基于分步式Kalman滤波器的AGV姿态角估计方法实验研究.pdfVIP

Journal o f X an U n ve rs ty o f T echno logy( 2010) V o l. 26 N o. 1 37 : 100647 10 ( 20 10) K alm an AGV 1 2 1 1 史恩秀 , 王振 , 黄玉美 , 杨佳丽 ( 1. , 71004 8; 2. , 719000) : 针对AGV 的定位问题, 设计了多传感器分步式K alm an 滤波器, 通 其对编码器陀螺仪和 超声波传感器等测量信息的融合实现了对A GV 姿态角的准确估计仿真结果表明所设计的滤波 器是可靠的有效的, 实验结果验证了所设计的滤波器可实时精确地实现A GV 的姿态角估计, 定 位精度可满足实际生产中对AGV 的使用要求 : 自主导航小车; 定位; 信息融合; 分布式 Kalm an 滤波器; 姿态角估计 : TM 936. 6; TB921 : A Experiment Study of theMethod forEstimatingAGV s Posture Based onMultipleStep Kalman Fusion forMultiSensor 1 2 1 1 SH I Enx u , WANG Zhen , HUANG Y um e , YANG J al ( 1. Inst tute of M ach ne and A utom at on, X an U n ve rs ty o f T echno logy, X an 71004 8, Ch na; 2. Y u ln College, Y u ln 719000, Ch na) Abstract: W th the a m o f AGV pos t on prob lem, the nove l type of m ult p lestep K alm an f lter based on m ult sensor s des gned. A GV s posture s accurate ly estm ated v a the m easured data fu s on o f the en coders, gyroscope and ultrason c sensors. The sm ulat on resu lts nd cate that the des gned f lter s re l a b le and effect ve. A lso, the experm ent resu lts test that the des gned f lter can ach eve the estm a t on o f AGV posture tm ely and accurately and that the pos t on accurateness can sat sfy the requ rem en t o f AGV u se n the pract ca l product on. Key ords: AGV ( A u tom ated Gu ded V eh cle) ; pos t on; data fu s on; mu lt plestep K alm an f lter; posture est m ate AGV ( A utom at c Gu ded V eh cle) , ( FM S AGV C IM S )