| 一种基于无线传感器网络的AGV精确定位方法 |
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| 引用本文： | 董欢欢,葛为民. 一种基于无线传感器网络的AGV精确定位方法[J]. 天津理工大学学报, 2011, 27(1): 1-5. DOI: 10.3969/j.issn.1673-095X.2011.01.001 |
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| 作者姓名： | 董欢欢 葛为民 |
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| 作者单位： | 天津理工大学机械工程学院天津市复杂系统控制理论及应用重点实验室,天津,300384 |
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| 基金项目： | 滨海新区科技特派员科技专项，天津市复杂系统控制理论及应用重点实验室资助 |
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| 摘 要： | 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.
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| 关 键 词： | WSN TDOA 定位 AGV |
An AGV high-accuracy localization method based on WSNs |
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| DONG Huan-huan,GE Wei-min. An AGV high-accuracy localization method based on WSNs[J]. Journal of Tianjin University of Technology, 2011, 27(1): 1-5. DOI: 10.3969/j.issn.1673-095X.2011.01.001 |
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| Authors: | DONG Huan-huan GE Wei-min |
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| Affiliation: | DONG Huan-huan,GE Wei-min (School of Mechanical Engineering,Tianjin Key Laboratory of Control Theory and Applications in Complicated Systems,Tianjin University of Technology,Tianjin 300384,China) |
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| Abstract: | 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 ... |
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| Keywords: | WSN TDOA AGV |
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