Signal processing of biologically inspired hexapod robot´s navigation system based on GPS/INS

Biologically inspired legged robots have great potential both as research tools and as products designed for use in dangerous situations or in places inaccessible to humans. Localization and navigation technology plays a key role in the biologically inspired legged robot research. In this paper, a localization and navigation system of biologically inspired hexapod robot based on the TMS320VC 5509A DSP, Superstar-II GPS receiver and INS device is established. In order to improve the navigation system´s real-time performance, Marconi binary serial data communication protocol is used for GPS data receiving. Centralized open-loop Kalman filter, whose input is GPS/INS devices´ output, is applied in the robot´s localization and navigation system. Mathematical modeling of the robot´s navigation and localization system is established according to the robot´s locomotion performance and measurement demand. The experimental results demonstrate that the navigation and localization system´s real-time performance and the navigation precision are improved effectively.