摘要
针对超宽带无人运输车的在仓库中的定位精度受多径传播及非视距误差等影响,传统算法计算量大等问题,提出了一种改进的最小二乘和泰勒展开的定位算法。通过基于最小二乘和泰勒展开的定位算法得到的目标节点坐标的初定位结果,设计了一种评价函数方法结合初定位结果进行误差判断及参考节点筛选,剔除误差较大的定位数据,再对筛选得到的定位数据使用最小二乘和泰勒展开定位算法得到最终定位结果。最后对该算法进行实验验证,结果表明该算法能有效提高定位精度,在一定程度上减少计算量。
In a warehouse environment, the positioning precision of automates guided vehicle using Ultra Wide-Band is affected by the multipath propagation and NLOS error etc., and the traditional algorithm needs large amount of calculation. To the above problem, an improved positioning algorithm based on least squares and Taylor expansion is proposed in this paper. A preliminary positioning result is obtained by the positioning algorithm based on the least squares and Taylor expansion, an evaluation function method is designed for the error judgment and reference node selection with the preliminary positioning result to discard the location data with greater error. Then final positioning result is obtained based on the positioning data after selection using the least squares and Taylor method again. Finally, the algorithm is verified by experiments. The results demonstrate that the proposed algorithm can effectively improve the positioning accuracy,and can reduce the computational complexity to some extent.
作者
高培
蒋学程
何栋炜
GAO Pei;JIANG Xuecheng;HE Dongwei(Department of Information Engineering, Fujian Business University, Fuzhou,Fujian 350012, China;Department of Physics and Electronic Information Engineering,Minjiang University, Fuzhou,Fujian 350108, China;School of Information Science and Engineering, Fujian University of Technology, Fuzhou,Fujian 350118, China)
出处
《闽江学院学报》
2019年第2期47-55,共9页
Journal of Minjiang University
基金
福建省中青年教师教育科研项目(JT180635)
福建省自然科学基金项目(2018J01640)
