超宽带定位的AGV定位跟踪算法研究

AGV Tracking Algorithm on Ultra Wide Band Location

为了对室内运行的AGV定位跟踪,本文提出一种基于超宽带定位的AGV定位跟踪算法。首先针对3基站TDOA定位方法存在基站附近及其遮挡区域定位错误概率高的问题,本文算法利用目标运动信息辅助降低定位错误概率;其次针对室内环境制约造成机动AGV的跟踪困难问题,本文算法首先对室内环境信息进行描述,采用目标预测位置到障碍物区域的张角作为辅助信息对多模型跟踪算法中模型集进行更新,最后进行状态估计。本文算法将运动先验信息引入到定位方法中,具有定位准确概率高的优点;将环境先验信息引入到跟踪算法,具有错误估计概率低的优点。通过仿真实验证明,本文算法具有较低的跟踪错误概率和较高的定位正确概率,能够有效实现3基站条件下室内运动AGV的定位和跟踪。

To solve the problem of localization and tracking of AGV inside the building, an AGV localization and tracking algorithm based on Ultra Wide Band （UWB） positioning is proposed. For the problem of abnormal localization error prob- ability of TDOA method in 3-base station localization, targets＇ kinematics information is utilized sufficiently to decrease the probability of localization error. Then, the interior environment is described in the proposed algorithm. Environmental in- formation is extracted from a motion area by using the geometric relationship. Then the model-set of the proposed algorithm is adjusted to get a low probability of error estimation. The introduction of motion prior information of motion into the locali- zation algorithm has the advantage of the high probability of positioning accuracy. The introduction of environmental prior information into the tracking algorithm has the advantage of low probability of error estimation. The simulation results show that this method has a low probability of error estimation and the localization error, and can effectively achieve the 3-base station indoor AGV location and track inside the building.