【作者】 蔡博；

【导师】 黄海凤；

【作者基本信息】 西南交通大学 ， 机械工程， 2018， 硕士

【摘要】 近年来,随着生产过程中的物流自动化、物流智能化程度的提高及AGV(Automated Guided Vehicle,AGV)在柔性制造中表现出来的独特优势,AGV市场需求持续高速增长,拥有巨大的应用与发展前景。定位是AGV完成导航任务必须首要解决的问题,是提高AGV智能化水平的关键。而UWB具有发射功率低、抗多晶效果好、穿透力强、精度高等特点,成为当前无线定位技术研究的热点,有着重大的研究价值与广阔的应用前景。本文在此背景下,对基于UWB(Ultra Wide Band,UWB)的AGV室内定位系统进行了深入研究,论文主要工作如下:1.对当前AGV的发展现状、无线定位技术的实现方式进行了整理与综述,选择了基于UWB技术的定位方式,叙述了UWB的技术原理、特点;简单介绍了在定位技术中常用的TOA、TDOA、AOA及RSSI等方式的原理及特点。针对基于UWB的定位技术,详细描述了其基于TOA的测距原理,对测距误差因素进行了分析,并归纳了无线定位性能评价指标。2.针对UWB测距定位过程中的NLOS(None-Line of Sight,NLOS)误差、多径干扰及欠观测条件下由未知环境、测量设备等因素引起的量测系统误差带来较大误差的问题,提出运用增量卡尔曼滤波算法对所获得的距离值进行滤波;对比经典Chan与Taylor定位解算法,采用更合适的Chan算法对包含距离值的非线性方程解算获得标签位置坐标,与小波去噪、卡尔曼滤波等算法相比较,本文算法有良好的定位仿真效果。3.基于DWM1000模块支持USB虚拟串口,采用串口通信,分析了基于MATLAB串口通信的基本原理,利用serial类及相关函数设计并编写了基于MATLAB串口通信的上位机程序,设计并实现了上位机所需要的串口距离数据解析、数学计算及可视化显示等功能模块。4.在室内定位现场测试试验之前,对试验环境中存在的测距误差进行了拟合修正,然后基于AGV对象分别进行了静态、动态定位测试,分析了其中的误差来源,测试结果表明了良好的定位效果。更多还原

【Abstract】 In recent years,with the automation of logistics in manufacturing process,the improvement of intelligent logistics and the unique advantages of AGV showed in flexible manufacturing,the market demand of AGV has continued to grow at a high speed,which leads to a great prospect of its application and development.The most important problem for AGV to complete the navigation task which must be solved firstly is positioning,it is also the key to improve the intelligent level of AGV.However,UWB has gradually been in a research hotspot in wireless positioning technology,as a result of its low transmitting power,good anti-multipath effect,strong penetration,high precision and so on,which is of great research value and broad application prospect.Under the background,indoor positioning system based on UWB is deeply studied in this paper,the main works of this paper are as follows:1.Current development situation of AGV and ways to realize wireless positioning are analyzed and summarized,then UWB is chosen and applied for location,the principle and its characteristics of UWB technology is described respectively;and the paper gives a brief introduction to the principles and characteristics of TOA,TDOA,AOA,RSSI commonly used in the location technologies.The principle of ranging based on TOA is presented in detail,gives an analysis to the error factors of ranging,and the wireless positioning performance evaluation indexes are summarized.2.In order to solve the problem of big errors caused by the NLOS,multipath interference and system errors of measurement under poor observation conditions in indoor environment,an improved incremental Kalman algorithm is presented to filter the obtained distance;Compared with the classical localization algorithms of Chan and Taylor,Chan algorithm is more suitable to be applied to solve the nonlinear equation including the distance value in order to gain the label position coordinates,Simulation shows,the positioning algorithm has a better positioning effect in contrast to the Wavelet denoising and Kalman filter.3.Serial communication was adopted on account of the USB virtual serial port supported by DWM1000 module,the principle of the MATLAB serial communication is analyzed firstly,and then the host computer program required by AGV positioning system is designed and programmed making use of serial and correlation functions in MATLAB,as a result,realizing the function modules of serial distance data resolved,mathematical calculation,visual display and so on.4.The ranging error existed in test environment is modified and corrected by fitting before the indoor positioning test,then the static and dynamic positioning test of AGV is carried out,and the source of test error is analyzed,test results show the good location effect.更多还原