Research On Location Of Automatic Guidance Vehicle Based On Integrated Navigation

One of the core technologies of AGV is guidance and location technology.As an navigation system,the Gyro-Free Stapdown Inertial Navigation System(GFSINS)is widely used in various fields.It has the advantages of strong anti-interference,good continuity and high concealment,but GFSINS has an inherent defect.That is,the location error will accumulate with the extension of time,resulting in low location accuracy for a long period of time.Combined with the AGV indoor working environment,this thesis designed a Radio Frequency Identification(RFID)as an assisted navigation technology,with GFSINS constitute a integrated navigation system,GFSINS make up for the intermittent discontinuity of RFID positioning,RFID to make up for the cumulative error of the GFSINS error.Therefore,the integrated navigation system not only improves the positioning accuracy,but also improves the reliability,stability,and safety of the system.Firstly,this thesis studies the GFSINS system,It is based on the expression of acceleration output at any point in the vehicle.The formulas of angular velocity and linear velocity of GFSINS motion in three-dimensional space are obtained.A six accelerometer configuration of GFSINS is designed,the plan of the configuration is designed simply,the accelerometers are easy to be installed and low-cost.Aiming at the RFID location system,the reader is installed on the vehicle and the reference label is buried.Lastly,using the database-based K-nearest neighbors algorithm to locate,which is one of the algorithms in scenario analysis.Secondly,the integrated navigation system is based on data fusion technology.At present,the most widely used and mature fusion filtering algorithm is Kalman filter algorithm.So the core device of the work of integrated navigation system is the Kalman filter.The difficulty of this thesis is how to use Kalman filter algorithm to integrate the location parameters obtained by these two independent location systems.In this thesis,the loosely combined location method is adopted,by analyzing and discussing the error types of GFSINS and RFID,the system state equation and measurement equation of Kalman filter are established,and the optimal estimation is made by using Kalman indirect filtering method.The output of GFSINS system is corrected by the optimal estimation value.Finally,the simulation and analysis of GFSINS/RFID integrated navigation system are carried out.The simulation results show that the integrated navigation system can effectively improve the error accumulation in GFSINS,and the location accuracy of the whole system has been greatly improved.It lays a foundation for the engineering application of the system.