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Indoor robot positioning method based on UWB

An indoor robot and positioning method technology, applied in the field of indoor robot positioning based on UWB, can solve the problems of low label expansion, complex environment layout, large amount of calculation, etc., and achieve the effect of simple scene layout, cost reduction and energy saving

Active Publication Date: 2021-03-26
JIANGSU UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a UWB-based indoor robot positioning method to solve the problems of channel occupation, low label scalability, and environmental problems in the existing indoor robot positioning technology. Technical issues with complex layout and heavy calculation

Method used

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  • Indoor robot positioning method based on UWB
  • Indoor robot positioning method based on UWB
  • Indoor robot positioning method based on UWB

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Embodiment Construction

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0036] The example of the present invention provides a UWB-based indoor robot positioning method, which can avoid signal conflicts by dispersing clock calculations and realize robot positioning in real time. figure 1 The hardware system block diagram of the UWB-based indoor robot positioning system carrying the method of the present invention includes a base ...

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Abstract

The invention discloses an indoor robot positioning method based on UWB, and the method comprises the steps: setting a clock reference base station, taking the time of the base station as the standard, and calculating the clock offset of other base stations according to the clock reference base station during each time of time synchronization; and calculating the time offset between the robot andthe base station during positioning on the basis of the clock offset of the base station, and carrying out time correction according to the obtained time offset in the subsequent positioning process between the robot and the base station. The clock model is created for each base station, so that the correction of the local arrival time of the positioning signal is realized, a decentralized calculation method is provided, and the real-time performance of positioning is improved; and meanwhile, the defect of long channel occupation time in local arrival time correction of the TWR method in the prior art is avoided, and a foundation is laid for later expansion performance while the energy consumption is saved.

Description

technical field [0001] The invention relates to the field of indoor wireless communication and robot positioning systems, in particular to an indoor robot positioning method based on UWB (UltraWide Band). Background technique [0002] Intelligent robots are becoming the cusp of the industry. Starting from cleaning robots, family companion robots and food delivery robots have gradually entered the public eye. When discussing whether these robots can solve practical problems, autonomous positioning and navigation technology, as the first step in robot intelligence, is constantly attracting attention in the industry. [0003] As one of the most attractive positioning technologies, wireless positioning systems have attracted much attention. UWB has recently been "repurposed" as an accurate, secure, real-time positioning technology unmatched by other wireless technologies such as Wi-Fi, Bluetooth, and GPS. [0004] UWB technology can achieve centimeter-level positioning accurac...

Claims

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Application Information

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IPC IPC(8): H04W4/021H04W4/33H04W56/00H04W64/00
CPCH04W4/021H04W4/33H04W56/001H04W64/00Y02D30/70
Inventor 马国军冷加俊顾琪伟朱琎
Owner JIANGSU UNIV OF SCI & TECH
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