Design Of AGV Positioning System Based On UWB Technology

AGV is an automatic guided vehicle.It is widely used in automobile manufacturing plants,port terminals,construction sites,logistics sorting centers,etc.due to its flexible movement,high reliability and suitable for complex transportation environments.Due to the transition from traditional industry to modern industry,flexible manufacturing systems and smart logistics have put forward higher requirements for AGV to improve positioning accuracy,transmit real-time and stable positioning information,and quickly adapt to complex and changing environments.UWB also known as ultra wide band,is a wireless sensor positioning technology.With the excellent performance in the indoor positioning competition in recent years,UWB technology has been firmly established with a series of technical characteristics such as high ranging accuracy,good security and confidentiality,high data transmission rate,low latency and high real-time,and low hardware installation cost.Occupy a place in the field of high accuracy positioning.This thesis based on UWB technology uses an improved double-sided two-way ranging algorithm.The experimental data adopts regression equation coefficients,median average filtering,honeycomb style base station layout optimization methods,and transmits the distance data to the built-in algorithm in the host computer for analysis and finally completed the design of real-time and stable AGV positioning system.First,the error analysis of UWB's single-sided two-way ranging and double-sided two-way is performed.Due to the interference caused by the deviation time between the operation of the algorithm and the hardware response,an improved double-sided two-way ranging algorithm is proposed and the regression equation coefficient compensation and median average filtering be used to modify distance measurement data.Then research the internal layout,function modules,power supply requirements and component communication of the hardware part,design the data frame communication process,the measurement ranging of the lower computer and the integration of the data frame package return of the software part,and analyze the data,calculation process and visualization operations of the host computer coded part.Finally,the optimized honeycomb style base station layout is adopted and the hardware layout and moving path of static and dynamic tests are specified,and the positioning results under static and dynamic conditions are analyzed.The following experimental results can be obtained from the analysis of the AGV positioning system based on UWB technology:(1)Differences in altitude,humidity,temperature and other factors under different test scenarios will affect the output of the real value of the ranging result.The regression equation coefficient compensation and median average filtering are used to correct the ranging result.The average ranging error is 4.42 cm.(2)Under static test conditions,the Euclidean distance of the position deviation of the positioning point is 6.06 cm,and the average root mean square error of the positioning result is 5.34 cm.(3)Under the refresh rate of 100 ms,four straight line distances and the total length is 14 m,28 positioning points are collected,and the average position deviation of the dynamic positioning test is 6.92 cm.