| AGV is the key equipment of modern logistics system, its design and development forimproving the degree of automation of production and productivity is of great significance. Atpresent, AGV has become one of the hot logistics automation in manufacturing, ports, docks andother areas of universal application, AGV was equipped with automatic navigation system thatcan protect the system without human guidance in the case we can along the predeterminedtravel route automatically, starting from the goods or materials delivered to the destination. AGVflexible, high level of automation and intelligence, according to cargo storage requirements, andflexible production process changes and other changes, and changes in the cost of running thepath of the conveyor belt with the traditional and rigid compared to the transmission line is verylow.AGV navigation technology is the core technology of AGV control, which determines theAGV’s guide way. In vehicle navigation technology, GPS/DR integrated navigation is an idealway to navigate. Land-based outdoor AGV navigation requirements, this design GPS/DRintegrated navigation system, in order to achieve AGV long distance in a particular environment,a wide range of outdoor navigation. As the AGV navigation and positioning accuracy is critical,we need a positioning accuracy of GPS signals, and a reliable DR system, and the use correctand effective filtering method for the integration of high-precision, real-time location data tomeet the high demands of AGV navigation. Kalman filtering algorithm is the most widely usedare more mature fusion filtering algorithm, GPS/DR combination, GPS and DR with each otherto make up for lack of each other, and play another advantage, system reliability and stability areimproved. GPS/DR integrated navigation used in AGV, will break the traditional way of AGVAGV guide the application of restrictions to further expand the AGV applications.In this paper, multi-sensor data fusion technology as the foundation, focused on the Kalmanfilter algorithm, the GPS/DR integrated positioning technology applied to the AGV guidancesystem. This paper analyzes the composition of the GPS positioning error sources and the basicprinciples and the composition and positioning principles DR. This paper outlines the systemdesign, system components of the composition and functions, navigation systems in detail theapplication of key technologies, including GPS dynamic filtering technology, and by thetechnology arise out of the GPS/DR integrated dynamic financial filtering technology. This studydifficulty is related to the Kalman filter algorithm is applied to technology among the paperdiscusses the mathematical model of the system are discrete-time nonlinear systems, the Kalmanfilter algorithm to be applied to the corresponding linear mathematical model, the paperillustrates linear mathematical model of the system-oriented approach. This article focuses on thenavigation system software design, and navigation system performance tuning. Experimental subjects do a lot of practice to get the optimal control parameters, the paper shows the processstep by step experiment to get the quality control parameters, the appropriate control parametersso that the navigation system has a better navigation performance.This paper innovatively use the concept of deviation and smooth region to analyze thesmoothness of positioning data, the method can be used to do analysis of quantitativecalculations for the smoothness of the positioning data, effectively assess the smoothness ofpositioning data, it is helpful to analyze the data to obtain a correct conclusion. |
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