基于超宽带的室内服务机器人定位技术研究与应用
发布时间：2018-10-05 11:40
【摘要】：随着无线通信技术的飞速发展,无线定位已成为室内环境下位置信息获取的主要方式。超宽带定位具有发射信号功耗低,信号速率高、信道容量大,信号的穿透力强和高精度等优点,已成为无线定位技术中极具发展潜力的技术,因此对超宽带定位系统的研究具有重要的实用价值。本文研究了无线定位技术的原理和特点,设计实现了基于超宽带技术的室内无线定位系统。本文首先对超宽带与其他无线定位技术的原理与优缺点进行了阐述,然后根据实际的需求,设计了超宽带定位系统的总体方案,并针对方案中的需求进行了关键器件的选型。在讨论和比较超宽带TOA/TDOA与泰勒级数展开等传统定位方法与定位算法的基础上,最终采用了高精度Fang-泰勒级数联合定位算法。针对提出的超宽带系统方案,本文设计了定位标签、蓝牙传输和电池供电等硬件模块,其中定位标签包括锚节点与标签节点,其主要由DW1000超宽带收发芯片、超低功耗微处理器以及其他外围电路组成。通过在底层硬件处理器中嵌入μC/OS-Ⅱ操作系统实现了对超宽带数据的实时快速处理。此外,本文还设计了上下位机通信协议、上位机数据处理和显示软件。系统工作时,标签节点接收锚节点的数据帧,并读取锚节点的时间戳信号和独有的ID,由微处理器打包发送给上位机,上位机调用位置估计算法对数据进行处理得到相应的坐标值,然后在显示界面对节点坐标进行实时显示。本文设计的超宽带定位系统在实验室环境下完成了整体测试,实验结果表明,本系统,对静止节点与运动节点均可进行准确定位,定位精度和定位稳定性都达到了预期目标,基本满足实际应用的需要。
[Abstract]:With the rapid development of wireless communication technology, wireless location has become the main way to obtain location information in indoor environment. Ultra-wideband (UWB) positioning has the advantages of low power consumption, high signal rate, large channel capacity, strong signal penetration and high precision, and has become a promising technology in wireless positioning technology. Therefore, the research of UWB positioning system has important practical value. In this paper, the principle and characteristics of wireless positioning technology are studied, and the indoor wireless positioning system based on UWB technology is designed and implemented. In this paper, the principle, merits and demerits of UWB and other wireless positioning technologies are described. Then, according to the actual requirements, the overall scheme of UWB positioning system is designed, and the key devices are selected according to the requirements of the scheme. Based on the discussion and comparison of traditional localization methods and localization algorithms such as UWB TOA/TDOA and Taylor series expansion, a high precision Fang- Taylor series joint localization algorithm is adopted. For the proposed ultra-wideband system, this paper designs hardware modules such as location label, Bluetooth transmission and battery power supply. The positioning label includes anchor node and tag node, which is mainly composed of DW1000 ultra-wideband transceiver chip. Ultra-low power microprocessor and other peripheral circuits. The real-time and fast processing of UWB data is realized by embedding 渭 C / OS- 鈪，
本文编号：2253242
[Abstract]:With the rapid development of wireless communication technology, wireless location has become the main way to obtain location information in indoor environment. Ultra-wideband (UWB) positioning has the advantages of low power consumption, high signal rate, large channel capacity, strong signal penetration and high precision, and has become a promising technology in wireless positioning technology. Therefore, the research of UWB positioning system has important practical value. In this paper, the principle and characteristics of wireless positioning technology are studied, and the indoor wireless positioning system based on UWB technology is designed and implemented. In this paper, the principle, merits and demerits of UWB and other wireless positioning technologies are described. Then, according to the actual requirements, the overall scheme of UWB positioning system is designed, and the key devices are selected according to the requirements of the scheme. Based on the discussion and comparison of traditional localization methods and localization algorithms such as UWB TOA/TDOA and Taylor series expansion, a high precision Fang- Taylor series joint localization algorithm is adopted. For the proposed ultra-wideband system, this paper designs hardware modules such as location label, Bluetooth transmission and battery power supply. The positioning label includes anchor node and tag node, which is mainly composed of DW1000 ultra-wideband transceiver chip. Ultra-low power microprocessor and other peripheral circuits. The real-time and fast processing of UWB data is realized by embedding 渭 C / OS- 鈪，
本文编号：2253242
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