Abstract: Abstract:The navigation mode of current inspection robot for substation was studied. An encoder/inertia trackless navigation system, in which the stm32 is used as core, was developed, and the software design and hardware design were all completed. The Kalman filter inertial guidance algorithm, the closedloop speed measurement and PID speed control algorithm were adopted. By using the navigation mode, the navigation precision of the system was improved, and the construction period and the construction cost of the substation were reduced, which make the inspection robot to have better application value and market prospect.

Key words: Key words:substation, inspection robot, trackless navigation, gyroscope, encoder