摘要
为进一步提高UWB技术在室内移动机器人定位方面的定位精度与可靠性,设计了一种基于UWB与里程计融合的定位系统。针对UWB测距过程中产生的随机误差问题,采用卡尔曼滤波算法进行抑制。针对UWB非视距误差问题,引入NLOS误差鉴别方法鉴别现场环境,借助里程计航迹推演算法获得机器人定位数据进行补偿。针对里程计定位过程中由于长时间、长距离所产生的累积误差问题,采用UWB高精度的定位数据进行误差矫正。实验结果表明,融合UWB与里程计的定位系统有效地抑制了UWB定位的随机误差与非视距误差,尤其在UWB信号受到障碍物的严重遮挡时,移动机器人仍能获得精确可靠地定位数据。
In order to improve the positioning accuracy and reliability of UWB technology in indoor mobile robot positioning,a positioning system based on UWB and odometer was designed.Kalman filter algorithm is used to suppress the random error generated in the UWB ranging process.Aiming at the problem of non-line-of-sight error in UWB,the field environment is identified by NLOS error discrimination method,and the UWB location data is compensated by the data obtained by the milometer track deduction algorithm.Aiming at the problem of accumulated errors caused by long time and long distance in the odometer positioning,error correction is carried out through UWB high-precision positioning data.The experimental results show that the positioning system combining UWB and odometer can effectively suppress the random error and non-line-of-sight error of UWB positioning,especially when the UWB signal is seriously blocked by obstacles,the mobile robot can still obtain accurate and reliable positioning data.
作者
徐庆坤
王天皓
宋中越
XU Qing-kun;WANG Tian-hao;SONG Zhong-yue(New Energy Department,Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China)
出处
《机械设计与制造》
北大核心
2021年第8期295-299,304,共6页
Machinery Design & Manufacture
基金
天津市科技计划项目技术创新引导专项科技特派员项目(18JCTPJC53100)
国家级大学生创新创业训练计划项目(201912105005)
天津中德应用技术大学校级科研项目(zdkt2017-017)。
