基于分步式Kalman滤波器的AGV姿态角估计方法实验研究  

Experiment Study of the Method for Estimating AGV's Posture Based on Multiple-Step Kalman Fusion for Multi-Sensor

作　　者：史恩秀[1] 王振[2] 黄玉美[1] 杨佳丽[1] 

机构地区：[1]西安理工大学机械自动化研究所,陕西西安710048 [2]榆林学院,陕西榆林719000

出　　处：《西安理工大学学报》2010年第1期37-42,共6页Journal of Xi'an University of Technology

基　　金：国家重大专项基金资助项目(2009ZX04014-032);西安理工大学校博士启动基金资助项目

摘　　要：针对AGV的定位问题,设计了多传感器分步式Kalman滤波器,通过其对编码器、陀螺仪和超声波传感器等测量信息的融合实现了对AGV姿态角的准确估计。仿真结果表明所设计的滤波器是可靠的、有效的,实验结果验证了所设计的滤波器可实时、精确地实现AGV的姿态角估计,定位精度可满足实际生产中对AGV的使用要求。With the aim of AGV position problem,the novel type of multiple-step Kalman filter based on multi-sensor is designed.AGV＇s posture is accurately estimated via the measured data fusion of the encoders,gyroscope and ultrasonic sensors.The simulation results indicate that the designed filter is reliable and effective.Also,the experiment results test that the designed filter can achieve the estimation of AGV posture timely and accurately and that the position accurateness can satisfy the requirement of AGV use in the practical production.

关 键 词：自主导航小车 定位 信息融合 分布式Kalman滤波器 姿态角估计 

分 类 号：TM936.6[电气工程—电力电子与电力传动] TB921[一般工业技术—计量学]