基于内三角形质心算法的超宽带室内定位

发布时间：2018-01-15 00:10

本文关键词：基于内三角形质心算法的超宽带室内定位　出处：《计算机应用》2017年01期 　论文类型：期刊论文

【摘要】：针对工业现场自动导引运输车(AGV)定位方式灵活性差的问题,应用DW1000射频(RF)芯片,设计实现了一种超宽带(UWB)室内定位系统。首先,提出了高效的多基站测距和多标签调度机制,解决标签冲突和组网问题。其次,针对三角形质心算法实际应用中测距极大误差引起的定位精度低、稳定差的问题,引入可信度概念,提出了内三角形质心算法,通过可信度算子削弱测距极大误差的影响,提高算法性能。最后,将该系统应用于工业车间,当系统容纳20个标签时,单个标签的坐标平均更新频率达到24 Hz,标准差为3 Hz;静态平均定位误差为11.7 cm,标准差为2.5 cm;动态最大误差小于30 cm。实验结果表明,该系统具有高实时性、高精度和高稳定性的特点。
[Abstract]:In order to solve the problem of low flexibility in positioning mode of automatic guide transport vehicle (AGV) in industrial field, DW1000 RF chip is used. An ultra-wideband UWB-based indoor positioning system is designed and implemented. Firstly, an efficient multi-base station ranging and multi-label scheduling mechanism is proposed to solve the tag conflict and networking problems. Aiming at the problem of low positioning accuracy and poor stability caused by the maximum ranging error in the practical application of triangular centroid algorithm, the concept of credibility is introduced, and an inner triangle centroid algorithm is proposed. The credibility operator is used to reduce the influence of the maximum range error and improve the performance of the algorithm. Finally, the system is applied to the industrial workshop when the system contains 20 labels. The average updating frequency of a single label is 24 Hz, and the standard deviation is 3 Hz. The mean static positioning error is 11.7 cm and the standard deviation is 2.5 cm. The dynamic maximum error is less than 30 cm. The experimental results show that the system has the characteristics of high real-time, high precision and high stability.
【作者单位】：南通大学电气工程学院;南通大学电子信息学院;
【基金】：国家自然科学基金资助项目(61371111)~~
【分类号】：TN925
【正文快照】： 0引言随着智能制造技术的进一步发展,自动导引运输车(Automated Guided Vehicle,AGV)作为一种车间运输设备,其室内自主定位技术的研究也进入到崭新的发展阶段[1]。实际工业应用中,AGV定位主要有预设路径法和非预设路径法两种方式。预设路径法利用电磁、光电等技术,通过在预

【相似文献】