AVG inertial navigation method

Abstract

The invention discloses an AVG inertial navigation method. The AVG inertial navigation method comprises the substeps of S1: building of a navigation system; S2: data acquisition; S3: acquisition of gyroscope data; S4: fixed drifting treatment; S5: Kalman filtering treatment; S6: angle acquisition; S7: magnetic nail correction; S8: track plotting; S9: PID adjustment; and S10: movement control. According to the method, data acquired by a gyroscope is obtained through an inquiry mode, meanwhile, the fixed drifting and random errors of the data acquired by the gyroscope can be effectively filtered out, the accurate angle data of the gyroscope can be acquired, the precision is + / -0.1 degree, the positions and the postures of all the sampling moments can be accurately calculated, the precision reaches + / -5mm, and the navigation precision can reach + / -10mm.

Description

technical field [0001] The invention belongs to the field of automatic control, and belongs to an AGV inertial navigation method. Background technique [0002] At present, the AGV automatic guided vehicle has become an important equipment in intelligent manufacturing, advanced logistics and digital factories. It plays a very important role in facilitating factory transportation and improving production efficiency. The so-called automatic guidance is to run along the designated track. At present, the common line patrol navigation includes photoelectric sensors, vision, laser and magnetic navigation sensors, etc. For photoelectric sensors, it is cheap and simple to cooperate with black and white tape, but the signal is easy to cause The uneven ground leads to instability, the tape is easily affected by dust and garbage, etc., resulting in unstable line inspection; the visual range is large, and the requirements for the line are not high, but it is easily affected by light, and...

AI Technical Summary

Problems solved by technology

The so-called automatic guidance is to run along the designated track. At present, the common line patrol navigation includes photoelectric sensors, vision, laser and magnetic navigation sensors, etc. For photoelectric sensors, it is cheap and simple to cooperate with black and white tape, but the signal is easy to cause The uneven ground leads to instability, the tape is easily affected by dust, garbage, etc., resulting in unstable line inspection; the visual range is large, and the requirements for the line are not high, but it is easily affected by light, and the video acquisition and processing card is expensive. , the sampling frequency is not high; and most of the most common AGV products on the market at home and abroad currently use magnetic strip navigation

Although the magnetic stripe navigation AGV is relatively cheap and reliable in operation, it needs to lay a magnetic stripe every time the AGV is running, especially when the path is long, the laying workload is large, and the cost of the magnetic stripe will be relatively high when the path is too long At the same time, after changing the route, the bottom of the magnetic strip becomes weaker and cannot be reused. The maintenance of the magnetic strip is more troublesome under the conditions of water, rolling, wear and other conditions in the later stage. With the demand of Industry 4.0 and intelligent manufacturing, the market is more concerned about The development of a more flexible and convenient AGV navigation is imminent

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