Research On Indoor Navigation And Positioning Technology Based On Rotating Laser Locating Field

In order to satisfy the high-precision,automated positioning and docking with large-size workpieces,it has become an urgent need to improve the efficiency of product off-line by using automated guided vehicles(AGVs)with the rapid development of fundamental equipment field.However,the traditional location technology of indoor navigation still has problems such as low positioning accuracy,slow data update rate and poor robustness,which are difficult to meet the requirements of high-precision and strong real-time navigation and location.Recently,because of the advances of high measurement accuracy,multi-node and etc.,especially of the intersection measurement technology based on rotating laser becomes perfected,which are widely used in indoor location measurements and its advantages of dynamic posture measurement provide a proven solution for their navigation and location.Therefore,it is one of the effective methods to solve traditional problems to realize high precision positioning and navigation of AGV by rotating laser Locating field measurement system.In this paper,the indoor navigation and positioning methods of locating field system is studied and discussed from the aspects including the locating field system dynamic positioning optimization and pose solution,the measurement principle and compensation model of SINS,integrated navigation calibration and fusion of SINS and locating field system,design of hardware processing platform,navigation and positioning performance verification.The main work have been completed as follows :1)Aiming at the problem of deterministic principles error in dynamic measurement of locating field system,the construction principle,dynamic error source and formation mechanism have been studied,and its compensation and optimization have been carried out.Furthermore,indoor navigation and positioning based on locating field system is realized,and a n-point quaternion attitude measurement method based on Locating field system is proposed,and its method is verified and evaluated by simulation analysis and experiment.The experimental results show that the standard deviation of attitude angle is less than 0.2° and the standard deviation of translation matrix T are better than 1 mm when the velocity is less than 0.1m/s,which meets the requirements of high-precision pose measurement at low indoor speed.2)Aiming at the problems of laser scanning blind area and low update frequency in the Locating field system,combined with the measurement characteristics of SINS,an integrated navigation and positioning method of SINS and locating field system are proposed.Firstly,the parameter calibration within the integrated navigation system is completed,that is,the measurement coordinate system of the two subsystems is unified.Then,the initial simulation value is extracted by Creo 3D modeling software,and the simulation database is established by Matlab.The accuracy of the calibration method is verified by the initial value and simulation results.The experimental results show that the error between the optimal value and the maximum value of Euler angles are less than 0.7°,and the standard deviation are better than 0.43°,which lays a certain foundation for integrated navigation data fusion.3)Aiming at the problem of navigation information fusion among subsystems,within already parameters based on the results of calibration,the fusion method of integrated navigation and positioning information based on the loose coupling direct method is studied.Integrated navigation Kalman filter was designed and deduced the mathematical relationship between the two subsystems of the navigation parameters,and the state equation and measurement equation of the combined navigation of the SINS and the Locating field system is listed.At the same time,the AGV trajectory and heading angle are simulated and analyzed by Matlab.The results show that the pose data of the Locating field system can restrain the drift of the data deduced by SINS,and the results provide a theoretical reference to the physical verification experiment.4)Aiming at the problems of parallelism and real-time performance in multi-sensor data acquisition and etc.,a high-performance embedded multi-channel signaled acquisition processor based on Xilinx Zynq7020 is designed.The synchronous acquisition of multi-sensor data is realized,through the design and selection of key sensors,the hardware board design of processor and the optimization of driver and etc.,the structure designed and implementation of networked target board platform are completed.The establishment of the platform provides a foundation for the calibration and fusion of the integrated navigation and positioning system.5)In view of the indoor small range environment,a physical verification platform for navigation and positioning is built,and the integrated navigation and positioning experiment and related experiments are designed,according to the Kalman filter information fusion method.The experimental results show that the maximum positioning accuracy can be improved by 4 mm,and the maximum attitude angle accuracy can be improved by 0.5°,which the SINS data are compensated and corrected by the locating field system at the fusion point.The feasibility that the integrated navigation system can improve the navigation and positioning ability of subsystems is verified,and the high precision navigation and positioning of indoor AGV are preliminarily realized.