Research On Navigation And Location Technology Of Indoor Mobile Robot Based On UWB

With the rapid development of the Indoor Service Robot Industry,to achieve the autonomy of the robot navigation has become the focus of the research and development institutions.Among them,the indoor high-precision positioning as the core of research and development.Ultra-wideband positioning technology has become a potential technology in indoor positioning technology because of its low power consumption,high multipath resolution,low system complexity,strong penetration,good confidentiality and high positioning accuracy.In the military and civilian areas it has a wide range of applications in the target positioning,tracking of items and emergency scene search and rescue,etc.Using ultra-wideband wireless positioning can achieve a multiplier effect.So it is of great application value to the research of UWB positioning system.Based on the project of indoor service robot,in order to improve the robot's real-time motion control and the accuracy of robot positioning,an ultra-wideband / inertial navigation integrated navigation and positioning system is designed,which greatly improves the positioning accuracy and makes the navigation trajectory Jump and provides real-time navigation information needed by the robot.In order to solve the problem of clock synchronization in UWB system location,this paper adopts the method of bidirectional ranging to get the distance between UWB base station and label,which can improve the precision of system ranging and achieve high precision positioning.In order to increase the reliability of UWB positioning results,the best results are selected according to the size and height of HDOP values.The topology of the base station is selected by the theory of HDOP value.Based on the theoretical analysis of MEMS gyroscope data,the AR(1)model is proposed and the extended Kalman filter is used to process the gyroscope data.The data of the speed encoder and the data of the pretreated gyroscope based on the model Calculate the location information and get navigation,such as heading,speed and other navigation information.Finally,the Kalman filter algorithm is used to fuse the UWB location data and the inertial navigation data to ensure the accuracy and reliability of the system.According to the positioning requirements of the service robot,the overall framework of the whole system is designed.The function of each module is relatively independent,which is beneficial to the realization of the hierarchical debugging.It strictly defines a set of serial protocol to coordinate the acquisition and write data of the host computer.The system is organized.Through the simulation experiment and the prototype test,the validity of the proposed algorithm and the applicability of the integrated navigation and positioning system of the indoor robot are verified.