组合导航的AGV定位精度的改善

摘要

In order to reduce the accumulative error of the inertial navigation system,an independently integrated navigation system using the embedded tags to assist the inertial navigation system is developed.The theoretical expression of position error of the AGV inertial navigation system was derived from the equation of motion of the inertial navigation system,where the error of the gyros cope was ignored,and three factors affecting the error were obtained,namely,accelerometer deviation,AGV running direction and the update time of embedded tags.Starting from the update time of resetting the embedded tags,data update time was shortened,and the AGV positioning accuracy was improved.The simulation of data by Matlab shows that this method can effectively reduce the accumulative error of AGV inertial navigation system,and improve the positioning accuracy of AGV.%为了减小AGV惯性导航系统的累积误差,利用地埋标签辅助惯性导航系统构成一种自主式组合导航系统.在忽略陀螺仪误差的基础上,由惯性导航系统的运动方程推算出位置误差的计算式,得出影响误差的3个因素:加速度计偏差、AGV的行驶角度和地埋标签的数据更新时间.提出从影响误差的地埋标签数据更新时间入手,重新布放地埋标签以降低数据更新时间来提高AGV定位精度.通过Matlab对数据进行仿真,表明该方法能有效地降低AGV惯性导航系统的累积误差,进而改善了AGV的定位精度.