本文針對微小型移動機器人的實時導航定位需求，采用嵌入式系統設計思想，以新型村田公司的MEMS陀螺器件為核心，利用ARM/CPLD構建了一種結構緊湊、低功耗、低成本、通用性強的實時導航定位系統硬件平臺；利用μC/OS-II實時操作系統開發了其嵌入式軟件平臺，實現了數字信號處理、插值升頻、導航信息解算等處理算法；最后，通過在機器人上的搭載實驗，驗證了系統的功能和可靠性。 關鍵詞：MEMS；微小型移動機器人；嵌入式系統；數字信號處理

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