Design And Analysis Of Anwireless Location System Used To Wall Climbing Robot

As an important kind of special robot,wall climbing robot is widely used in tasks on the condition of high wall,such as the external wall cleaning of high-rise.This thesis mainly developed and researched a wireless location system based on ultra wideband technology,which has a decimeter accuracy level when used to locate the robot on the broad wall.At first,aiming at the large scale of ranging on the broad flat wall,this research chooses DWM1000 UWB transceiver chip to design and make the wireless ranging module.And we illustrate the IEEE 802.15.4-2011 protocol and the two-way ranging program in details,and compare the factors that influence the scale of ranging.After making the module,we load the ranging program to the module and debug it,then test the ranging function.Secondly,this article introduces the location algorithm based on the time of arrival.By the secondary development to the ranging program,we extend the wireless ranging module to be the slave computer of the location system.And we develop the host computer program that communicates with ranging modules by serial ports,processes the ranging data by kalman filter and uses the filtered distances to realize the location algorithm.Then,we simulate the affection to the accuracy of three factors,namely the distance between anchors,the number of anchors and the velocity of tag.The result of simulation put forward some request on setting up the wireless location system,by which we place more anchors on the edge of location area and set lower velocity of tag to promote the location accuracy in practice.Lastly,we apply and test the wireless location system developed by this research to locate wall climbing robot outdoor,and it has a good performance that verifies its practicability,and we have a deep analysis to the factor that affect the location accuracy.