Design And Implementation Of An Indoor Unmanned Vehicle Positioning And Path Tracking System Based On Ultra-wideband

The demand for indoor real-time high-precision positioning technology is increasing.Ultra Wide Band(UWB)technology has high transmission rate,low transmission power,strong anti-interference and penetration.It has good positioning performance under indoor line-of-sight transmission.Modern industry and life are developing towards the direction of intelligence,flexibility,rapidity and multi-coordination for the positioning and path tracking technology of intelligent unmanned vehicle.The subject mainly studies indoor ultra-wideband positioning technology and path tracking control algorithm,so as to realize the tracking control movement of the unmanned vehicle under the ultra-wideband positioning platform in accordance with the predetermined path.The positioning function can facilitate people's travel,the operation of unmanned supermarkets,the production of smart factories and the sorting of warehousing and logistics.Due to parameter fluctuation and environmental interference,the real-time positioning and path tracking control accuracy of unmanned vehicle will be reduced.For this reason,after analyzing and referring to domestic and foreign literature and theoretical research,the main contents of the project are as follows:(1)research on uwb positioning technology,positioning ranging and calculation methods.Based on the bidirectional ranging principle,the error compensation of the ranging result is made by the nonlinear filtering method to improve the positioning accuracy.(2)multiple path tracking control algorithms are studied.By analyzing the motion characteristics and mathematical model of the unmanned vehicle,the classical PID control algorithm,back-push adaptive control algorithm and sliding mode variable structure control algorithm are adopted to realize the design and simulation of the path tracking controller,and the tracking effect under the straight line,arc path is analyzed.(3)build the monitoring display control platform of the upper computer.In Qt environment,the location data information is obtained through the tag of the unmanned vehicle,processed into coordinates,and displayed in real time.(4)WiFi communication is adopted to realize the path tracking motion control of unmanned vehicle.The communication between the upper computer and the unmanned vehicle is completed by means of WiFi.On the display control platform,the distance and Angle deviation between the current positioning coordinate point and the tracking target coordinate point are analyzed,and the control command is transmitted through WiFi to realize the upper computer's control over the unmanned vehicle.The test results show that the real-time monitoring and display of the position and path of the unmanned vehicle can be completed accurately with an error of 10 cm,and the tracking and control of the movement of the unmanned vehicle with an error of 15 cm according to the predetermined path can be controlled by deviation,so as to complete the task of real-time positioning and path tracking of the intelligent unmanned vehicle.