AGV用GPS/DR组合导航信息融合

摘要

目的 研究一种满足室外自动导引小车(AGV)导航要求的高精度、低成本的组合导航系统.方法 应用信息融合技术,通过航位推算系统辅助GPS定位,并采用卡尔曼滤波的融合算法,克服了GPS信号的遮蔽与中断问题,使组合系统能够较好地满足AGV导航定位的需要.用VC ++编写融合算法以及实验控制程序,实现了实验数据的采集以及对AGV的运动控制.结果 给出了GPS单独导航和GPS/DR组合导航两种工作状态下的位置误差,从对比中可以看出,组合导航系统的定位精度比GPS单独导航的定位精度提高了50%.结论 组合导航系统可以减小甚至消除推算定位系统随时间积累的误差,并在任何情况下能较好地实现AGV的实时、可靠、准确定位.%A GPS/DR integrated navigation system is investigated to meet the outdoor automatic guided vehicle(AGV) navigation requirements such as high accuracy and low cost. In this paper,the Dead Reckoning System is assisted with the GPS position, and the problem of GPS signal shielding and interrupting is overcome through the Kalman Filter. By taking full advantages of the information fusion theory, the integrated system can be well satisfied with the demands of AGV navigation orientation. Moreover, the AGV movement control and experimental data acquisition are obtained by using VC + + fusion and experimental control program. The navigation positioning errors of the GPS and integrated GPS/DR were computed as well. The positioning accuracy of the integrated navigation system increases by 50％ in comparison with that of the GPS navigation alone. Therefore, the integrated navigation can actualize real-time, credible and exact AGV positioning with a minimum positioning error, and decrease or eliminate the reckoning positioning system error accumulated with time.