| At present,radiolocation technology is widely used in life,and indoor positioning is always the object of hot research.Radio propagation in an indoor environment is more likely to increase positioning errors due to multipath or non-line-of-sight environments than in an outdoor open environment.This paper takes the Ultra-Wide Band(UWB)technology as the basis for positioning,and relies on its good penetration and stability to improve the indoor positioning accuracy of the positioning system.This paper studies the positioning algorithm of UWB,designs the positioning and following system of the mobile robot,and realizes the robot platform that can be positioned and moved with the label.The main research work done in this paper is as follows:(1)First,several commonly used radiolocation methods are studied and their advantages and disadvantages are compared.Secondly,several commonly used UWB positioning methods are studied and their advantages and disadvantages are compared,and the error sources of UWB positioning are analyzed,and the paper is clarified.The qualitative performance evaluation index used in the experiment.(2)Determine the main functions required by the mobile robot platform:positioning and following,and design the overall scheme of the robot based on this,design the main hardware circuit and software of the robot respectively,and finally realize the positioning and following of the robot system.(3)The Fang algorithm,Chan algorithm and Taylor algorithm are studied and analyzed,and the performance is compared.The simulation results show that the effect of the independent positioning algorithm is poor,and the performance of a CT(Chan-Taylor)combined positioning algorithm is analyzed.An FTK(Fang-TaylorKalman)combination algorithm optimized based on the Fang algorithm,after simulating the positioning performance of the two combined algorithms,the results show that the static positioning error value CDF(Cumulative Distribution Function)of the FTK algorithm is less than 3cm The proportion of the part reached 98%.(4)The performance of the robot positioning system and the following system are tested respectively.The test is mainly divided into UWB fixed-point ranging analysis and moving point following analysis;the fixed-point ranging results show that the error between the system's calculated positioning results and the actual coordinates is less than 10 cm,and the positioning effect is accurate;the following moving point test results show that the robot has high following accuracy and high following error less than 15 cm. |
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