Research And Application Of Indoor Service Robot Location Technology Based On The UWB

With the rapid development of wireless communication technology,Wireless localization has become the main way of location information acquisition in the indoor environment.The ultra-wideband localization has advantages of low transmit signal power,high signal rate,large channel capacity,strong signal penetrability,high accuracy and so on.Due to its development potential in the field of wireless localization,the study of ultra-wideband localization has great practical value.This paper studies the principle and characteristics of wireless localization technology.Besides,it also designs and implements the indoor wireless localization system based on the ultra-wideband technology.Firstly,we compare the principles and merits of ultra-wideband localization with other indoor localization technologies.Besides,we design the whole scheme and accomplish the device type selection according to the practical requirements.Based on the comparison of TOA/TDOA,Taylor series expansion and other traditional localization algorithms,this paper finally adopts high-accuracy Fang-Taylor series expansion localization algorithm.In view of the proposed system scheme,this paper designs the localization marker,bluetooth transmission and battery power module.The localization marker includes anchor nodes and marker nodes.It is composed of DW1000 ultra-wideband transceiver chip,ultra-low power microprocessor and other peripheral circuits.Through theμC/OS-Ⅱ operating system embedded in the hardware processor,ultra-wideband data can be processed in real time.Meanwhile,we design the communication protocol between the upper and lower machine and processing and display software of the upper machine.As the system is working,the marker nodes receive the data from the anchor nodes and read the timestamp signal and unique ID.After that,the microprocessor packages these data and send it to the upper machine.Finally,the upper machine processes these data by the location estimation algorithm to get the corresponding coordinates and displays the node coordinates on the display interface in real time.This paper completes the overall test of ultra-wideband localization system in the laboratory environment.The experimental results show that the proposed system in this paper can achieve accurate localization both to static and mobile nodes.Localization accuracy and stability both reach the expected goal,which satisfies the requirements of practical application.