基于TDMA和INS的室内环境扩频声导航系统

Pub Date : 2021-12-20 DOI:10.20965/jrm.2021.p1315

Romprakhun Tientadakul, H. Nakanishi, Tomoo Shiigi, Zichen Huang, Lok Wai Jacky Tsay, N. Kondo

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引用次数: 0

摘要

室内导航在温室作业的农业机器人中起着至关重要的作用。扩频声(SS-sound)系统是最有效的室内导航方法之一。该系统利用扩频调制声的到达时间(ToA)进行定位。然而，这里有一个近距离的问题。利用时分多址(TDMA)从多个锚点发射SS-sound，足以解决远近问题。然而，定位是不可能的，因为来自多个锚点的ToA不能同时获得。为了解决这一问题，本研究提出了一种SS-sound系统与TDMA和惯性导航系统相结合的方法。通过地面机器人的数值模拟和履带式机器人的实验验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment

Indoor navigation plays an essential role in agricultural robots that operate in greenhouses. One of the most effective methods for indoor navigation is the spread spectrum sound (SS-sound) system. In this system, the time of arrival (ToA) of the spread spectrum modulated sound is used for localization. However, there is a near-far problem. Transmitting the SS-sound from multiple anchors using time division multiple access (TDMA) is adequate to solve the near-far problem. However, localization is impossible because the ToA from multiple anchors cannot be simultaneously acquired. To solve this problem, a method for combining the SS-sound system with TDMA and an inertial navigation system is proposed in this study. The effectiveness of the proposed method was demonstrated through numerical simulations of a ground robot and experimentally using a crawler robot.

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