移动机器人过程神经网络RTK-GPS定位研究  

RTK-GPS Positioning of Mobile Robot Based on Process Neural Network

作　　者：杨海 朱虹[2] 刘业峰[1] 赵元[1] YANG Hai;ZHU Hong;LIU Ye-feng;ZHAO Yuan(Shenyang Institute of Technology,Liaoning Fushun 113122,China;Liaoning Equipment Manufacturing College of Vocational Technology,Liaoning Shenyang 110164,China)

机构地区：[1]沈阳工学院,辽宁抚顺113122 [2]辽宁装备制造职业技术学院,辽宁沈阳110164

出　　处：《机械设计与制造》2022年第6期282-285,共4页Machinery Design & Manufacture

基　　金：沈抚示范区本级科技计划项目—基于过程神经网络的移动机器人RTK-GPS导航定位研究(2020JH13);国家自然科学基金面上项目—数据-模型混合驱动的端盖生产线自主智能协同优化方法研究(62073226)。

摘　　要：在中国自主研发北斗三号系统已经全面运行,实现全球定位的背景下。为了进一步提高移动机器人地面终端卫星导航定位功能,针对移动机器人数据接收解析的高频振荡随机干扰信号和系统高阶动态非线性对定位导航精度的影响,提出一种利用过程神经网络的时变特性,构建动态自适应RTK-GPS(Real Time Kinematic-Global Position System)定位算法。通过现有的卫星定位终端的输入输出数据构造出神经网络模型,再利用动态误差数据为样本对这个神经网络模型进行训练校正,在卫星信号受到干扰或失锁时利用训练好的过程神经网络预测输出来抑制位置和速度误差发散,从而提高定位和导航精度。实验表明本方法在定位干扰噪声为非定常量的条件下,仍然对定位精度的提高适用有效,能显著降低定位结果误差,尤其在可观察卫星数量变化时表现出较强的鲁棒性。China’s self-developedBeidou 3 system has been fully operational and has achieved global positioning.In order to further improve the ground mobile robot terminal satellite navigation and positioning function,data reception for mobile robot parsing of high-frequency oscillation random disturbance signal and the system of higher order nonlinear dynamic influence on navigation and positioning accuracy,a process neural network is used the time-varying characteristics of building dynamic adaptive RTK-GPS(Real Time Kinematic-Global Position System)positioning algorithm.Using existing satellite positioning terminal input and output data of the neural network model is constructed,using the dynamic error data as samples to train the neural network model correction,the satellite signal interference or process of loss of lock using the trained neural network to predict the output divergence to suppress the position and velocity error,and thus improve the accuracy of positioning and navigation.Experimental results show that the proposed method is still suitable and effective for improving the positioning accuracy under the condition that the positioning interference noise is unconstant,and can significantly reduce the error of positioning results,especially when the number of observable satellites changes.

关 键 词：嵌入式北斗终端 过程神经网络 RTK-GPS定位 

分 类 号：TH16[机械工程—机械制造及自动化] TN911.72[电子电信—通信与信息系统]