Research On Combined Positioning And Tracking Technology Of Indoor Service Robot Based On UWB

With the rapid development of the robot industry,mobile robots that provide indoor services are increasingly common in People's Daily life.How to realize autonomous navigation of indoor robots is a challenging research subject.It is one of the most difficult points to realize the positioning and tracking of mobile robots with high accuracy and real-time reliability.Ultra-wideband(UWB)technology,as a kind of high-precision,low-power,wide-band,short-range wireless communication technology,has become a research hotspot of indoor wireless positioning in recent years.but due to the influence of non-line-of-sight(NLOS)transmission and multipath effect,the positioning performance of ultra-wideband technology is unstable.However,the combined positioning and tracking method based on information fusion can be applied to different positioning and tracking techniques to realize complementary advantages,and has the advantages of high positioning accuracy,good system stability and high cost performance.On this premise,in order to improve the accuracy of indoor robot mobile positioning and realize the real-time tracking of its motion trajectory,a combined positioning and tracking system of indoor service robot based on UWB is designed in this thesis.The main contents of the work and the results of the study are as follows:1.The various positioning methods commonly used in UWB positioning are studied.After comparing the advantages and disadvantages of each method,the time difference of arrival(TDOA)positioning method suitable for indoor environment is selected,and the UWB indoor positioning system based on TDOA is established.2.In order to solve the problem of random drift error in the output data of inertial measurement unit(IMU),an AR(1)error compensation model is established to calibrate and simulate the data.The results show that the random drift noise of IMU module is well suppressed.Based on the calibrated IMU data and the robot motion model,the real-time position information of the mobile robot is calculated and the algorithm is optimized.Then the existing tracking algorithms are deeply studied and the superiority of unscented Kalman filter(UKF)algorithm for location and tracking of nonlinear systems is verified by simulation.The combined positioning and trackingalgorithm is designed to integrate data between two kinds of positioning data based on UWB and optimized algorithm for dead reckoning.The actual performance of the algorithm is verified by experiments.3.Finally,an indoor wheeled service robot is designed for the experiment.The detailed selection of sensors and components and the design of hardware circuit are carried out.The real-time positioning and tracking system software of the upper computer is developed,and the software of the real-time positioning and tracking system of the upper computer is developed.The lower computer program of mobile robot control system and the UWB ranging and positioning program are programmed.The combined positioning and tracking system based on UWB is built,and the quantitative positioning and real-time trajectory tracking experiments are carried out in the actual environment.The experimental results show that the positioning error of the combined positioning and tracking method is less than 10 cm.The positioning accuracy is high;The trajectory of the robot is continuous,real-time and stable.