【作者】 王洪涛；

【导师】 莫宏伟；

【作者基本信息】 哈尔滨工程大学 ， 模式识别与智能系统， 2014， 硕士

【摘要】 移动机器人是机器人大家族中最重要的成员。准确定位是其核心技术,是实现其任务的关键,长期以来是研究的热点,并在理论和实际应用中取得了丰硕的研究成果。目前全球卫星导航系统(GPS)是应用在移动机器人上实现自主导航最常用的方法。我国的北斗卫星导航系统(BDS)正式已经投入使用,实际应用需求不断增加,但研究还不够深入。本课题使用实验室自主研发的智能巡逻机器人研究移动机器人的定位技术。设计了基于BDS的移动机器人定位系统和上位机移动机器人监控软件,在此基础上进行了定位性能测试。本文研究了 BDS的组成、信号结构、导航电文,从理论上推导了卫星定位原理,进行了精度分析。从误差的来源入手分析影响定位精度的三大主要原因。还介绍了移动机器人坐标转化、建立方法以及本课题所使用的NMAE协议语句。本文完成了基于BDS移动机器人定位系统总体设计,分别从硬件和软件两方面进行设计。硬件方面,着重介绍了为了实现巡逻机器人定位的模块,包括无线影音模块、卫星导航模块、数字传输模块、微处理器模块以及其他功能模块。软件方面,设计软件体系的总体设计,把软件系统按照结构划分为三大部分:BDS定位子系统、传感器子系统和上位机监控软件(主要功能是实现电子地图)。设计了 BDS定位程序,包括定位接收算法模块和定位信息解析模块,成功获得了移动机器人实时的经度、纬度、时间、海拔高度、机器人速度以及卫星的空间分布情况等等信息。分析了串口通讯和地图创建的关键实现方法,实现了友好的人机交互。采用无线数字传输的方式实现移动机器人的上位机监控软件通讯,并以此控制移动机器人。通过设计的无线数字传输协议与上位机电子地图定位软件进行数据通讯,实现了地图上的时时显示。在此基础上进行了 BDS静态定位与动态定位分析,得出基于BDS移动机器人定位系统的实际精度。最后,基于移动机器人定位系统进行了 BDS与GPS对比研究。从可视卫星数、卫星空间分布情况、精度因子、静态定位准确性和精密性、静态测速、动态定位等六方面进行BDS与GPS的对比,得出了 BDS优点与不足。分析了造成BDS与GPS定位差异的主要原因。本文所做工作提高了该轮式机器人的自动化水平,为后续的研究打下了良好的软硬件基础。更多还原

【Abstract】 Mobile robot is the most important member of large robot family.The accurate positioning is the core technology and the key to achieving its mission. It has long been a research focus, and made great achievements in the theory and practice. The current global satellite navigation system (GPS) navigation technology is the most common method applied to achieve autonomous navigation on a mobile robot. Beidou satellite navigation system(BDS) has been put into use and there is increasing demand for practical applications. But research on BDS is not deep enough. This paper develops positioning technology of patrolling mobile robot based on BDS. BDS is designed for mobile robot based positioning system and PC monitoring software for mobile robots is designed. Performance of positioning tests are conducted on the basis of BDS and GPS.This paper studies the composition of BDS, signal structure, navigation data, and theoretically satellite positioning principle. The analysis of precision is carried out. Three major sources of error mainly affecting the positioning accuracy are analyzed. The mobile robot coordinate transformation, establishment methods and the required NMAE protocol are also introduced.In this paper, the design of the BDS mobile robot positioning system includes hardware and software. Hardware highlighting the patrol robot in order to achieve positioning module,includes wireless audio module, GPS module, digital transmission module, microprocessor modules and other functional modules. The overall design of the software system is according to the structure of the software system and is divided into three parts: BDS positioning subsystem, sensor subsystem and PC monitoring software (main function is to achieve electronic map).BDS orientation program is designed to successfully obtain real-time mobile robot longlitude, latitude of space, time, altitude, speed robotics and satellite distribution, and so forth. The key realization method of the serial communicationand map created is analyzed, to achieve a friendly interaction/Wireless digital transmission is used to realize the communication of the mobile robot PC monitoring software, and thus control the mobile robot. Through the wireless digital transmission protocol and the host computer electronic map navigation software for data communications, the information is constantly displayed on the map. Based on the system, BDS static positioning and dynamic positioning are analyzed.The actual accuracy of BDS-based mobile robot localization is obtained.Based on the mobile robot, the positioning systems of GPS and BDS are compared from the distribution of the number of visible satellites, satellite space, the accuracy factor, static positioning accuracy and precision, speed static, dynamic positioning, and then the advantages and disadvantages of BDS are reached.The work of this paper improves automation level of this wheeled mobile robot, as well as providing a good platform for follow-up research.更多还原