一种新型VLC高精度混合定位算法的实现

发布时间：2018-05-01 23:17

本文选题：可见光通信技术 + 移动机器人　；参考：《红外与激光工程》2017年11期

【摘要】：为了实现移动机器人的高精度定位,研究了一种新型的可将光混合定位算法,并对该算法进行了理论分析和实验验证。首先,针对传统信号接收强度(RSS)定位算法与到达角度(AOA)定位算法的优缺点,改进了RSS算法,使其不再利用接收到的信号强度和距离的关系而改用接收到的信号强度和探测器旋转角度的关系,并综合以上两种算法分析得到一种混合定位算法模型。同时对混合型算法进行理论分析,主要从角度的测量方面,确定要达到的目标参数,进而可以达到理想的定位精度。然后通过实验验证该算法模型的实现可行性,主要从测量出的角度数据进行计算,并分析通过该实验数据计算出的定位精度是否达到定位精度目标。实验结果表明:定位精度为6.11 cm,高于10 cm定位目标。同时分别相对于其他两种定位算法,该算法定位精度高、成本低、可行性高。
[Abstract]:In order to realize the high precision localization of mobile robot, a new algorithm of hybrid optical localization is studied, and the theoretical analysis and experimental verification of the algorithm are carried out. First of all, aiming at the advantages and disadvantages of traditional RSS and AOAA localization algorithms, the RSS algorithm is improved. The relationship between the received signal strength and the rotation angle of the detector is changed instead of using the relationship between the received signal strength and the distance, and a hybrid localization algorithm model is obtained by synthesizing the above two algorithms. At the same time, the theoretical analysis of the hybrid algorithm, mainly from the angle measurement, determine the target parameters to be achieved, and then can achieve an ideal positioning accuracy. Then, the feasibility of the algorithm model is verified by experiments, mainly from the point of view of the measured data to calculate, and to analyze whether the positioning accuracy calculated by the experimental data can reach the target of positioning accuracy. The experimental results show that the positioning accuracy is 6.11 cm, which is higher than that of 10 cm target. Compared with the other two algorithms, this algorithm has high accuracy, low cost and high feasibility.
【作者单位】：中国科学院半导体研究所;北京市微技术研究所;
【基金】：国家自然科学基金(61375083)
【分类号】：TN929.1

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