Azimuth estimation of mobile robot based on Federated Kalman Filter

Mobile robot is an important branch of robotics research, and the azimuth of mobile robot is a very important moving process parameter. In this paper, we adopted multi-sensor integrated, combining digital magnetic compass, fiber optic gyro and photoelectric encode to estimate the azimuth of mobile robot, and putting each measurement result into Federated filter. We use Unscented Kalman filter as the sub-filter of the federated filter. This approach has been simulated under Matlab and the result proved that multi-sensor angle information based on the Federated filter can better estimated the orientation angle of mobile robot.