基于wMPS的室内AGV精确导航定位关键技术研究

发布时间：2018-06-07 13:47

本文选题：wMPS + AGV　；参考：《天津大学》2016年博士论文

【摘要】：随着高端装备制造及大型仓储物流领域的飞速发展,自动导引车(AGV:Automated Guided Vehicle)作为一种新型移动机器人,其应用范围和技术水平得到了不断拓展与迅猛提升。然而,伴随AGV机电性能的不断增强,现有AGV导航定位方法由于受限于路径单一、测量速率慢、精度低及稳定性差等问题,已无法满足车体实时、快速并准确获取自身空间位姿信息的迫切需求,极大制约了后续的控制及路径规划工作。研发具备高精度、强实时性、配置灵活且自主可靠的高性能导航定位技术是AGV进一步走向精准化和智能化的关键。近年来,大尺寸空间三维坐标测量定位技术日益成熟完善,以车间测量定位系统(wMPS:workshop Measuring and Positioning System)为代表的自主研发型仪器设备已完成产业化并得到了深入应用。在航空、航天及造船等高端装备制造领域,wMPS以其全空间、高精度、多任务等出色性能,为厂内静态、动态测量定位任务提供了丰富的解决方案。因此,通过wMPS对AGV实施精确导航是解决现存问题的一种新颖而有效的方法。本文从室内定位理论与新方法、动态测量误差建模与分析、多系统辅助与信息融合、导航性能验证与评价等多方面对基于wMPS及其在惯性导航系统辅助下的室内AGV导航定位方法展开研究。本文主要完成了以下研究内容:一.对基于wMPS的空间信息(位置、姿态及速度等)测量原理及方法进行深入研究,提出了基于后方交会及高度先验信息的多种新型导航定位配置方案,并通过仿真及实验进行了详细而深入的验证。二.针对wMPS在动态坐标测量过程中引入的原理性误差,本文对其形成机理及特性进行了深入探究。通过计算机仿真对不同时空信息背景中接收器处于不同运动状态下的理论动态坐标测量误差值进行了精确计算,并发现动态测量误差存在随时间与空间的变化呈现周期性波动的规律,且不同时刻误差之间呈现一定相关性。基于分析结果,本文通过ARMA模型对动态坐标测量误差进行时间序列建模,为优化仪器性能、提升实时定位精度及设计组合系统提供了理论支持。三.针对wMPS数据更新率较低且快速动态跟踪能力较弱等问题,本文提出了一种将捷联式惯性导航系统(SINS)的观测值插入于wMPS相邻时刻观测值之间进而实现辅助wMPS导航定位的方法。在深入研究了敏感器件、测量模型、初始对准及坐标系统一等问题的基础上,对SINS在室内环境的位姿测量性能进行了仿真及实验验证。四.针对如何进一步提升导航定位系统的精度、稳定性及可靠性,本文提出一种基于间接Kalman滤波的组合导航定位方法。在对组合系统精度提升原理进行深入研究与证明的基础上,基于SINS的误差方程与wMPS的动态坐标测量误差建模结果,本文提出了不同耦合深度下的组合导航系统信息融合模型。计算机仿真结果表示,基于Kalman滤波的信息融合方法进一步提升了导航定位系统的整体性能。五.针对现有动态定位性能评价方法受限于预定轨迹约束的不足,本文提出了一种基于任意运动轨迹的动态坐标测量精度评价方法,并以实验室小范围环境、航空智能制造为背景,对本文所提出的诸多导航定位方法进行了全面而深入的综合验证。实验结果表明,基于wMPS的室内AGV导航定位方法跟踪性能强、精度高,是一套服务于现代化高端装备制造行业的理想解决方案。
[Abstract]:With the rapid development of high-end equipment manufacturing and large storage and logistics fields, as a new type of mobile robot, the application scope and technical level of AGV:Automated Guided Vehicle have been expanded and promoted rapidly. However, with the continuous enhancement of the mechanical and electrical performance of AGV, the existing AGV navigation and positioning methods are limited to Single path, slow measurement rate, low precision and poor stability have been unable to meet the urgent needs of the vehicle body real-time, fast and accurate acquisition of its own spatial position and posture information, which greatly restricts the follow-up control and path planning work. The high performance navigation and positioning technology with high precision, strong real-time, flexible configuration and independent reliability is developed. AGV is the key to precision and intelligence. In recent years, the technology of three-dimensional coordinate measurement and positioning in large size space is becoming more and more mature. The independent research and development instrument, represented by the wMPS:workshop Measuring and Positioning System, has been industrialized and applied in depth. In the field of shipbuilding and other high-end equipment manufacturing, wMPS provides a rich solution for the static and dynamic positioning tasks in the factory for its full space, high precision, multi task and so on. Therefore, the implementation of precise navigation through wMPS to AGV is a novel and effective method to solve the existing problems. The modeling and analysis of state measurement error, multi system assistance and information fusion, navigation performance verification and evaluation are carried out to study the indoor AGV navigation and positioning method based on wMPS and its inertial navigation system. The main contents of this paper are as follows: 1. Measurement of spatial information based on wMPS (position, attitude and speed, etc.) The principle and method are deeply studied, and a variety of new navigation and positioning schemes based on the rear intersection and high priori information are proposed, and the detailed and thorough verification is carried out through simulation and experiment. Two. The principle error introduced in the dynamic coordinate measurement process of wMPS is introduced, and the formation mechanism and characteristics are deeply studied in this paper. Through computer simulation, the error value of the theoretical dynamic coordinate measurement in different moving states of different space-time information background is calculated accurately, and it is found that the dynamic measurement error presents periodic fluctuation with the change of time and space, and there is a certain correlation between different simultaneous engravings. In this paper, the ARMA model is used to model the time series of the dynamic coordinate measurement error, which provides the theoretical support for optimizing the performance of the instrument, improving the real-time positioning accuracy and designing the combination system. Three. In this paper, a strapdown inertial navigation system is proposed for the low update rate of wMPS data and the weak dynamic tracking ability. The observation value of the system (SINS) is inserted between the observed values of the wMPS adjacent time to realize the assistant wMPS navigation and positioning method. On the basis of the in-depth study of the sensitive devices, the measurement model, the initial alignment and the coordinate system, the simulation and experimental verification of the position and posture measurement of SINS in the indoor environment are carried out. Four. One step is to improve the accuracy, stability and reliability of the navigation and positioning system. In this paper, a combined navigation and positioning method based on indirect Kalman filtering is proposed. Based on the in-depth study and proof of the principle of the precision lifting of the combined system, based on the error modeling results of the error equation of SINS and the dynamic coordinate measurement of wMPS, this paper puts forward the results of this paper. The information fusion model of integrated navigation system under the same coupling depth. The computer simulation results show that the information fusion method based on Kalman filtering improves the overall performance of the navigation and positioning system further. Five. In view of the shortage of the existing dynamic positioning performance evaluation method limited to the predetermined trajectory constraints, this paper proposes a kind of arbitrary motion based on arbitrary motion. The dynamic coordinate measurement accuracy evaluation method of the trajectory is carried out in the background of the laboratory small environment and aeronautical intelligent manufacturing. Many navigation and positioning methods proposed in this paper are comprehensively and thoroughly verified. The experimental results show that the indoor AGV navigation and positioning method based on wMPS has strong tracking performance and high precision. It is a set of service in modern times. The ideal solution to the high-end equipment manufacturing industry.
【学位授予单位】：天津大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242

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