The Research On Integrated UWB/INS Navigation

With the development of automatic control technology,automatic guided vehicle(AGV)have been widely used in industries,logistics and other fields.Positioning technology is one of the key technologies in automatically guiding vehicle navigation systems.Wireless positioning technology is now very popular indoor positioning technology.Ultra-wideband positioning as a wireless positioning technology has the advantages of low power consumption,less interference,and high positioning accuracy.However,it has obvious errors in non-line-of-sight(NLOS)states,and it is difficult to directly apply to indoor applications.This paper proposes a integrated positioning algorithm based on UWB and inertial navigation,applying the federated Kalman filter algorithm for data fusion.The specific research content is as follows:(1)The UWB positioning algorithm is studied,and the non-synchronous two-way ranging(TWR)method is proposed.The three-side positioning algorithm and trilateral centroid positioning algorithm in wireless positioning are compared,and the factors influencing the UWB positioning accuracy are analyzed.(2)According to the actual conditions of the automatic guidance vehicle,the strapdown inertial navigation system is selected,the attitude matrix is solved by the quaternion method,the positioning coordinates are obtained,the influencing factors of the error source are analyzed,and an error analysis model is established.(3)The integrated location algorithm is analyzed,the federated Kalman filter based on distributed filter is studied,and the federated Kalman filter algorithm is proposed which combines UWB positioning and inertial navigation integrated positioning.(4)The vehicle-mounted control panel for automatic guided vehicles was developed,including the development of embedded hardware and software,experimental platform and experimental environment were created,and ultra-wideband positioning and inertial navigation and positioning data were obtained.The effectiveness of the positioning algorithm was verified through three positioning methods.The experimental results show that the integrated positioning algorithm proposed in this paper is better than the ultra-wideband positioning or the positioning of inertial navigation alone,and overcomes the disadvantages of large NLOS state error and large accumulated inertial navigation error..For the navigation system used in automatic guided vehicles,there is a certain reference significance.