Research on SINS/ Couple Odometer Integrated Navigation Technology Based on Two-wheel Differential Steering Robot

Research and analyze the current mine working environment in China, in which the existing vehicle model cannot work well and will be subject to many restrictions. In order to use autonomous mobile vehicles in a narrow underground space, a model based on a two-wheel differential steering vehicle as an unmanned working platform in underground space is proposed, and a two-wheel differential steering motion model is researched and established. Using the working principle of dual-wheel differential steering, it is proposed to use dual encoders for navigation and positioning. The gyroscope is used for strapdown inertial navigation algorithm positioning, and Kalman filtering is used for data fusion to improve navigation accuracy. The simulation program of the strapdown inertial navigation and dual-encoder integrated navigation system based on this model is used to verify the correctness of the model algorithm through simulation experiments, which provides a basis for subsequent research and application of new underground unmanned vehicles. Summarize and analyze the follow-up improvement space of this model, and put forward suggestions for future research.