机器人UWB定位系统的设计与实现  

Design and Implementation of Robot UWB Positioning System

作　　者：李丽娜[1] 尤洪祥 张晓东[1] 徐攀峰[1] 雷昊东 LI Li-na;YOU Hong-xiang;ZHANG Xiao-dong;XU Pan-feng;LEI Hao-dong(College of Physics,Liaoning University,Shenyang 110036,China)

机构地区：[1]辽宁大学物理学院,辽宁沈阳110036

出　　处：《辽宁大学学报（自然科学版）》2018年第1期34-38,共5页Journal of Liaoning University：Natural Sciences Edition

基　　金：辽宁大学教学改革项目(JG2016YB0043);辽宁省大学生创新创业项目(201710140000188)

摘　　要：实验引入超宽带UWB(Ultra Wideband)定位技术,结合TOA(Time Of Arrival)算法,设计并实现了移动机器人自主定位系统.在定位系统中,超宽带定位标签与基站相配合,测量出标签与各基站间的超宽带信号传输时间,经标签输出后,51Duino控制板通过串口接收数据并结合TOA算法解算出机器人位置坐标,再经串口通过Wi-Fi模块将位置坐标上传到上位机定位软件进行存储和显示,上位机软件同时可以根据坐标数据在选定的地图文件上标记机器人移动的实时轨迹.实验结果表明,该定位系统可以稳定地为机器人提供准确的位置定位服务,定位误差仅约为10cm左右,定位精度较高.Combined with ultra wideband UWB(Ultra Wideband)positioning technology and TOA(Time Of Arrival)algorithm,a mobile robot autonomous positioning system was designed and implemented in this paper.In the positioning system,combining the ultra wideband positioning tag with the base station to measure the transmission time of the ultra wideband signal between the tag and each base station,the output data of the tag through the serial port can be received and the position coordinates of the robot can be calculated using the TOA algorithm by the 51Duino control board,then through the serial port and the Wi-Fi module,the position coordinates can be uploaded to the upper computer software to store and display,at last,the real-time trajectory of the robot on the selected map can be marked according to the data by the upper computer software.The experimental results show that the positioning system can provide accurate location service for robot stably.The positioning error is only about 10cm,and the positioning accuracy is relatively high.

关 键 词：机器人定位 超宽带(UWB)定位 到达时间(TOA) Wi-Fi无线通信 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]