robot sweeping the floor ）,IMU It only needs the yaw angle of the gyroscope （YAW）, There is time drift error in the yaw angle of the gyroscope , It is generally divided into system drift error （offset） And random time drift error . Wheel encoder has nothing to say , The two wheeled differential robot has a corresponding motion model , The cumulative error gradually increases with factors such as slipping . It is necessary to calibrate the wheel diameter and the center distance between the two wheels , There are many calibration methods （todo: Update three calibration methods ）. Photoelectric mouse sensor can detect xy Offset , It's important to put it in different positions and methods of the robot . The Kalman fusion filter prediction model is two round difference https://blog.csdn.net/z15f34/article/details/122912817