Research On Indoor AGV Integrated Positioning System

With the development of logistics automation, AGV is widely used in factories and other indoor areas. The first problem that needs to be solved is location in increasing AGV intelligent degree. At present, although the application of GPS is very mature, it can't be applied in indoor positioning due to the microwave signal is easily to be blocked. So it is very necessary to study the localization method of indoor AGV.Through studying the current common indoor positioning technology and comparing advantages and disadvantages of various locating technology, the fusion of dead reckoning and ultrasonic positioning method is put forward. The main contents are as follows :By studying two common ultrasonic location methods, an improved method is proposed. The traditional method can't locate the AGV with fast moving speed. By controlling the transmission interval at the ultrasonic transmitter-side, the passive location method is improved. The simulation results show that the method can enhance the real-time performance of the system to a certain extent.In order to solve the problem that the ultrasonic signal is easily blocked which results in location failure. First of all, establish the kinematic model of AGV and regard the results of the dead reckoning as the predicted value. Secondly, the observation model is established by using the results of electronic compass and ultrasonic positioning. Finally, the extended kalman filter is used to fuse the two kinds of positioning methods, and the results are verified by simulation.The structure of indoor positioning system is designed and the experimental environment is built up. Firstly, the ultrasonic sensor is calibrated, and the ultrasonic positioning result of the stationary AGV is also measured; Secondly, the dynamic AGV positioning experiment is progressed and the effectiveness of the method is verified by comparing with previous positioning results; Finally, the extended kalman filter is used to fuse the two methods in the situation that ultrasonic signals are obscured.