【摘要】：在倉(cāng)庫(kù)和地下停車(chē)場(chǎng)等室內(nèi)環(huán)境中,室內(nèi)交通事故時(shí)有發(fā)生,造成生命和財(cái)產(chǎn)損失。為保障室內(nèi)活動(dòng)的人員車(chē)輛的安全,在可能發(fā)生碰撞事故時(shí),應(yīng)該及時(shí)做出預(yù)警。所以完善和提高室內(nèi)物體碰撞預(yù)警和定位的技術(shù),并開(kāi)發(fā)出一種室內(nèi)物體防碰撞系統(tǒng)具有至關(guān)重要的意義。由于室內(nèi)定位是GPS技術(shù)難以解決的問(wèn)題,研究人員開(kāi)始研究基于無(wú)線通信技術(shù)實(shí)現(xiàn)室內(nèi)定位的方法。本文分析了室內(nèi)定位技術(shù)的原理及其特點(diǎn),闡述了目前物體防碰撞領(lǐng)域的一些技術(shù)和研究成果以及超寬帶技術(shù)的國(guó)內(nèi)外研究現(xiàn)狀。本文從超寬帶的基本概念和定位原理出發(fā),將防碰撞的流程分為兩個(gè)方面的研究。一方面,為了檢測(cè)室內(nèi)物體的碰撞狀態(tài),本文提出基于超寬帶技術(shù)的室內(nèi)物體防碰撞策略。該策略首先基于超寬帶定位產(chǎn)生的物體實(shí)時(shí)位置構(gòu)造室內(nèi)物體的包圍盒,并按照其運(yùn)動(dòng)狀態(tài)劃分為運(yùn)動(dòng)物體和靜止物體,將運(yùn)動(dòng)物體單獨(dú)加入檢測(cè)隊(duì)列。其次,運(yùn)動(dòng)物體通過(guò)計(jì)算其安全距離擴(kuò)展包圍盒樹(shù)。所有物體按其位置依次插入四叉樹(shù)節(jié)點(diǎn)后,循環(huán)出列檢測(cè)隊(duì)列的物體與其余物體進(jìn)行相交測(cè)試。最后,通過(guò)仿真實(shí)驗(yàn)結(jié)果顯示該策略在室內(nèi)物體碰撞檢測(cè)中表現(xiàn)出很好的效果。另一方面,對(duì)于室內(nèi)定位容易產(chǎn)生NLOS問(wèn)題,本文分析了定位誤差校正算法研究現(xiàn)狀,提出一種基于低運(yùn)算量殘差加權(quán)的CHAN算法(CHAN-LCCRW算法),并進(jìn)行仿真實(shí)驗(yàn),其仿真結(jié)果表明該算法與傳統(tǒng)方法相比更好地抑制了非視距誤差。另外,本文還對(duì)超寬帶叉車(chē)防碰撞系統(tǒng)進(jìn)行了系統(tǒng)的需求分析、建模和設(shè)計(jì)工作。
[Abstract]:In indoor environment, such as warehouse and underground parking lot, indoor traffic accidents occur frequently, resulting in loss of life and property. In order to ensure the safety of personnel and vehicles in indoor activities, early warning should be made in case of possible collision accidents. Therefore, it is of great significance to improve and improve the collision warning and positioning technology of indoor objects and to develop an anti-collision system for indoor objects. Because indoor positioning is a difficult problem in GPS technology, researchers begin to study the method of indoor location based on wireless communication technology. In this paper, the principle and characteristics of indoor positioning technology are analyzed, and some technologies and research results in the field of object collision prevention are described, as well as the domestic and foreign research status of ultra-wideband (UWB) technology. Based on the basic concept and positioning principle of UWB, the anti-collision process is divided into two aspects in this paper. On the one hand, in order to detect the collision state of indoor objects, this paper proposes an anti-collision strategy based on UWB technology. Firstly, the bounding box of indoor objects is constructed based on the real-time position of objects generated by UWB localization, and the moving objects are divided into moving objects and stationary objects according to their motion state, and the moving objects are added to the detection queue separately. Secondly, the moving object extends the bounding box tree by calculating its safe distance. All objects are inserted into quadtree nodes according to their positions, and the objects in the detection queue are tested intersecting with the other objects. Finally, the simulation results show that the strategy is effective in indoor collision detection. On the other hand, for indoor positioning is easy to produce NLOS problem, this paper analyzes the research status of positioning error correction algorithm, proposes a CHAN algorithm (CHAN-LCCRW algorithm) based on low computation residual weighting, and carries out simulation experiments. The simulation results show that the proposed algorithm is better than the traditional method in reducing the non-line-of-sight error. In addition, the system requirement analysis, modeling and design of UWB forklift anti-collision system are carried out in this paper.
【學(xué)位授予單位】：南京郵電大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TN925

【引證文獻(xiàn)】

相關(guān)期刊論文 前1條

1 戴明宏;呂蒙;;基于UWB實(shí)時(shí)定位鐵路大型養(yǎng)路機(jī)械施工人員防碰撞技術(shù)研究[J];產(chǎn)業(yè)創(chuàng)新研究;2018年02期

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本文編號(hào)：2262262