一种基于无线传感器网络的AGV精确定位方法

An AGV high-accuracy localization method based on WSNs

文章对AGV的定位方法及无线传感器网络进行了研究,在分析了传统AGV定位方法不足的情况下,提出了一种利用无线传感网络技术对AGV进行精确定位的方法.该方法首先利用基于到达时间差(TDOA)的定位算法计算锚节点与盲节点之间的距离,之后利用最大似然估计算法计算盲节点的坐标.提出一种时间参数补偿的方法来消除TDOA测量中的误差.构建了一种新的AGV定位模型来求取AGV的坐标及姿态.实验结果表明该方法有效的提高了系统的抗干扰性能,能够实现较高的定位精度,定位精度在10 cm以内.

In this paper,the localization method of AGV and the wireless sensor network are discussed.After analyzing the shortage of the traditional AGV localization method,a method of AGV localization based on wireless technology is proposed.Firstly,the Time-Difference-of-Arrival（TDOA）algorithm is adopted to calculate the distance between the anchor node and the blind node,then the coordinate of the blind node will be computed by Maximum Likelihood Estimation（MLE） method.The time compensating parameter r is used to eliminate the TDOA error.And a new model of AGV localization is structured to calculate the coordinate and gesture of the AGV.The experimental results make it clear that the method can improve the disturbance resistance ability largely and the localization accuracy is greatly improved which is less than 10 cm.