本文針對(duì)微小型移動(dòng)機(jī)器人的實(shí)時(shí)導(dǎo)航定位需求，采用嵌入式系統(tǒng)設(shè)計(jì)思想，以新型村田公司的MEMS陀螺器件為核心，利用ARM/CPLD構(gòu)建了一種結(jié)構(gòu)緊湊、低功耗、低成本、通用性強(qiáng)的實(shí)時(shí)導(dǎo)航定位系統(tǒng)硬件平臺(tái)；利用μC/OS-II實(shí)時(shí)操作系統(tǒng)開發(fā)了其嵌入式軟件平臺(tái)，實(shí)現(xiàn)了數(shù)字信號(hào)處理、插值升頻、導(dǎo)航信息解算等處理算法；最后，通過在機(jī)器人上的搭載實(shí)驗(yàn)，驗(yàn)證了系統(tǒng)的功能和可靠性。 關(guān)鍵詞：MEMS；微小型移動(dòng)機(jī)器人；嵌入式系統(tǒng)；數(shù)字信號(hào)處理

Abstract: This paper targets at the real-time navigation and positioning of mobile micro-robot. Conforming to the idea of embedded system design, firstly a compact, low-power, low-cost and universal real-time navigation and positioning hardware platform is established with ARM/CPLD based on muRata MEMS inertial device. Furthermore, the embedded software platform is developed utilizing μC/OS-II operating system, and the algorithm of digital signal processing, data interpolation and navigation calculating is then realized. Finally through the experiment conducted on the robot, it validates the function and reliability of the referring system. Key words: MEMS; mobile micro-robot; embedded system; digital signal processing