摘要
为满足自动导引车在复杂室内环境的导引和定位需求,设计一种融合无线节点定位、惯性导航、视觉导引的室内导引和定位系统。系统以XC7Z020为核心进行设计;无线节点定位模块采用基于CC2520的Zigbee低功耗通信及信号强度指示定位技术,实时匹配指纹库的信号强度进行定位;惯性导航模块基于低成本MIMU芯片MPU-9150,连续采集陀螺和加速度计数据进行实时导航解算;视觉导引模块基于CMOS传感器OV7725,通过图像处理得到车道线与AGV的相对位置和姿态。设计组合导航算法,通过室内动态实验验证了系统功能和精度,满足AGV室内导引和定位需求。
To meet the guidance and positioning requirements of the automated guided vehicle in a complex indoor environment, an indoor guidance and positioning system that integrated wireless node positioning, inertial navigation, and visual guidance was designed. The system was designed with XC7Z020 as its core. The wireless node positioning module used the Zigbee low-power communication and signal strength indication positioning technology based on CC2520 to match the signal strength of the fingerprint database in real time for positioning. The inertial navigation module was based on the low-cost MIMU chip MPU-9150, which continuously collected gyro and accelerometer data for real-time navigation solution. The vision guidance module was based on the CMOS sensor OV7725, and obtained the relative position and attitude of the lane mark and the AGV through image processing. An integrated navigation algorithm was designed. System function and accuracy were verified by an indoor dynamic test, which shows that this system meets the indoor guidance and positioning requirements of AGV.
作者
吴平
刘刚军
牛志朝
赵炳英
刘秀娟
WU Ping;LIU Gang-jun;NIU Zhi-chao;ZHAO Bing-ying;LIU Xiu-juan(Beijing Aerospace Automatic Control Institute,China Academy of Launch Vehicle Technology,Beijing 100854,China;National Key Laboratory of Science and Technology on Aerospace Intelligent Control,Beijing 100854,China)
出处
《计算机工程与设计》
北大核心
2019年第6期1782-1787,共6页
Computer Engineering and Design
关键词
自动导引车
无线节点定位
捷联惯性导航
视觉导引
嵌入式系统
automated guided vehicle
wireless node positioning
strapdown inertial navigation
vision guiding
embedded system
