基于超宽带的移动机器人室内定位系统设计

摘要

针对目前移动机器人室内定位方式灵活性差和精度不高的问题,设计了一种基于超宽带(UWB)的高精度移动机器人室内定位系统.系统以UWB射频模块组成无线传感器网络,包括基站(Anchor)和安装在移动机器人顶端的标签(Tag).采用非对称双边双向测距技术(ADS-TWR)获得标签到各基站之间的距离信息,无需基站与标签、基站与基站之间的时钟同步.距离信息通过WiFi由基站传输到上位机,利用卡尔曼滤波算法对距离信息进行优化后进行定位.测试结果表明,该系统具有布设简单、高精度、高实时性的特点,定点定位误差在13 cm以内,动态点定位误差小于20 cm.%In order to solve the problem of poor flexibility and low precision in the indoor localization of mobile robot,a high precision mobile robot indoor positioning system based on Ultra Wideband(UWB) is designed.The system consists of UWB module for wireless sensor networks,including of a UWB radio frequency module,with base station(Anchor) and the tag mounted on the top of the mobile robot(Tag).The system uses the technology of Asymmetric Double Sided Two-Way Range(ADS-TWR) to obtain the distance information between label and each base station,without needing the clock synchronization between base station and Tag.The distance information is transmitted from the base station to the PC through WiFi,and then located after being optimized by using the Kalman filter algorithm.The test results show that the system has the characteristics of simple layout,high precision and high real-time performance.The average positioning error of Static position is less than 13 cm and dynamic position error is less than 20 cm.