AGV用GPS/DR组合导航动融滤波技术  

On Two-Stage Filtering of GPS/DR Integrated Navigation System for AGV

作　　者：张晓霞[1] 韩刘柱[1] 李晓琳[1] 章金成[1] 

机构地区：[1]沈阳建筑大学交通与机械工程学院,辽宁沈阳110168

出　　处：《沈阳建筑大学学报（自然科学版）》2012年第3期544-548,共5页Journal of Shenyang Jianzhu University：Natural Science

基　　金：国家自然科学基金项目(60879012/F01);辽宁省重点实验室基金项目(JX200915)

摘　　要：目的研究基于GPS/DR信息融合的AGV导引系统,实现AGV行走过程中高精度、实时定位,确保AGV在预设轨道上精确导航.方法应用Kalman滤波算法将GPS定位信号进行动态滤波,以获取相对精确的GPS定位信号,进而将动态滤波结果与编码器信息结合,进行融合滤波,以获取高精度定位数据.结果给出定位实验数据和数据处理结果曲线,描绘GPS、DR单独定位数据,以及GPS/DR融合滤波定位数据;对比发现,误差允许范围内设定平滑带,动融滤波技术相对于普通滤波优势在50%以上.结论采用动融滤波技术,AGV用GPS/DR组合导航系统实施二级滤波,可提供实时、稳定、可靠的定位数据.This research is a study on AGV navigation system which is based on GPS/DR information fu- sion, and aims to achieve high-precision and real-time location of walking AGV, and ensure accurate navigation of AGV along the preset orbit. GPS positioning signal will be filtered by application of Kalman filtering algorithm to obtain relatively precise GPS positioning signal, then the result will be combined with the encoder information to obtain high-precision positioning data. A group of positioning data curves, depicting GPS, DR positioning data separately, and positioning data of GPS/DR fusion filter have been provided. By comparison, the dynamic filter on the smoothness of the final positioning data plays a key role, smoothness increasing by 50% with dynamic filtering. GPS/DR integrated navigation system applying two-stage filtering provides real-time, stable and reliable positioning data.

关 键 词：KALMAN滤波 动态滤波 AGV GPS/DR组合导航 偏离度 平滑带 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]