Dead reckoning localization system for AGV using inertial sensors and wheel revolution encoding
                                                           WU Peng, LI Dong jing, YUN Chao
                      （School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China）

Abstract: Aiming at the problem of automatic guided vehicle positioning without external signal in indoor environments, the accuracy and stability of the relative positioning algorithm were studied, and analgorithmto combines inertial navigation system and odometry was proposed. In order to achieve optimal solutions, a Kalman filter that base on the data of magnetometer, gyroscope, accelerometer and data of wheelencoder was designed. A two wheel drive experimental platform with Windows XP and GT motion controller was set up. And based on the experimental platform, sensor error compensation comparison experiment and position estimation comparison experiment were designed. The results of the comparison experiment indicate that the algorithm has significant effect on compensating the sensor error and improving the accuracy and stability of the position estimation.

Key words: localization; dead reckoning; inertial navigation system（INS）; automated guided vehicles（AGV）; encoder