관성센서를 이용한 노약자의 개인항법시스템의 설계 및 구현

초록

In this paper, it suggests the old man's personal navigation system(PNS) by using Inertial sensor. A Strap-down Inertial Navigation System(SDINS) is equipped with a sensor in robot and uses it. Also, it measures the amount of Inertial in angular velocity and acceleration. Then, it can be find out oneself's locate, position, and velocity. As most large system in high speed, the same a small system of low speed as human walkin is not fitness. So, this thesis designs a personal navigation system(PNS) and implements it in real. Also it is fit for Walking Aid Robot for the senior as low speed, small-sized, and low power's Strap-down Inertial Navigation System.