State estimation method for mobile robot navigation

A state estimation method for mobile robot navigation, wherein the method is to mount and fix an inertial measurement unit and a localization apparatus on a mobile robot in advance, and the mobile robot is configured in advance with a field-programmable gate array, an application-specific integrated circuit and a processing module;

• the field-programmable gate array is respectively in communication with the inertial measurement unit and the localization apparatus;
• the application-specific integrated circuit is respectively in communication with the field-programmable gate array and the processing module;
• and the processing module is in communication with a human-machine interface, and the state estimation method further includes the following steps:
• at step S1, initializing the processing module, and then controlling the field-programmable gate array to obtain measurement values of a moment k collected by the inertial measurement unit and the localization apparatus in a constant sampling period;
• at step S2, controlling the application-specific integrated circuit to send the measurement values to the processing module;
• at step S3, controlling the processing module to, based on the measurement values, sequentially perform vector padding, additional inertial vector acquisition, normalization processing, alignment error computation, filter measurement value computation, bias estimation value computation, velocity estimation value computation, pose estimation value computation and orthogonalization processing to obtain state estimation values of the moment k;
• at step S4, controlling the processing module to send the state estimation values to the human-machine interface for visual display.