Studying On The Indoor AGV Integrated Navigation Based On RFID/SINS

Automated Guided Vehicle(AGV)is the key equipment for logistics transfer in intelligent factories,and automatic navigation technology is the core of AGV ’s efficient and high-precision operation.The traditional single navigation methods such as vision,laser,inertia and radio frequency identification are easily affected by environment,light and other factors in the indoor environment,which may lead to problems such as error divergence and trajectory twists and turns,finally cause poor navigation accuracy and low operating efficiency.Therefore,how to make full use of the advantages of each single navigation method to effectively integrate multiple navigation methods and improve the navigation accuracy and operation efficiency of AGV in indoor environment under the premise of controlling cost has become the development direction of indoor AGV navigation technology research.For the objective requirements of indoor navigation,this study designed a low-cost RFID/SINS(Strapdown Inertial Navigation System)integrated navigation system combining passive RFID navigation and inertial navigation.The system is mainly based on inertial navigation,and makes full use of passive RFID.The characteristics of simple structure,convenient installation,strong signal penetration and simple positioning algorithm avoid the defects of inertial navigation long-distance navigation error divergence.In view to the problems of low positioning accuracy of passive RFID navigation and noise interference of integrated navigation,RFID fingerprint positioning technology and adaptive Kalman filter integrated navigation technology were studied,which effectively improves the positioning accuracy and stability of navigation.The main research results of this paper is as follows:(1)The research status of AGV indoor navigation was comprehensively reviewed,and the technical requirements of AGV indoor navigation were analyzed in detail.On this basis,a low-cost RFID/SINS integrated navigation system combining passive RFID navigation and inertial navigation was designed,and the key technologies to realize the system were pointed out.(2)In view to the problem of short distance and small range of passive RFID indoor positioning and recognition,the top label arrangement scheme was adopted to expand the recognition range while ensuring a certain recognition distance.For the problem of low matching accuracy and large data processing amount of passive RFID location fingerprint positioning algorithm,the dual matching method based on naive Bayes was used to optimize.Experiments showed that the average positioning accuracy of passive RFID was about 30 mm,and the positioning accuracy and stability were greatly improved.(3)In response to problem of uncertain noise parameters of integrated navigation in complex indoor environment,adaptive Kalman filter was used to optimize the noise parameters and measurement parameters to realize real-time update.The simulation results showed that the overall navigation accuracy and stability of the RFID/SINS integrated navigation system processed by adaptive Kalman filter are improved by 9.36 %and 6.64 %.(4)The AGV experimental platform of RFID/SINS integrated navigation was built.The RFID/SINS integrated navigation experiment was carried out by using standard Kalman filter and adaptive Kalman filter respectively.The experiment verified that the overall navigation accuracy of adaptive Kalman filter was higher and the stability was better.The theoretical derivation and software simulation results were verified.The integrated navigation system based on RFID/SINS can meet the needs of indoor AGV high-precision navigation.