本文選題：wMPS + AGV�。� 參考：《天津大學(xué)》2016年博士論文

【摘要】：隨著高端裝備制造及大型倉(cāng)儲(chǔ)物流領(lǐng)域的飛速發(fā)展,自動(dòng)導(dǎo)引車(AGV:Automated Guided Vehicle)作為一種新型移動(dòng)機(jī)器人,其應(yīng)用范圍和技術(shù)水平得到了不斷拓展與迅猛提升。然而,伴隨AGV機(jī)電性能的不斷增強(qiáng),現(xiàn)有AGV導(dǎo)航定位方法由于受限于路徑單一、測(cè)量速率慢、精度低及穩(wěn)定性差等問(wèn)題,已無(wú)法滿足車體實(shí)時(shí)、快速并準(zhǔn)確獲取自身空間位姿信息的迫切需求,極大制約了后續(xù)的控制及路徑規(guī)劃工作。研發(fā)具備高精度、強(qiáng)實(shí)時(shí)性、配置靈活且自主可靠的高性能導(dǎo)航定位技術(shù)是AGV進(jìn)一步走向精準(zhǔn)化和智能化的關(guān)鍵。近年來(lái),大尺寸空間三維坐標(biāo)測(cè)量定位技術(shù)日益成熟完善,以車間測(cè)量定位系統(tǒng)(wMPS:workshop Measuring and Positioning System)為代表的自主研發(fā)型儀器設(shè)備已完成產(chǎn)業(yè)化并得到了深入應(yīng)用。在航空、航天及造船等高端裝備制造領(lǐng)域,wMPS以其全空間、高精度、多任務(wù)等出色性能,為廠內(nèi)靜態(tài)、動(dòng)態(tài)測(cè)量定位任務(wù)提供了豐富的解決方案。因此,通過(guò)wMPS對(duì)AGV實(shí)施精確導(dǎo)航是解決現(xiàn)存問(wèn)題的一種新穎而有效的方法。本文從室內(nèi)定位理論與新方法、動(dòng)態(tài)測(cè)量誤差建模與分析、多系統(tǒng)輔助與信息融合、導(dǎo)航性能驗(yàn)證與評(píng)價(jià)等多方面對(duì)基于wMPS及其在慣性導(dǎo)航系統(tǒng)輔助下的室內(nèi)AGV導(dǎo)航定位方法展開(kāi)研究。本文主要完成了以下研究?jī)?nèi)容:一.對(duì)基于wMPS的空間信息(位置、姿態(tài)及速度等)測(cè)量原理及方法進(jìn)行深入研究,提出了基于后方交會(huì)及高度先驗(yàn)信息的多種新型導(dǎo)航定位配置方案,并通過(guò)仿真及實(shí)驗(yàn)進(jìn)行了詳細(xì)而深入的驗(yàn)證。二.針對(duì)wMPS在動(dòng)態(tài)坐標(biāo)測(cè)量過(guò)程中引入的原理性誤差,本文對(duì)其形成機(jī)理及特性進(jìn)行了深入探究。通過(guò)計(jì)算機(jī)仿真對(duì)不同時(shí)空信息背景中接收器處于不同運(yùn)動(dòng)狀態(tài)下的理論動(dòng)態(tài)坐標(biāo)測(cè)量誤差值進(jìn)行了精確計(jì)算,并發(fā)現(xiàn)動(dòng)態(tài)測(cè)量誤差存在隨時(shí)間與空間的變化呈現(xiàn)周期性波動(dòng)的規(guī)律,且不同時(shí)刻誤差之間呈現(xiàn)一定相關(guān)性�；诜治鼋Y(jié)果,本文通過(guò)ARMA模型對(duì)動(dòng)態(tài)坐標(biāo)測(cè)量誤差進(jìn)行時(shí)間序列建模,為優(yōu)化儀器性能、提升實(shí)時(shí)定位精度及設(shè)計(jì)組合系統(tǒng)提供了理論支持。三.針對(duì)wMPS數(shù)據(jù)更新率較低且快速動(dòng)態(tài)跟蹤能力較弱等問(wèn)題,本文提出了一種將捷聯(lián)式慣性導(dǎo)航系統(tǒng)(SINS)的觀測(cè)值插入于wMPS相鄰時(shí)刻觀測(cè)值之間進(jìn)而實(shí)現(xiàn)輔助wMPS導(dǎo)航定位的方法。在深入研究了敏感器件、測(cè)量模型、初始對(duì)準(zhǔn)及坐標(biāo)系統(tǒng)一等問(wèn)題的基礎(chǔ)上,對(duì)SINS在室內(nèi)環(huán)境的位姿測(cè)量性能進(jìn)行了仿真及實(shí)驗(yàn)驗(yàn)證。四.針對(duì)如何進(jìn)一步提升導(dǎo)航定位系統(tǒng)的精度、穩(wěn)定性及可靠性,本文提出一種基于間接Kalman濾波的組合導(dǎo)航定位方法。在對(duì)組合系統(tǒng)精度提升原理進(jìn)行深入研究與證明的基礎(chǔ)上,基于SINS的誤差方程與wMPS的動(dòng)態(tài)坐標(biāo)測(cè)量誤差建模結(jié)果,本文提出了不同耦合深度下的組合導(dǎo)航系統(tǒng)信息融合模型。計(jì)算機(jī)仿真結(jié)果表示,基于Kalman濾波的信息融合方法進(jìn)一步提升了導(dǎo)航定位系統(tǒng)的整體性能。五.針對(duì)現(xiàn)有動(dòng)態(tài)定位性能評(píng)價(jià)方法受限于預(yù)定軌跡約束的不足,本文提出了一種基于任意運(yùn)動(dòng)軌跡的動(dòng)態(tài)坐標(biāo)測(cè)量精度評(píng)價(jià)方法,并以實(shí)驗(yàn)室小范圍環(huán)境、航空智能制造為背景,對(duì)本文所提出的諸多導(dǎo)航定位方法進(jìn)行了全面而深入的綜合驗(yàn)證。實(shí)驗(yàn)結(jié)果表明,基于wMPS的室內(nèi)AGV導(dǎo)航定位方法跟蹤性能強(qiáng)、精度高,是一套服務(wù)于現(xiàn)代化高端裝備制造行業(yè)的理想解決方案。
[Abstract]:With the rapid development of high-end equipment manufacturing and large storage and logistics fields, as a new type of mobile robot, the application scope and technical level of AGV:Automated Guided Vehicle have been expanded and promoted rapidly. However, with the continuous enhancement of the mechanical and electrical performance of AGV, the existing AGV navigation and positioning methods are limited to Single path, slow measurement rate, low precision and poor stability have been unable to meet the urgent needs of the vehicle body real-time, fast and accurate acquisition of its own spatial position and posture information, which greatly restricts the follow-up control and path planning work. The high performance navigation and positioning technology with high precision, strong real-time, flexible configuration and independent reliability is developed. AGV is the key to precision and intelligence. In recent years, the technology of three-dimensional coordinate measurement and positioning in large size space is becoming more and more mature. The independent research and development instrument, represented by the wMPS:workshop Measuring and Positioning System, has been industrialized and applied in depth. In the field of shipbuilding and other high-end equipment manufacturing, wMPS provides a rich solution for the static and dynamic positioning tasks in the factory for its full space, high precision, multi task and so on. Therefore, the implementation of precise navigation through wMPS to AGV is a novel and effective method to solve the existing problems. The modeling and analysis of state measurement error, multi system assistance and information fusion, navigation performance verification and evaluation are carried out to study the indoor AGV navigation and positioning method based on wMPS and its inertial navigation system. The main contents of this paper are as follows: 1. Measurement of spatial information based on wMPS (position, attitude and speed, etc.) The principle and method are deeply studied, and a variety of new navigation and positioning schemes based on the rear intersection and high priori information are proposed, and the detailed and thorough verification is carried out through simulation and experiment. Two. The principle error introduced in the dynamic coordinate measurement process of wMPS is introduced, and the formation mechanism and characteristics are deeply studied in this paper. Through computer simulation, the error value of the theoretical dynamic coordinate measurement in different moving states of different space-time information background is calculated accurately, and it is found that the dynamic measurement error presents periodic fluctuation with the change of time and space, and there is a certain correlation between different simultaneous engravings. In this paper, the ARMA model is used to model the time series of the dynamic coordinate measurement error, which provides the theoretical support for optimizing the performance of the instrument, improving the real-time positioning accuracy and designing the combination system. Three. In this paper, a strapdown inertial navigation system is proposed for the low update rate of wMPS data and the weak dynamic tracking ability. The observation value of the system (SINS) is inserted between the observed values of the wMPS adjacent time to realize the assistant wMPS navigation and positioning method. On the basis of the in-depth study of the sensitive devices, the measurement model, the initial alignment and the coordinate system, the simulation and experimental verification of the position and posture measurement of SINS in the indoor environment are carried out. Four. One step is to improve the accuracy, stability and reliability of the navigation and positioning system. In this paper, a combined navigation and positioning method based on indirect Kalman filtering is proposed. Based on the in-depth study and proof of the principle of the precision lifting of the combined system, based on the error modeling results of the error equation of SINS and the dynamic coordinate measurement of wMPS, this paper puts forward the results of this paper. The information fusion model of integrated navigation system under the same coupling depth. The computer simulation results show that the information fusion method based on Kalman filtering improves the overall performance of the navigation and positioning system further. Five. In view of the shortage of the existing dynamic positioning performance evaluation method limited to the predetermined trajectory constraints, this paper proposes a kind of arbitrary motion based on arbitrary motion. The dynamic coordinate measurement accuracy evaluation method of the trajectory is carried out in the background of the laboratory small environment and aeronautical intelligent manufacturing. Many navigation and positioning methods proposed in this paper are comprehensively and thoroughly verified. The experimental results show that the indoor AGV navigation and positioning method based on wMPS has strong tracking performance and high precision. It is a set of service in modern times. The ideal solution to the high-end equipment manufacturing industry.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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