基于曲线拟合的物流仓储自动导引车远程定位算法

A long-distance positioning algorithm of logistics storage AGV based on curve fitting

针对物流仓储引导车远程定位精度差的问题,在讨论TDOA测距原理和方法的基础上,提出在传统的Fang算法的基础上引入Taylor算法。具体思路为首先通过Fang算法实现初步的位置估计,然后再通过Taylor级数展开求取更高精度位置,最后,选用Matlab R2014a软件对上述算法进行仿真,并进行现场试验模拟。结果表明,无论是仿真,还是在现场AVG模拟,构建的Fang-Taylor算法在定位精度方面,特别是在NLOS环境下具有明显的精度优势。

In view of the problem on the poor remote positioning accuracy of the logistics storage guide vehicle,based on the discussion of the principle and method of TDOA ranging,the introduction of Taylor positioning algorithm is put forward on the basis of the traditional Fang positioning.The specific idea is to realize the preliminary position estimation by Fang algorithm,and then calculate the higher precision position by Taylor series expansion.Finally,Matlab r2014 a software is used to simulate the above algorithm and carry out field test simulation.The results show that,whether in simulation or in-situ AVG simulation,the Fang Taylor algorithm constructed in this study has obvious accuracy advantages in positioning accuracy,especially in NLOS environment.