Abstract：Aiming at the problem of large attitude estimation error of wall climbing robot due to the limited application of sensors in the relatively closed and magnetic interference environment, a new attitude estimation method based on inertial measurement unit(IMU) and cylindrical shape constraint is proposed and implemented. Taking advantage of the frequent switching between the moving and stationary states of the wall climbing robot, the angular velocity drift of IMU in the moving state is estimated using the angular velocity output of IMU in the stationary state. With the constant roll angle constrained by the cylinder surface, an extended Kalman filter(EKF) is designed to estimate the attitude of robot and the angular velocity drift of IMU in real time. The experimental results show that this method can reduce the heading angle error in attitude estimation from over 20°to 3.5°, and the pitch angle error is remained within 2ånd the roll angle error is less than 0.5°, which effectively improves the accuracy of the attitude estimation.
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