基于nanoLOC技术和EKF的仓储转运车辆的跟踪

Tracking of storehouse transport vehicle based on nanoLOC technology and EKF

为了实现仓库管理系统中央数据库的自动更新,提出了一种基于nanoLOC技术和扩展卡尔曼滤波的无线传感器网络的节点定位跟踪策略。具体实现是首先通过采用nanoLOC技术,得到附着于装载载具上的移动标签与作为参考点的一组锚节点的距离,从而实现自身定位;然后采用扩展卡尔曼滤波并基于得到的测量距离值,估计出转运车辆的位置,从而实现对仓库中转运车辆的跟踪,获得关于仓库中的货物移动及每次的存取情况。实验结果表明,基于无线传感器网络的节点定位和跟踪策略能够实现较小误差的测距和位置估计,达到对转运车辆的精确跟踪。

In order to update automatically the central database of the warehouse management system,a location and tracking strategy for nodes in wireless sensor networks based on nanoLOC technology and extended Kalman filter( EKF) is proposed in this paper. The concrete implementation is firstly that the mobile tag attached to the load carriers localizes itself by measuring the distances to a set of anchors as reference points by using nanoLOC technology. Then,by using the EKF and basing on the achieved range measurement,the position of the transport vehicle is estimated in order to track the transport vehicle in warehouse,and the shifts for goods in a warehouse and every storage and retrieval activity is obtained. The experimental results show that the proposed localization and tracking strategy based on wireless sensor networks can achieve small error for ranging and location estimation and accurate tracking of the transport vehicle.