【摘要】 作为一种全新的定位技术,RSSI(Receive Signal Strength Indicator)被广泛应用在WLAN(Wireless Local AreaNetwork)中的室内移动机器人定位领域。为采用几何法进行室内移动机器人定位,提出基于RSSI的测距方法。分析无线信号传播的特点和RSSI测距的原理,建立无线信号传播损耗模型。采用带有无线网卡的笔记本和LINKSYS路由器构建测距实验系统,其中路由器作为基站固定于一点,无线网卡作为移动节点时刻发送信号,通过实验得到距离d与RSSI值的关系曲线,利用无线信号传播损耗模型中的参考点信号强度和比例因子进行标定,并分析测距精度。结果表明,影响测距精度的因素主要包括障碍物和空间大小等。根据确定的无线信号传播损耗模型进行测距实验,实验结果表明:在3 m范围内测距最大误差为0.79 m,能够较好地满足室内移动机器人定位的需要。更多还原

【Abstract】 As a new positioning technology,RSSI(receive signal strength indicator) is widely used in WLAN(wireless local area network) in the filed of indoor mobile robot localization.In order to use geometric method for indoor mobile robot localization,the ranging method based on RSSI was proposed.The characteristics of wireless signal propagation and the principle of RSSI ranging were analyzed.The wireless signal propagation loss model was established.The experiment system was established using notebook computer with a wireless card and the LINKSYS router.The LINKSYS router was fixed at one point as base station,and the wireless card was used to send signal continuously as mobile agents.The relationship curve of distance d and the RSSI value was obtained through the experiment,and calibration was completed by using the signal strength of reference point and scale factor in the wireless signal propagation loss model and ranging precision was analyzed.The results show that the main influence factors are composed of obstacles and space size.The ranging experiment was done according to the established wireless signal propagation loss model.The test results show that the maximum deviation is 0.79 m in the 3 m range,which can meet the requirements of positioning precision of indoor mobile robot.更多还原