基于UWB的智能跟随车导航定位算法研究  

Research on navigation and positioning algorithm for intelligent following vehicle based on UWB

作　　者：胡海兵[1,2] 张文达 郑希鹏 曾贵苓[3] Hu Haibing;Zhang Wenda;Zheng Xipeng;Zeng Guiling(National Engineering Laboratory of Special Display Technology,Academy of Photoelectric Technology,Hefei University of Technology,Hefei 230009,China;National Key Laboratory of Advanced Display Technology,Academy of Photoelectric Technology,Hefei University of Technology,Hefei 230009,China;School of Electrical Engineering,Wuhu Institute of Technology,Wuhu 241006,China)

机构地区：[1]合肥工业大学光电技术研究院特种显示技术国家工程实验室,安徽合肥230009 [2]合肥工业大学光电技术研究院现代显示技术省部共建国家重点实验室,安徽合肥230009 [3]芜湖职业技术学院电气工程学院,安徽芜湖241006

出　　处：《电子技术应用》2019年第3期80-83,87,共5页Application of Electronic Technique

摘　　要：针对目前市场上现有智能跟随车定位精度不足,提出一种基于UWB信号的定位算法。在智能跟随车的上方安置两个固定基站,手持标签到两个基站的距离数据经过卡尔曼滤波算法的处理,利用三角函数进行计算,得出标签到两个基站中点的距离和偏移角度,将距离和角度数据传送给电机控制模块,通过PID控制算法调节PWM值,从而控制电机的转速和转向。实验表明,该方法能够实现标签定位的距离误差小于9 cm,角度误差小于10°,使智能跟随车的定位更为精准。The accuracy of intelligent vehicle positioning in the current market cannot satisfy customers ′ needs. The positioning algorithm based on Ultra Wideband( UWB) was proposed in order to solve the problem. Two fixed anchors were placed on the intelligent positioning vehicle. The data of distance from the tag to the two anchors was caculated by Kalman filter algorithm. The trigonometric function was used to get the distance from the tag to the middle point of the two anchors and the offset angle. Then the distance and angle data were transmitted to the motor control module, which adjusted Pulse Width Modulation(PWM) value through Proportion Integration Differentiation( PID) algorithm to control the speed and directions of the motor. Experimental results show that the distance deviation is less than 9 cm and the angle deviation is less than 10 degrees by this method, which proves that intelligent vehicle positioning is more accurate than before.

关 键 词：智能跟随车 卡尔曼滤波 PID控制 定位算法 

分 类 号：TN925[电子电信—通信与信息系统] TP23[电子电信—信息与通信工程]