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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| Published in | 农业工程学报 Vol. 33; no. z1; pp. 23 - 29 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| 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
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1002-6819 |
| DOI | 10.11975/j.issn.1002-6819.2017.z1.004 |
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| Abstract | 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. |
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| AbstractList | S925%TP2; 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. 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. |
| Abstract_FL | 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 source of positioning error in 2 aspects, namely the method of distance measurement, and the method of calculating the position of the target nodes by the distance value. And we put forward the corresponding countermeasures for these 2 aspects, such as the selection of ranging algorithm, and the arrangement of the base stations. IR-UWB has many advantages such as strong anti-interference ability, high range accuracy, low power consumption, fast transmission speed and good security. Because of the convenience to layout network nodes and no strict requirements in the field environment, it is suitable for the field of agricultural warehousing. Finally, we design the positioning system of mobile and base station nodes based on DW1000 RF (radio frequency) chip, and respectively carry out static ranging experiments, static positioning experiments and dynamic positioning experiments. To increase contrast, this article also adds comparative trial, which uses TWR ranging algorithm. The static ranging experiments of this system adopt 6 distances of 10, 15, 20, 30, 40 and 50 m, and collects around 3000 sets of data respectively. The experiments show that the error of the mean value between the actual distance and the ranging distance is less than 50 mm, and the root mean-square error is less than 41 mm using SDS-TWR ranging algorithm. However, the former is more than 110 mm and the latter is more than 60 mm using TWR ranging algorithm in the same experiment condition. In the static positioning experiments we conduct some experiments to measure coordinates of some spots under the fixed coordinate system. The result shows the positioning error is less than 50 mm and the root mean-square error is less than 69 mm with SDS-TWR ranging algorithm. And the positioning error is more than 90 mm and the root mean-square error is more than 115 mm with TWR ranging algorithm in the same experiment condition. In the dynamic positioning experiments, according to the actual situation of agricultural material warehouse, we move the mobile station along 5 produce aisles and 9 routes, and obtain the distance between the gathered data and the actual path. The experiments show that the positioning accuracy is 85 mm, which can meet requirement of 150 mm positioning accuracy. Comprehensive experiments show the system set up by this paper can satisfy the requirements of practical application in indoor agricultural material storage. |
| Author | 孙小文 张小超 赵博 王丽丽 伟利国 贾全 |
| AuthorAffiliation | 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 |
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| Author_FL | Zhao Bo Jia Quan Wang Lili Sun Xiaowen Wei Liguo Zhang Xiaochao |
| Author_FL_xml | – sequence: 1 fullname: Sun Xiaowen – sequence: 2 fullname: Zhang Xiaochao – sequence: 3 fullname: Zhao Bo – sequence: 4 fullname: Wang Lili – sequence: 5 fullname: Wei Liguo – sequence: 6 fullname: Jia Quan |
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| Keywords | 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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| Notes | 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 |
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| PublicationTitle | 农业工程学报 |
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| PublicationYear | 2017 |
| Publisher | 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 |
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| Snippet | 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... S925%TP2; 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... |
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| SubjectTerms | 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 |
| Title | 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 |
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