基于UWB的AGV定位系统研究与设计

发布时间：2018-01-08 10:00

本文关键词：基于UWB的AGV定位系统研究与设计　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：定位技术是AGV(Automated Guided Vehicle)应用技术的焦点,可以说是AGV得以应用于全时段完全自主工作的关键技术。只有知道了自身的位置、物料与障碍物的位置,AGV才能进行安全有效的自主运动。目前,AGV多采用磁条导引、激光导引等技术进行定位,对环境配置的要求较高,无法适应复杂多变的物流仓库生产环境。而UWB(Ultra-Wideband)作为一种革命性的无线通讯技术,除了定位精确、数据传输高速之外,还具有无需载波、抗多径干扰的特点,已受到国内外学者的广泛关注。近年来,UWB技术变得愈来愈普及,其相关设备的制作成本也愈来愈低廉。本文在这样的背景下,研究与设计了基于UWB的AGV定位系统,该系统不仅可以在静态定位与动态定位两方面同时满足定位精确的基本要求而且在有障碍物遮挡的NLOS环境下仍能定位,并可以达到较高的定位精度。论文的主要工作内容如下:(1)对基于UWB的定位技术的定义、特点、原理进行了分析,讲述了利用无线的方式进行定位的技术中常用到的TOA、TDOA、AOA与RSSI等方法,对基于TDOA方法的Fang式、Taylor算法原理进行了详细介绍。针对Fang式算法在非视距误差的影响下定位精度下降明显的情况,提出了抗NLOS误差的Fang-Taylor联合算法,并结合定位性能的评价指标,用仿真验证了其有效性。(2)对AGV定位系统所需的上位机程序进行了设计,先是对程序进行需求分析,之后针对其需要的串口数据读取功能、科学计算功能、数据保存功能和可视化操作功能运用C#.net技术与Matlab混合编程分模块进行了开发。之后对实际验证所需的AGV测试平台进行了设计,分析了 AGV轮系结构的原理与应用,介绍了其各组成模块的功能与参数,为UWB定位系统性能的实际验证提供了载体。(3)对实际验证的环境进行了布局,介绍了各设备的参数与位置坐标。在实际验证过程中,先对各基站的测距误差进行了拟合修正,并在测试平台上对UWB定位系统做了静态定位测试,对使用优化前后定位算法的结果进行了分析。之后通过实际测得参数,对AGV的动态定位算法进行了补偿,并在测试平台上做了动态定位实验,同样对定位结果做了分析探讨。最后对基于UWB的定位方式设计了导引的流程模式。通过上述的理论研究与具体设计,实现了AGV高精度、高柔性的定位需求。实验表明,在动态与静态的场景下定位精度均能达到厘米级,在NLOS误差影响下也能达到较高的定位精度,满足AGV正常行驶与定位需求。
[Abstract]:Location technology is the focus of AGV(Automated Guided vehicle application technology. It can be said that it is the key technology that AGV can be applied to complete autonomous work in the whole time period. Only when we know the position of material and obstacle can we carry out safe and effective autonomous movement. In AGV, magnetic stripe guidance, laser guidance and other technologies are used to locate the position, which requires higher environmental configuration. It can not adapt to the complex and changeable production environment of logistics warehouse. As a revolutionary wireless communication technology, UWBU Ultra-Wideband is not only accurate location, but also high speed of data transmission. It also has the characteristics of no carrier and anti-multipath interference, which has been widely concerned by scholars at home and abroad. In recent years, UWB technology has become more and more popular. The production cost of the related equipment is becoming cheaper and cheaper. Under this background, this paper studies and designs the AGV positioning system based on UWB. The system can not only meet the basic requirements of positioning accuracy in both static and dynamic positioning, but also can locate in NLOS environment with obstacles. The main work of this paper is as follows: 1) the definition, characteristics and principle of positioning technology based on UWB are analyzed. This paper describes the methods of RSSI and RSSI, which are often used in the technology of wireless positioning, and gives the Fang formula based on TDOA method. The principle of Taylor algorithm is introduced in detail. Aiming at the situation that the positioning accuracy of Fang algorithm decreases obviously under the influence of non-line-of-sight error. A joint Fang-Taylor algorithm against NLOS error is proposed, and the evaluation index of location performance is combined. The effectiveness of the program is verified by simulation. (2) the upper computer program for AGV positioning system is designed. Firstly, the requirements of the program are analyzed, and then the serial port data reading function is analyzed. Scientific computing function. The data saving function and visual operation function are developed by using C#.net technology and Matlab mixed programming sub-module. After that, the AGV test platform needed for practical verification is designed. The principle and application of AGV gear train structure are analyzed, and the functions and parameters of each component module are introduced. This paper provides a carrier for the actual verification of the performance of UWB positioning system. It provides the layout of the environment for the actual verification, and introduces the parameters and position coordinates of each equipment. First, the ranging error of each base station is modified, and the static positioning test of UWB positioning system is done on the test platform. After analyzing the results of using the optimized positioning algorithm, the dynamic positioning algorithm of AGV is compensated by the actual parameters, and the dynamic localization experiment is done on the test platform. At last, the guiding flow pattern is designed based on UWB. Through the theoretical research and specific design, the high precision of AGV is realized. The experimental results show that the positioning accuracy can reach centimeter level in both dynamic and static scenes, and the positioning accuracy can be achieved under the influence of NLOS error. To meet the AGV normal driving and positioning requirements.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TN925

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