High-precision Planar Positioning System Test Platform

Various types of errors in the inertial navigation measurement module are ubiquitous. Based on the development of the new inertial navigation positioning module, this paper conducts an overall research on the positioning sensor that detects the attitude of the omnidirectional plane motion mechanism and analyzes the error of the gyroscope in the IMU and the mechanical structure error of the positioning system. At the same time, the temperature drift, constant error of the gyroscope, the scale factor characteristics of the gyroscope, the wheel diameter error of the driven wheel in the mechanical structure, the non-orthogonal error of the orthogonal encoder wheel are studied, and the error compensation model is established. The above errors are fully measured and compensated.