超宽带定位的AGV定位跟踪算法研究

发布时间：2018-03-26 03:06

本文选题：AGV跟踪　切入点：超宽带定位　出处：《信号处理》2017年04期

【摘要】：为了对室内运行的AGV定位跟踪,本文提出一种基于超宽带定位的AGV定位跟踪算法。首先针对3基站TDOA定位方法存在基站附近及其遮挡区域定位错误概率高的问题,本文算法利用目标运动信息辅助降低定位错误概率;其次针对室内环境制约造成机动AGV的跟踪困难问题,本文算法首先对室内环境信息进行描述,采用目标预测位置到障碍物区域的张角作为辅助信息对多模型跟踪算法中模型集进行更新,最后进行状态估计。本文算法将运动先验信息引入到定位方法中,具有定位准确概率高的优点;将环境先验信息引入到跟踪算法,具有错误估计概率低的优点。通过仿真实验证明,本文算法具有较低的跟踪错误概率和较高的定位正确概率,能够有效实现3基站条件下室内运动AGV的定位和跟踪。
[Abstract]:In order to track indoor AGV location, this paper proposes a AGV location tracking algorithm based on UWB localization. Firstly, the problem of high error probability in the location near the base station and its occlusion region exists in the three base station TDOA location methods. In this paper, the target motion information is used to help reduce the error probability of location. Secondly, aiming at the difficulty of tracking maneuvering AGV caused by indoor environment constraints, this algorithm firstly describes the indoor environment information. The model set of multi-model tracking algorithm is updated with the angle from target prediction position to obstacle area as auxiliary information, and the state estimation is carried out. In this paper, the prior motion information is introduced into the localization method. It has the advantage of high accuracy probability of location, introducing prior information of environment into tracking algorithm, which has the advantage of low probability of error estimation. The simulation results show that the algorithm has lower probability of tracking error and higher probability of correct location. It can effectively realize the positioning and tracking of indoor motion AGV under the condition of 3 base stations.
【作者单位】：深圳大学信息工程学院;工业和信息化部电子第五研究所;
【基金】：广东省科技计划项目(2016B090918084)
【分类号】：TP23;TN925

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