超宽带技术的粮面巡检机器人定位系统设计  

Design of Indoor Positioning System for Grain Inspection Robot Based on Ultra-wideband Technology

作　　者：杨紫阳 吴才章[1] 张弛 杨世清[2] Yang Ziyang;Wu Caizhang;Zhang Chi;Yang Shiqing(College of Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China;Institute of Isotope Research,Henan Academy of Sciences)

机构地区：[1]河南工业大学电气工程学院,郑州450001 [2]河南省科学院同位素研究所有限责任公司

出　　处：《单片机与嵌入式系统应用》2020年第6期68-72,共5页Microcontrollers & Embedded Systems

基　　金：国家自然科学基金项目(61078070)。

摘　　要：本文设计了一个基于超宽带技术的粮面巡检机器人定位系统。该系统以嵌入式控制器为核心,通过串口接收机器人上标签测得的与各个基站之间的距离,利用TOA三边定位算法解算出机器人的位置坐标,并通过无线串口把机器人的坐标数据传递给上位机,上位机对坐标和轨迹进行实时显示。测试结果表明,机器人定位精度达到10 cm。In the paper,a grain patrol inspection robot positioning system based on ultra-wideband technology is designed.The system uses the embedded controller as the control core,receives the distance measured by the tag on the robot from the serial port,and uses the TOA trilateral positioning algorithm to calculate the position coordinates of the inspection robot,and transmits the coordinate date of the position of robot to the upper computer which completes the real-time display of the positioning coordinates and the track through the wireless serial.The test results show that when the robot is stationary,the positioning accuracy is within 10 cm.

关 键 词：粮面巡检机器人 超宽带技术 DW1000 TOA STM32F429 

分 类 号：TN98[电子电信—信息与通信工程]