中文摘要：

基于北斗／iNEMO惯性模块研究了一种组合式机器人运动姿态测量系统和解算方法；设计了以ARM为核心的嵌入式组合姿态解算平台，通过四元数法和卡尔曼滤波技术，对iNEMO惯性组件测量数据进行融合，进而在高动态环境中实时解算出机器人的运动姿态；同时，以北斗接收机输出的1PPS上升沿脉冲作为数据融合的同步信号，并利用其输出的导航信息辅助iNEMO惯性模块实现精对准；测试结果验证了设计方案的可行性和正确性，为机器人姿态解算提供了一种高精度、高稳定性、小体积、低功耗的解决方案。

英文摘要：

This paper researches a combined robot posture measurement system and attitude algorithm based on Beidou/iNEMO. Here designed an embedded combination attitude calculation platform cored by ARM, to calculate posture of robot in real-time under high dynamic condition, by Quaternion and Kalman filter technology fusing measured data of iNEMO inertial measurement unit. Meanwhile, using the Bei- dou receiver outputted lpps rising edge pulse as synchronous time of subsequent data fusion, as well as its outputted navigation data aid iN- EMO inertial measurement unit, fine alignment can be realized. The feasibility and correctness of the designed test has been verified, it pro- vides robot attitude calculation with high precision, high stability, small volume, low power consumption.