Development of Positioning Control for Automated Installation of Pipelines Using Kalman Filter Based on Microelectromechanical System

摘要

At present, the main emphasis in the modern robotics complex is paid to high positioning accuracy. Microelectromechanical systems (MEMS) are widely utilized in applications of automated control systems. Gyroscopes and accelerometers are common examples of microelectromechanical systems. Gyroscopes are generally used to measure the rotational quality of objects and angular velocity in many fields such as automation of pipelines connection, the orientation of navigation systems and control systems of aerospace machines. Kalman filter technology is to filter the signals and the features of MEMS gyro, which is the section of the measuring system MPU 6050 has been considered in this work. The developed mathematical model of MEMS gyro in Matlab Simulink environment is presented in this study. The use of MEMS sensors in inertial measurement systems requires the utilization of digital signal processing (DSP).