Based On Beidou Satellite Navigation System Of Mobile Robot Localization Technology And Application

Mobile robot is the most important member of large robot family.The accurate positioning is the core technology and the key to achieving its mission. It has long been a research focus, and made great achievements in the theory and practice. The current global satellite navigation system (GPS) navigation technology is the most common method applied to achieve autonomous navigation on a mobile robot. Beidou satellite navigation system(BDS) has been put into use and there is increasing demand for practical applications. But research on BDS is not deep enough. This paper develops positioning technology of patrolling mobile robot based on BDS. BDS is designed for mobile robot based positioning system and PC monitoring software for mobile robots is designed. Performance of positioning tests are conducted on the basis of BDS and GPS.This paper studies the composition of BDS, signal structure, navigation data, and theoretically satellite positioning principle. The analysis of precision is carried out. Three major sources of error mainly affecting the positioning accuracy are analyzed. The mobile robot coordinate transformation, establishment methods and the required NMAE protocol are also introduced.In this paper, the design of the BDS mobile robot positioning system includes hardware and software. Hardware highlighting the patrol robot in order to achieve positioning module,includes wireless audio module, GPS module, digital transmission module, microprocessor modules and other functional modules. The overall design of the software system is according to the structure of the software system and is divided into three parts: BDS positioning subsystem, sensor subsystem and PC monitoring software (main function is to achieve electronic map).BDS orientation program is designed to successfully obtain real-time mobile robot longlitude, latitude of space, time, altitude, speed robotics and satellite distribution, and so forth. The key realization method of the serial communicationand map created is analyzed, to achieve a friendly interaction/Wireless digital transmission is used to realize the communication of the mobile robot PC monitoring software, and thus control the mobile robot. Through the wireless digital transmission protocol and the host computer electronic map navigation software for data communications, the information is constantly displayed on the map. Based on the system, BDS static positioning and dynamic positioning are analyzed.The actual accuracy of BDS-based mobile robot localization is obtained.Based on the mobile robot, the positioning systems of GPS and BDS are compared from the distribution of the number of visible satellites, satellite space, the accuracy factor, static positioning accuracy and precision, speed static, dynamic positioning, and then the advantages and disadvantages of BDS are reached.The work of this paper improves automation level of this wheeled mobile robot, as well as providing a good platform for follow-up research.