农资仓储脉冲超宽带室内定位系统设计与试验及误差分析

发布时间：2018-05-18 22:30

本文选题：位置控制 + 仓库　；参考：《农业工程学报》2017年S1期

【摘要】：针对仓储环境下农资物品与自动导引运输车(automated guided vehicle,AGV)的定位精度低的问题,开发了适用于农资仓储环境下的脉冲超宽带技术(impulse radio-ultra wide band,IR-UWB)室内定位系统。采用双面双程测距(symmetric double sided-two way ranging,SDS-TWR)方法,建立了考虑时钟频偏等因素的到达时间(time of arrival,TOA)定位系统模型。研究表明定位系统计算所带来的误差主要来源于距离测算方法和节点位置计算方法 2方面,在这2方面提出了相应的解决办法,包括测距算法的选择,基站的布置等。最后,以DW1000射频芯片为硬件基础,设计了定位系统移动站和基站节点,并在农资仓库的环境中分别进行了静态测距试验、静态定位试验、以及动态定位试验。试验表明:静态测距精度优于50 mm,静态定位精度优于50 mm,动态定位试验精度优于85 mm。综合结果表明,该文搭建的系统可满足农资物品定位的实际应用要求,可为室内农资仓储环境下AGV的定位和导航提供参考。
[Abstract]:In order to solve the problem of low positioning accuracy of agricultural goods and automated guided vehicles in storage environment, a impulse ultra-wideband (IR-UWB) indoor positioning system suitable for agricultural material storage environment is developed. A model of time of arrival (TOAA) positioning system considering clock frequency offset is established by using the method of double-sided two-way ranging metric double sided-two way routing / SDS-TWRR. The research shows that the error caused by the calculation of the positioning system mainly comes from the distance calculation method and the node position calculation method. In these two aspects, the corresponding solutions are put forward, including the choice of the ranging algorithm, the layout of the base station, and so on. Finally, based on the DW1000 RF chip, the mobile station and the base station node of the positioning system are designed, and the static ranging test, the static positioning test and the dynamic positioning test are carried out in the environment of the farm material warehouse. The experimental results show that the static ranging accuracy is better than 50 mm, the static positioning accuracy is better than 50 mm, and the dynamic positioning test accuracy is better than 85 mm. The results show that the system can meet the practical application requirements of the positioning of agricultural materials, and can provide a reference for the positioning and navigation of AGV in the indoor storage environment of agricultural materials.
【作者单位】：中国农业机械化科学研究院土壤植物机器系统技术国家重点实验室;
【基金】：“十二五”国家科技支撑计划(2015BAD18B03)
【分类号】：TN925;S126

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