Research On Positioning Strategy Of Handing Robot Based On UWB Positioning

Ultra-Wide Band(UWB,Ultra-Wide Band)technology is an advanced wireless communication technology that uses a bandwidth above 1GHz and does not require a carrier.Using this technology can have strong anti-interference performance when transmitting information in short and medium distances.In theory,the accuracy of bilateral ranging can reach centimeters or even millimeters.The UWB system can coexist with other radio communication systems at the same time during short-distance communication without interfering with each other.Compared with other wireless devices,ultra-wideband has low cost,extremely fast transmission speed,low power consumption and good stability.It is more suitable for use in wireless local area networks,and can also be used in robot positioning,pedestrian positioning and some smart handheld devices.positioning module.This paper takes the indoor handling robot as the research object,in order to realize the handling task of the handling robot under the conditions of the workshop,the main researches are as follows:Firstly,in the actual application of indoor robot navigation and positioning,UWB is often due to the lack of NLOS or base station data,resulting in large positioning errors of mobile robots and even loss of trajectory.In this paper,a binary filter is designed to check the UWB data to judge whether the UWB data can be used.Secondly,based on the optimization method,this paper designs a UWB/IMU combined positioning and navigation system based on graph optimization to estimate the position,attitude,speed and acceleration of the robot.On this basis,in order to verify the positioning and navigation algorithm proposed in this paper.In this paper,a handling robot is designed,and its upper computer operation software is developed using the ROS operation platform.Experiments show that the UWB/IMU combined positioning and navigation system based on graph optimization can obtain higher positioning accuracy under line-of-sight conditions.The /IMU fusion localization method can keep track of the robot trajectory for a long time until the signal is recovered...