基于超宽带技术的室内物体防碰撞方法及误差校正研究
发布时间：2018-10-10 15:17
【摘要】：在仓库和地下停车场等室内环境中,室内交通事故时有发生,造成生命和财产损失。为保障室内活动的人员车辆的安全,在可能发生碰撞事故时,应该及时做出预警。所以完善和提高室内物体碰撞预警和定位的技术,并开发出一种室内物体防碰撞系统具有至关重要的意义。由于室内定位是GPS技术难以解决的问题,研究人员开始研究基于无线通信技术实现室内定位的方法。本文分析了室内定位技术的原理及其特点,阐述了目前物体防碰撞领域的一些技术和研究成果以及超宽带技术的国内外研究现状。本文从超宽带的基本概念和定位原理出发,将防碰撞的流程分为两个方面的研究。一方面,为了检测室内物体的碰撞状态,本文提出基于超宽带技术的室内物体防碰撞策略。该策略首先基于超宽带定位产生的物体实时位置构造室内物体的包围盒,并按照其运动状态划分为运动物体和静止物体,将运动物体单独加入检测队列。其次,运动物体通过计算其安全距离扩展包围盒树。所有物体按其位置依次插入四叉树节点后,循环出列检测队列的物体与其余物体进行相交测试。最后,通过仿真实验结果显示该策略在室内物体碰撞检测中表现出很好的效果。另一方面,对于室内定位容易产生NLOS问题,本文分析了定位误差校正算法研究现状,提出一种基于低运算量残差加权的CHAN算法(CHAN-LCCRW算法),并进行仿真实验,其仿真结果表明该算法与传统方法相比更好地抑制了非视距误差。另外,本文还对超宽带叉车防碰撞系统进行了系统的需求分析、建模和设计工作。
[Abstract]:In indoor environment, such as warehouse and underground parking lot, indoor traffic accidents occur frequently, resulting in loss of life and property. In order to ensure the safety of personnel and vehicles in indoor activities, early warning should be made in case of possible collision accidents. Therefore, it is of great significance to improve and improve the collision warning and positioning technology of indoor objects and to develop an anti-collision system for indoor objects. Because indoor positioning is a difficult problem in GPS technology, researchers begin to study the method of indoor location based on wireless communication technology. In this paper, the principle and characteristics of indoor positioning technology are analyzed, and some technologies and research results in the field of object collision prevention are described, as well as the domestic and foreign research status of ultra-wideband (UWB) technology. Based on the basic concept and positioning principle of UWB, the anti-collision process is divided into two aspects in this paper. On the one hand, in order to detect the collision state of indoor objects, this paper proposes an anti-collision strategy based on UWB technology. Firstly, the bounding box of indoor objects is constructed based on the real-time position of objects generated by UWB localization, and the moving objects are divided into moving objects and stationary objects according to their motion state, and the moving objects are added to the detection queue separately. Secondly, the moving object extends the bounding box tree by calculating its safe distance. All objects are inserted into quadtree nodes according to their positions, and the objects in the detection queue are tested intersecting with the other objects. Finally, the simulation results show that the strategy is effective in indoor collision detection. On the other hand, for indoor positioning is easy to produce NLOS problem, this paper analyzes the research status of positioning error correction algorithm, proposes a CHAN algorithm (CHAN-LCCRW algorithm) based on low computation residual weighting, and carries out simulation experiments. The simulation results show that the proposed algorithm is better than the traditional method in reducing the non-line-of-sight error. In addition, the system requirement analysis, modeling and design of UWB forklift anti-collision system are carried out in this paper.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN925
本文编号：2262262
[Abstract]:In indoor environment, such as warehouse and underground parking lot, indoor traffic accidents occur frequently, resulting in loss of life and property. In order to ensure the safety of personnel and vehicles in indoor activities, early warning should be made in case of possible collision accidents. Therefore, it is of great significance to improve and improve the collision warning and positioning technology of indoor objects and to develop an anti-collision system for indoor objects. Because indoor positioning is a difficult problem in GPS technology, researchers begin to study the method of indoor location based on wireless communication technology. In this paper, the principle and characteristics of indoor positioning technology are analyzed, and some technologies and research results in the field of object collision prevention are described, as well as the domestic and foreign research status of ultra-wideband (UWB) technology. Based on the basic concept and positioning principle of UWB, the anti-collision process is divided into two aspects in this paper. On the one hand, in order to detect the collision state of indoor objects, this paper proposes an anti-collision strategy based on UWB technology. Firstly, the bounding box of indoor objects is constructed based on the real-time position of objects generated by UWB localization, and the moving objects are divided into moving objects and stationary objects according to their motion state, and the moving objects are added to the detection queue separately. Secondly, the moving object extends the bounding box tree by calculating its safe distance. All objects are inserted into quadtree nodes according to their positions, and the objects in the detection queue are tested intersecting with the other objects. Finally, the simulation results show that the strategy is effective in indoor collision detection. On the other hand, for indoor positioning is easy to produce NLOS problem, this paper analyzes the research status of positioning error correction algorithm, proposes a CHAN algorithm (CHAN-LCCRW algorithm) based on low computation residual weighting, and carries out simulation experiments. The simulation results show that the proposed algorithm is better than the traditional method in reducing the non-line-of-sight error. In addition, the system requirement analysis, modeling and design of UWB forklift anti-collision system are carried out in this paper.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN925
【引证文献】
相关期刊论文 前1条
1 戴明宏;吕蒙;;基于UWB实时定位铁路大型养路机械施工人员防碰撞技术研究[J];产业创新研究;2018年02期
，本文编号：2262262
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