基于信息融合的火工品运输自动导引车导航方法研究
发布时间：2019-06-19 04:36
【摘要】：火工行业是一项高危险性行业,要保证生产过程的安全,必须实现生产过程的自动化,达到少人化甚至无人化。为了实现此目的,使用自动导引车运输,它不仅能够提高安全性,而且能够提高工作效率和降低生产成本。为了实现炸药厂物料安全运输,设计了火工品运输AGV。同时,根据AGV导航实际的应用需要,选择激光导航和红外导航。然而激光导航精度高、成本高,而红外导航精度低、成本低,为了得到精度高成本又低的导航方式,选择激光和红外组合导航方式。实现组合导航需要数据融合技术,同时,组合导航数据是非线性的,故而选择E-Kalman滤波器算法实现信息融合。本文具体研究方法是通过查阅大量文献和专利等技术材料、考察学习国内外企业的技术和现状,结合本研究实际应用要求,选择具体导航方法,并不断加以改进。AGV平台确立后,导航试验,激光单独导航横向均值误差为0.1367m,竖向均值误差0.1835m,红外单独导航横向均值误差为0.1873m,竖向均值误差0.2690m,EKF数据融合的组合导航横向均值误差为0.0861m,竖向均值误差0.1200m,比较误差值,EKF数据融合的组合导航误差最小。由以上结果可以得出结论:EKF数据融合的组合导航在火工品运输中导航误差小,精度高。因此,EKF数据融合的组合导航是一种低成本提高导航精度的有效方法。
[Abstract]:Fire industry is a high risk industry. In order to ensure the safety of the production process, it is necessary to realize the automation of the production process and achieve the goal of less personalization or even unhumanization. In order to achieve this purpose, automatic guided vehicle transportation can not only improve the safety, but also improve the work efficiency and reduce the production cost. In order to realize the safe transportation of materials in explosive factory, AGV. for the transportation of explosive products is designed. At the same time, according to the practical application needs of AGV navigation, laser navigation and infrared navigation are selected. However, the laser navigation accuracy is high and the cost is high, while the infrared navigation accuracy is low and the cost is low. In order to obtain the high precision and low cost navigation mode, the laser and infrared integrated navigation mode is selected. Data fusion technology is needed to realize integrated navigation. At the same time, integrated navigation data is nonlinear, so E-Kalman filter algorithm is selected to realize information fusion. The specific research method of this paper is to investigate and study the technology and present situation of domestic and foreign enterprises by consulting a large number of literature and patent and other technical materials. Combined with the practical application requirements of this study, the specific navigation methods are selected and constantly improved. After the establishment of AGV platform, the transverse mean error of laser navigation alone is 0.1367m, the vertical mean error is 0.1835m, and the transverse mean error of infrared navigation alone is 0.1873m. The vertical mean error is 0.2690m, the transverse mean error of EKF data fusion is 0.0861m, the vertical mean error is 0.1200m, and the integrated navigation error of EKF data fusion is the smallest. From the above results, it can be concluded that the integrated navigation of EKF data fusion has small navigation error and high accuracy in gunwork transportation. Therefore, EKF data fusion integrated navigation is an effective method to improve navigation accuracy at low cost.
【学位授予单位】：新疆农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP23
[Abstract]:Fire industry is a high risk industry. In order to ensure the safety of the production process, it is necessary to realize the automation of the production process and achieve the goal of less personalization or even unhumanization. In order to achieve this purpose, automatic guided vehicle transportation can not only improve the safety, but also improve the work efficiency and reduce the production cost. In order to realize the safe transportation of materials in explosive factory, AGV. for the transportation of explosive products is designed. At the same time, according to the practical application needs of AGV navigation, laser navigation and infrared navigation are selected. However, the laser navigation accuracy is high and the cost is high, while the infrared navigation accuracy is low and the cost is low. In order to obtain the high precision and low cost navigation mode, the laser and infrared integrated navigation mode is selected. Data fusion technology is needed to realize integrated navigation. At the same time, integrated navigation data is nonlinear, so E-Kalman filter algorithm is selected to realize information fusion. The specific research method of this paper is to investigate and study the technology and present situation of domestic and foreign enterprises by consulting a large number of literature and patent and other technical materials. Combined with the practical application requirements of this study, the specific navigation methods are selected and constantly improved. After the establishment of AGV platform, the transverse mean error of laser navigation alone is 0.1367m, the vertical mean error is 0.1835m, and the transverse mean error of infrared navigation alone is 0.1873m. The vertical mean error is 0.2690m, the transverse mean error of EKF data fusion is 0.0861m, the vertical mean error is 0.1200m, and the integrated navigation error of EKF data fusion is the smallest. From the above results, it can be concluded that the integrated navigation of EKF data fusion has small navigation error and high accuracy in gunwork transportation. Therefore, EKF data fusion integrated navigation is an effective method to improve navigation accuracy at low cost.
【学位授予单位】：新疆农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP23
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