AGV Indoor Wireless Positioning System Research Based On Ultra-wideband

In the traditional automatic guided vehicle system(AGVS),the cable guidance method is widely used to guide the AGVs.Faced with more complex warehousing and ever-changing logistics of the environment,the cable guidance method cannot meet its requirements.In the research of wireless guidance,positioning technology is its core technology.Ultra-wideband(UWB)communication is a revolutionary communication technology.It has the advantages of low power consumption,multipath interference,high security,and high ranging accuracy.UWB wireless positioning has become a research hotspot at home and abroad.This article focuses on UWB positioning technology,researches and designs UWB indoor wireless positioning system.This system can meet the basic requirements of AGV positioning both in static positioning and dynamic positioning.The main work of the thesis is as follows:(1)Analyze the principle,characteristics and performance of UWB positioning technology.Compare several ToF-based ranging algorithms,and select based on multi-base stations communication ADS-TWR algorithm.Aiming at the problem of the declining positioning accuracy of the target in motion,an ADS-TWR algorithm based on the dynamic ranging equation is proposed.Finally combine the EKF filter to dynamic positioning.(2)Design and implementation of UWB indoor wireless positioning system,including the hardware design as well as the software design.The system includes three parts: positioning devices,wireless base stations,and an information control center.The positioning devices and the base stations respectively adopt the STM32 and the Raspberry Pi as main controllers,and the UWB communication adopts the DWM1000 module to implement.The positioning devices and the base stations constitute a UWB position sensing network,and The base stations and the control center constitute a data communication network.The control center uses the positioning algorithm to track and locate the target.(3)Arrange the actual verified experimental environment and configure the position coordinates and system parameters of each device.The experiment includes static positioning and dynamic positioning.The static positioning verifies the effectiveness of UWB ranging,and the ranging error is fitted and corrected.The compensation is performed in the subsequent dynamic positioning algorithm.The dynamic positioning experiment simulates the sports performance of AGV and finally obtains the performance indicators for dynamic positioning.After the above theoretical analysis and practical implementation,the UWB indoor wireless positioning system can meet the positioning requirements of AGV.Experiments show that the positioning accuracy can reach centimeter level in both dynamic and static environments.