UWB-based positioning and control method for suspension type unmanned vehicles
A control method and suspension technology, applied in the field of unmanned vehicles, can solve the problems of poor positioning accuracy and inability to locate, and achieve the effect of reducing positioning error and enhancing anti-interference.
Inactive Publication Date: 2018-05-29
江苏添仂智能科技有限公司
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The defect of a single positioning technology can easily lead to poor positioning accuracy or failure to locate
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[0029] Such as figure 1 As shown, a method for positioning and controlling a UWB-based suspended unmanned vehicle includes the following steps:
[0030] (1) Install UWB ranging sensor A and UWB ranging sensor B on the two suspended unmanned vehicles at the front and rear of the same track;
[0031] (2) UWB ranging sensor A transmits a signal to UWB ranging sensor B, UWB ranging sensor B will send a signal to UWB ranging sensor A after receiving the signal, UWB ranging sensor A receives UWB ranging sensor B After sending the signal, use UWB TOF algorithm and Kalman filter algorithm to calculate the distance between UWB ranging sensor B and UWB ranging sensor A;
[0032] (3) The UWB ranging sensor B obtains the distance between the UWB ranging sensor B and the UWB ranging sensor A in the same way;
[0033] (4) UWB control module A and UWB control module B obtain the safe distance sent by UWB distance measuring sensor A and UWB distance measuring sensor B respectively, judge an...
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The invention discloses a UWB-based positioning and control method for suspension type unmanned vehicles. The method comprises the following steps that: a UWB distance measuring sensor A and a UWB distance measuring B are respectively installed on two consecutive suspension type unmanned vehicles on the same track; the UWB distance measuring sensor A transmits a signal to the UWB distance measuring sensor B; after receiving the signal, the UWB distance measuring sensor B sends a signal to the UWB distance measuring sensor A; after receiving the signal sent by the UWB distance measuring sensorB, the UWB distance measuring sensor A calculates a distance between the UWB distance measuring sensor B and the UWB distance measuring sensor A through using the TOF algorithm and Kalman filter algorithm of a UWB; the UWB distance measuring sensor B obtains a distance between the UWB distance measuring sensor B and the UWB distance measuring sensor A through adopting the same method; and a UWB control module and a UWB control module obtain safety distances sent by the UWB distance measuring sensor A and the UWB distance measuring sensor B and perform safety distance judgment and positioning.With the method of the invention adopted, positioning error can be effectively reduced, and more information can be provided for the obstacle avoidance of the unmanned vehicles.
Description
technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a positioning and control method for a suspended unmanned vehicle based on UWB. Background technique [0002] Unmanned vehicles can reach the designated destination autonomously and safely without human intervention. Among them, obstacle avoidance, positioning and navigation are the core issues of unmanned vehicle research. After effectively controlling the movement of unmanned vehicles, the positioning of unmanned vehicles has become the first problem to be solved in navigation control. Defects of a single positioning technology can easily lead to poor or impossible positioning accuracy. The suspension car runs on a one-dimensional track, and the driving route is predetermined, but to realize unmanned driving, a detection device is needed to effectively detect the distance between the front and rear cars, and then control the speed of the car to prevent rear-end colli...
Claims
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IPC IPC(8): G05D1/02
CPCG05D1/0219
Inventor 莫凌飞高正万玲
Owner 江苏添仂智能科技有限公司