农资仓储脉冲超宽带室内定位系统设计与试验及误差分析

针对仓储环境下农资物品与自动导引运输车(automated guided vehicle,AGV)的定位精度低的问题,开发了适用于农资仓储环境下的脉冲超宽带技术(impulse radio-ultra wide band,IR-UWB)室内定位系统.采用双面双程测距(symmetric double sided-two way ranging,SDS-TWR)方法,建立了考虑时钟频偏等因素的到达时间(time of arrival,TOA)定位系统模型.研究表明定位系统计算所带来的误差主要来源于距离测算方法和节点位置计算方法2方面,在这2方面提出了相应的解决办法,包括测距算法的选择,基站的布置...

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Bibliographic Details
Published in农业工程学报 Vol. 33; no. z1; pp. 23 - 29
Main Author 孙小文 张小超 赵博 王丽丽 伟利国 贾全
Format Journal Article
LanguageChinese
Published 中国农业机械化科学研究院土壤植物机器系统技术国家重点实验室,北京,100083 2017
Subjects
位置控制;仓库;误差分析;脉冲超宽带;无线定位;到达时间定位算法
无线定位
到达时间定位算法
wireless positioning
error analysis
位置控制
impulse radio-ultra wide band (IR-UWB)
time of arrival (TOA)
仓库
position control
warehouse
脉冲超宽带
误差分析
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ISSN1002-6819
DOI10.11975/j.issn.1002-6819.2017.z1.004

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Summary:针对仓储环境下农资物品与自动导引运输车(automated guided vehicle,AGV)的定位精度低的问题,开发了适用于农资仓储环境下的脉冲超宽带技术(impulse radio-ultra wide band,IR-UWB)室内定位系统.采用双面双程测距(symmetric double sided-two way ranging,SDS-TWR)方法,建立了考虑时钟频偏等因素的到达时间(time of arrival,TOA)定位系统模型.研究表明定位系统计算所带来的误差主要来源于距离测算方法和节点位置计算方法2方面,在这2方面提出了相应的解决办法,包括测距算法的选择,基站的布置等.最后,以DW1000射频芯片为硬件基础,设计了定位系统移动站和基站节点,并在农资仓库的环境中分别进行了静态测距试验、静态定位试验、以及动态定位试验.试验表明:静态测距精度优于50 mm,静态定位精度优于50 mm,动态定位试验精度优于85 mm.综合结果表明,该文搭建的系统可满足农资物品定位的实际应用要求,可为室内农资仓储环境下AGV的定位和导航提供参考.
Bibliography:11-2047/S
position control;warehouse;error analysis;impulse radio-ultra wide band (IR-UWB);wireless positioning;time of arrival (TOA)
For the problem of low positioning accuracy about agricultural goods and AGV (automated guided vehicle) in the warehousing environment, a system model applicable to agricultural warehouse is developed, which uses IR-UWB (impulse radio - ultra wide band) technology. This system adopts SDS-TWR (symmetric double sided - two-way ranging) scheme to set up positioning system model, and uses TOA (time of arrival) location algorithm to locate the mobile station. First of all, this system measures the distance between base station and mobile station, and then gets the optimal solution of error function using nonlinear least squares method. The optimal solution is the coordinate of the mobile station. This system also takes into account the factors of carrier frequency deviation, researches the source of error and tries to find out the method to reduce it. The analysis shows the main sourc
ISSN:1002-6819
DOI:10.11975/j.issn.1002-6819.2017.z1.004