基于超宽带的移动机器人差分定位技术研究

Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer Engineering Pub Date : 2021-10-22 DOI:10.1145/3501409.3501449

Lei Zheng, Changsheng Ai, Zhengguang Qi, Dunyang Geng, Zhiquan Feng, Honglin Wang

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引用次数: 1

摘要

为了减小超宽带系统的定位误差，提高移动机器人的定位精度，提出了一种基于参考站的差分定位技术。根据移动机器人周围环境的类似现象，以附近的基站作为参考站，对标签测量数据进行校正。首先利用卡尔曼滤波算法对测量数据进行处理，然后利用参考站数据进行差分校正。最后，利用TOA结合最小二乘定位算法计算标签的位置坐标。采用DW1000定位模块和STM32控制模块构成系统硬件。实验结果表明，该定位系统获得的位置坐标平均误差为34.3mm，均方根误差为46.1mm，比之前的位置误差降低了66.4%，能够很好地提高移动机器人的定位精度和稳定性。

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Research on differential Positioning technology of mobile Robot based on UWB

In order to reduce the positioning error of UWB system and improve the positioning accuracy of mobile robot that a differential positioning technology using reference station is proposed. According to the similar phenomenon of the mobile robot's surrounding environment, the nearby base station is used as the reference station to correct the tag measurement data. Firstly, kalman filter algorithm is used to process the measurement data, and then the reference station data is used for differential correction. Finally, TOA combined with least square positioning algorithm is used to calculate the position coordinates of the label. DW1000 positioning module and STM32 control module are used to construct the system hardware. Experimental results show that the average error of position coordinates obtained by the positioning system is 34.3mm, and the root mean square error is 46.1mm, which is 66.4% lower than the position error before, and can well improve the positioning accuracy and stability of the mobile robot.

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Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer Engineering

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