摘要
提出一种新型的AGV定位导航方案,通过RFID与图像识别解决惯性导航误差累计的缺陷,以STM32为主控制器实现对平台的数据采集和姿态计算,由传感器得到平台的加速度、角速度,采用四元数法作为平台的姿态更新算法,经滤波后得到平台的姿态角。实验结果表明,该方法可靠性强,计算简单,且具有较好的定位精度,可以满足AGV的定位系统要求。
A new AGV positioning and navigation scheme has been proposed.The defects of inertial navigation error accumulation are solved by RFID and image recognition and STM 32 is used as the main controller to realize the data acquisition and attitude calculation of the platform.The platform’s acceleration and angular velocity obtained by sensors and the quaternion method are used as the updated attitude algorithm of the platform.In addition,the platform attitude angle can be obtained after filtering.The experimental results show that the method has high reliability,simple calculation and good positioning accuracy and it can meet the requirements of AGV positioning system.
出处
《起重运输机械》
2018年第8期81-84,共4页
Hoisting and Conveying Machinery
关键词
AGV
惯性导航
图像识别
姿态解算
AGV
inertial navigation
image recognition
attitude algorithm
