摘要
提出了一种室内轨道机器人的导航方法,该方法利用了一种基于不同到达时间(TDOA)算法的主动定位系统。一种主动式的导航信标系统被使用在该系统中,这种信标包括一个射频通讯模块和超声波发射模块。某一个信标的位置可以通过信标和两个固定在轨道机器人上的超声波接收模块之间的距离关系来确定。当信标上的射频通讯模块接收到机器人的同步命令后,超声波发射模块就会发射超声波信号,根据超声波和射频信号在空气中不同的传播速度可以计算出信标到两个超声波接收模块的距离。然后在利用TDOA算法可以在机器人坐标系中得到信标的位置坐标,再利用坐标转换就可以得到机器人在室内全局坐标系的位置。同时,一种基于计算几何精度因子(GDOP)的信标选择策略也被提出,用于选择信标。通过实验证明了方法在实际应用中的可行性。
In this paper, we present a method for the localization of an indoor rail robot by using an absolute localization system based on the time difference of arrival （TDOA） method. An active beacon system was used, which is composed of a radio frequency （RF） communication module and an ultrasonic transmitter. The position of the beacon can be calculated using the distances between the beacon and two ultrasonic receivers that are mounted on the mobile robot. When the RF communication module receives an order from the mobile robot it sends a synchronization signal, and the ultrasonic transmitter sends a signal to be used for measuring the dis- tance from the beacon to the ultrasonic receiver using the time difference of arrival method. On the basis of co- ordinate transformation, the position of the mobile robot can be calculated from the beacon＇s absolute position information in the global coordinate system using TDOA method. A beacon selection strategy based on the ge-ometrical dilution of precision measure is presented for beacon selection. Experiments demonstrate the effec-tiveness of the proposed method in real world applications.
出处
《安阳工学院学报》
2013年第2期63-67,共5页
Journal of Anyang Institute of Technology
