The Design And Research Of AGV Integrated Navigation System Based On MIMU

AGV(Automatic Guided Vehicle)plays an very significant role in the industrial automation process.The research and development of the AGV system aim to improve the degree of automation,production level and work efficiency.And AGV's navigation system is the indispensable part of AGV system.As the "eye" of AGV,AGV navigation system can guided AGV to reach its destination in accordance with the scheduled or automatic planning routes and finish the heavy tasks.Micro inertial navigation system is excellent for application to the AGV's navigation system duo to the advantages of suitable precision,small volume and high reliability,however the inherent cumulative error of inertial navigation system seriously affects the long-term stability of the system.Aiming at this problem,This article designs an AGV integrated navigation system based on MIMU,using the magnetometer and visual QR code to correct its navigation information.At first this article gives the basic working principle of the integrated navigation subsystem and the detailed research of strapdown inertial navigation system,including navigation coordinate system,navigation principle,error equation and Kalman filter.Secondiy it gives the model and compensation of MIMU's system error and random error analysis,Allan variance analysis is used to characterize the random error source analysis of MIMU inertial device,and also carries on the test and analysis using the output data of gyroscope and accelerometer.And then studies the integrated navigation technique based on kalman filtering and nonlinear filtering algorithm based on the classical kalman filtering theory,and the basic principle and algorithm flow of the extended kalman filtering(EKF)algorithm,unscented kalman filtering(UKF)algorithm and particle filtering(PF)algorithm are given.Aiming at the partical filter's inherent drawback,this article designs the improved particle filter,and gives the extended kalman particle filter(EPF)algorithm and unscented kalman particle filter(UPF)algorithm,and gives the integrated simulation and comparison of nonlinear kalman filtering algorithm.Then integrated navigation system model is established and corresponding experiment is simulated,At last,the AGV integrated navigation system platform is the designed and corresponding experiments have been carried out to verify the stability and effectiveness of AGV MIMU integrated navigation system proposed in this paper.