Research On The Key Technologies Of Accurate Navigation And Position For Indoor AGVs Based On WMPS

By the rapid development of high-end equipment manufacturing together with warehousing and logistics,automated guided vehicle as a new kind of mobile robot,its technical level and applicatio n scope are constantly expanding and promoting rapidly.However,with their mechanical properties constantly increasing,limited to the inferiorities of single path,low data update rate,lack of precision and poor stability.The existing navigation and position method are hard to satsfy the urgent needs of obtaining the position and orientation information rapardly,accurately and in real time which greatly restricted the control and path planning tasks.The key solutions to make the AGVs become more accurate and intelligent are researching and developing the navigation and position technologies with high perfoemance which have high precision,flexible configuration ability and independent reliab ilit y.In recent years,large-scale 3D coordinate measurement and position technologies become mature and prefect.Some instruments with independent intellectual property rights like workshop Measuring and Positioning System has completed the industrialization and been further applied.In the areas of aviation,aerospace and shipbuilding,wMPS could provides abundant solutions for static and dynamic measuring and positioning tasks with its excel ent performance of 360°spatial detection,high accuracy and muli tasking performance.Thus,positioning and navigating the AGV by w MPS is novel and effective for solving the existing problems.In this paper,from the aspects including basic theories and new strategies,dynamic error modeling and analysis,multi-system support and information fusion,navigation performance validation and assessment,we carry out in-depth research about the position and navigation methods for indoor AGVs.The following contents have been completed:1.Taking an in-depth study on the wMPS measurement principle of spatial information(position?attitude and velocity).Venturing multiple varieties of navigation schemes mainly including “resection” and “two dimensional navigation” methods.Simulation and verification experiment have been done.2.Aiming at the principle errors,comprehensive researches about their formation mechanis m have been studied.By computer simulation,the theoretical dynamic errors resulting from differe nt moving in different status and time-space background have been accurately calculated.Then the rule of volatility and the correlation of the dynamic errors have been found.Based on the analysis results,the errors have been modeled by ARMA and make great contributions to instrument performance optimization,positioning accuracy improvement and combination system design works.3.Aiming at the problems of low data update rate and weak dynamic tracking capability,this paper proposed a novel method combing the observed value of SINS with wMPS for assistant.Based on further studying the sensitive device,measurement model,initial alignment and unifying the coordinate systems,this paper also simulated and verified the position and attitude measureme nt performance of SINS in indoor environment.4.Aiming at how to further improve the navigation and position performance,stability and reliability,this paper proposed a kind of integrated navigation method.Based on the in-depth study and error equations of wMPS and SINS,information fusion model of integrated navigation system under different coupling depth have been proposed.Simulation results showed that the fusion method based on Kalman filter further enances the whole performance of the navigation and position system.5.Aiming at the problem that the existing methods are limited to fixed trajectory,this paper proposed a novel method for evaluating the dynamic coordinate measurement accuracy in arbitrary motion trajectory.Then taking the laboratory environment,aviation intelligent manufacturing as background,the proposed evaluation method has been comprehensively verified.The results show that the strategiewes based on wMPS has the characteristics of strong tracking performance,high precsion and is definitely an ideal solution for modern high-end equipment manufacturing industry.