The Mobile Robot Position Technology Research Based On GPS/GIS/GSM

Nowadays, navigation technology is not only the key technique of mobile robots, but also the emphasis in research and investigation. In order to realize the navigation of mobile robots, one of the key techniques is the position of mobile robot.Only confirming the positions and orientions of mobile robots in a certain time, we will be able to control their next actions according to a series of definite requirements. Generally, Global Positioning System (GPS) is the traditional method for the position. However, the mobile robots' longitude and latitude can be obtained only by use of GPS receiver. The data are not exact so that this way lacks real meaniment. Because this thesis'research has been supported by the National Project 863 "The research on mobile manipulator system for the leak examination and repairment of the dangerous chemical receptor. "(Program No.: 2003AA421040), the positioning technology has been further studyed. Then, the positioning project of mobile robots, which based on GPS/GIS/GSM system, has been issued. This new idea introduced electronic map for matching map besides positioning by adopting GPS receptors. Also, it is able to use wireless communication system to receive and control the information.The main work and innovation are as follows:1. Introduce the fundamental theories of GPS system, which includes the structure of GPS system, positioning principles, positioning errors and coordinate transform, as well as introduce correlative theories about difference positioning system. According to the comprehensive analysis of GPS system, the method for reducing GPS positioning errors is found. Consequently, the mobile robot positioning method, based on GPS/GIS/GSM system, is established.2. Introduce some key technique about picking up and transmiting GPS information, analysis data format of GPS receptor, and use VC++ to compile the language of serial communication and data pick-up. This language uses the wireless mobile communication system as transitional intermidium to identify, pick up and receive GPS information.3. Use MAPINFO software to protract electronic map, establish the elementary GISsystem, and compose the system software with nicer individual-and-computer alternation interface. This software adopts more advanced solution to match maps; therefore, the robot's exact position with latitude and longitude will be showed on that electronic map in time.