Research On AGV Of High Accuracy Indoor Positioning System Based On UWB

In recent years,with the automation of logistics in manufacturing process,the improvement of intelligent logistics and the unique advantages of AGV showed in flexible manufacturing,the market demand of AGV has continued to grow at a high speed,which leads to a great prospect of its application and development.The most important problem for AGV to complete the navigation task which must be solved firstly is positioning,it is also the key to improve the intelligent level of AGV.However,UWB has gradually been in a research hotspot in wireless positioning technology,as a result of its low transmitting power,good anti-multipath effect,strong penetration,high precision and so on,which is of great research value and broad application prospect.Under the background,indoor positioning system based on UWB is deeply studied in this paper,the main works of this paper are as follows:1.Current development situation of AGV and ways to realize wireless positioning are analyzed and summarized,then UWB is chosen and applied for location,the principle and its characteristics of UWB technology is described respectively;and the paper gives a brief introduction to the principles and characteristics of TOA,TDOA,AOA,RSSI commonly used in the location technologies.The principle of ranging based on TOA is presented in detail,gives an analysis to the error factors of ranging,and the wireless positioning performance evaluation indexes are summarized.2.In order to solve the problem of big errors caused by the NLOS,multipath interference and system errors of measurement under poor observation conditions in indoor environment,an improved incremental Kalman algorithm is presented to filter the obtained distance;Compared with the classical localization algorithms of Chan and Taylor,Chan algorithm is more suitable to be applied to solve the nonlinear equation including the distance value in order to gain the label position coordinates,Simulation shows,the positioning algorithm has a better positioning effect in contrast to the Wavelet denoising and Kalman filter.3.Serial communication was adopted on account of the USB virtual serial port supported by DWM1000 module,the principle of the MATLAB serial communication is analyzed firstly,and then the host computer program required by AGV positioning system is designed and programmed making use of serial and correlation functions in MATLAB,as a result,realizing the function modules of serial distance data resolved,mathematical calculation,visual display and so on.4.The ranging error existed in test environment is modified and corrected by fitting before the indoor positioning test,then the static and dynamic positioning test of AGV is carried out,and the source of test error is analyzed,test results show the good location effect.