Software for the mobile robot spatial orientation system

Ensuring the orientation of the mobile robot in space requires solving the problem of its precise positioning. For this purpose, it is proposed to include an additional measuring complex in the control system of the mobile robot. The complex is designed to determine the orientation of the robot in space by the values of the angles of course, roll and pitch. The analysis of the mobile robot positioning solutions allows to justify the feasibility of using inertial navigation systems based on microelectromechanical sensors to obtain navigation information about the orientation of the mobile robot in space. The key element of the developed functional scheme of the mobile robot control system is the software of the mobile robot spatial orientation system. The software implements separate sections of the code that determine the orientation in space using inertial sensors in parallel to the main algorithm of the mobile robot. The result of the developed software is a string containing up-to-date information about the three orientation angles of the robot: the string is sent to the server to form control actions to correct the spatial orientation of the mobile robot. To improve the accuracy of determining the robot orientation in space based on the values of the angles of course, roll and pitch, the developed software eliminates the systematic error of microelectromechanical sensors and corrects the magnetometer readings taking into account the displacement of the magnetic field along its three axes. The developed software of the mobile robot spatial orientation system provides a significant increase in the positioning accuracy of the mobile robot designed for use in a room with an area of 30 to 200 m$^2$ with a known layout and a priori set starting point.