FUZZY INFERENCE SYSTEM AND METHOD

摘要

PURPOSE: A fuzzy inference system and a method thereof solve the problem of cumulative errors in a gyroscope free inertial navigation system (GFINS) by effectively correcting data of an accelerometer. CONSTITUTION: An autonomous ground vehicle (AGV) linear velocity calculation unit (140) calculates the linear velocity of an AGV by using the rotation speed of a wheel. An accelerometer linear velocity measurement unit (150) measures a linear velocity by using an accelerometer. An encoder linear velocity calculation unit (160) calculates a linear velocity based on an encoder signal. A first linear velocity rate calculation unit (170) calculates the ratio of the AGV linear velocity to the accelerometer linear velocity. A second linear velocity rate calculation unit (180) calculates the ratio of the accelerometer linear velocity to the encoder linear velocity. An accelerometer correction unit (190) corrects the accelerometer linear velocity based on the linear velocity ratios calculated by the first linear velocity rate calculation unit and the second linear velocity ratio calculation unit. [Reference numerals] (140) AGV linear velocity calculation unit; (150) Accelerometer linear velocity measurement unit; (160) Encoder linear velocity calculation unit; (170) First linear velocity rate calculation unit; (180) Second linear velocity rate calculation unit; (190) Accelerometer correction unit