Research on Positioning System of Intelligent Inspection Robot Based on UWB
Due to the harsh environment in the pipe gallery and the long inspection distance,the fixed monitoring equipment cannot achieve full coverage monitoring,so it is necessary to replace the traditional pipe gallery inspection method with the pipe gallery inspec-tion robot.However,the key that the pipe gallery inspection robot can operate stably and orderly is to achieve precise positioning of the pipe gallery inspection robot,that is,to obtain the precise coordinates of the inspection robot in the pipe gallery.At present,the positio-ning technology used by the pipe gallery inspection robot,such as radio frequency,WiFi,inertial odometer,is vulnerable to environmen-tal interference and accumulated error interference in the pipe gallery.The positioning accuracy is from 5 m to 50 m,which is difficult to meet the positioning accuracy requirements of the pipe gallery intelligent inspection robot positioning system within 1 m.Therefore,an intelligent positioning system of pipe gallery inspection robot based on UWB(ultra wide band)was proposed.By means of analyzing the transmission characteristics of UWB signals in the pipe gallery,building the motion model of the inspection robot in the pipe gallery,and establishing the positioning and tracking simulation experiment of the inspection robot in MATLAB,a LS-PSO positioning algorithm of the inspection robot based on the modified S-V channel model of the UWB pipe gallery and an EKF tracking algorithm based on the motion model of the inspection robot were designed,and the LS-PSO/EKF fusion positioning and tracking model of the inspection robot was established.Compared with KF algorithm in MATLAB positioning and tracking simulation,the proposed inspection robot LS-PSO/EKF fusion positioning and tracking model can effectively remove pipeline noise interference in complex pipeline environ-ments,and the positioning accuracy is significantly improved compared to KF algorithm.
robot positioningUWB technologyintelligent inspectionlocation tracking model
万方数据
维普
