中文摘要：

针对具有下肢行动障碍、上肢运动不灵活的老年人或残障人士,以电动轮椅为运动载体,提出了一种ZigBee定位与航迹推算相融合的电动轮椅智能导航控制系统的方案。系统采用ZigBee与航迹推算相融合的定位算法,选取STC系列单片机为中央处理器,对控制系统的硬件部分和软件部分进行了详细设计,并以电动轮椅为控制对象,进行控制系统运动导航的实验验证。结果表明,在运动状态下,混合定位融合了航迹推算和ZigBee定位的优点,与独立的ZigBee定位技术相比,提高了电动轮椅导航系统的位置目标定位精度。

英文摘要：

Aiming at those elders or disabled people who have mobility impairments in lower limb or be not flexible in upper limb movement, this paper provides a program of intelligent navigation control system based on wheelchair, which is combined with ZigBee positioning and track reckoning. The position algorithm of this system is a mixture of ZigBee positioning and track reckoning. Microcontrollers of STC series are chosen as CPU. The detailed designs of the hardware and the software of the control system are done. The experiments are conducted to validate the function of the control system where wheelchair is used to be the control object. The results show that mixed location of ZigBee positioning and track reckoning can take advantage of both technologies, and positioning accuracy of electric wheelchair navigation system is improved comparing with ZigBee only.