Design of a Multi-Sensor Fusion Planar Pose Sensing System Based on STM32

Abstract

Addressing issues such as complex system architecture, high hardware redundancy, and poor engineering adaptability in existing mobile robot planar pose sensing solutions, this paper designs and implements a multi-sensor fusion planar pose sensing system based on STM32.Centered around the STM32F103C8T6 microcontroller as the core processing unit, the system employs orthogonally arranged incremental encoders and a high-precision inertial measurement unit (IMU) as its sensing core. It encompasses the full design and implementation process from three-dimensional structure, hardware circuitry, and PCB layout to embedded software and pose estimation algorithms. By combining encoder displacement increments with IMU heading information, the system estimates a mobile platform's position and orientation in real time within a two-dimensional plane. By optimizing hardware resource allocation and designing a lightweight software architecture, it significantly reduces system complexity and development barriers. Featuring simple interfaces, high integration, and strong versatility, this system can widely accommodate the pose-perception needs of small-to-medium-sized planar mobile robots, demonstrating excellent engineering value.