Research On The Key Techniques Of Indoor Navigation System Based On WMPS

At present,the mainstream indoor navigation technology including inertial navigation technology,visual navigation technology and radio navigation technology cannot satisfy the needs of high precision computing applications.The demand of the indoor navigation application can be summarized as high precision,flexibility and parallel measurement.Therefore,it's urgent to find a new method to solve this problem.wMPS-short for workshop Measuring and Positioning System,which is developed by the research team of the State Key Laboratory of Precision Measuring Technology and Instruments.wMPS is a newly developed system based on photoelectric scanning and angle intersection,which has been applied in high-end equipment manufacturing.Compared with other coordinate measurement system,wMPS have some advantages such as high accuracy,high efficiency,large range,parallel measurement,etc.Therefore,wMPS becomes a new and effective way to solve the dilemmas arising in the field of indoor navigation.In this paper,from the aspects including basic coordinate measurement theories of wMPS and omnidirectional receiver,position and attitude solution algorithm,we carry out in-depth research about the key issue.The main research work of this paper are summarized as follows:1.Analyzing the research status of indoor navigation technology.Combined with the advantages of wMPS in indoor positioning measurement,an indoor navigation system based on wMPS is designed to achieve high precision,flexibility and parallel measurement.2.Analyzing the photoelectric scanning principle and the mathematical model of wMPS.For the angle intersection measurement,taking an in-depth study on the methods to calibrate the laser plane parameters and global orientation parameters.3.A new type of omnidirectional receiver is designed to meet the demand of indoor navigation system.An optical path based on hyperboloid reflector and some corresponding processing circuits are designed for the omnidirectional receiver.4.Based on the mathematical model of wMPS,comprehensive researches about position and attitude solution method have been studied.Taking an in-depth discussion on the detailed solving process by using three-point method and least square method.At last,aiming at a typical situation that only two dimensional position and attitude measurement is needed,this paper also study about the corresponding calculation method.At last,considering the dynamic measurement while navigation,this paper analyze the error caused by the motion of the receiver.5.Conducting a series of experiments on the working performance of omnidirectional receiver and calculation method of three dimensional position and attitude measurement.Finally,based on AGV,an experiment to verify the feasibility and practicability of two dimensional indoor navigation system has been made.