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为了实现移动机器人的高精度定位,研究了一种新型的可将光混合定位算法,并对该算法进行了理论分析和实验验证。首先,针对传统信号接收强度(RSS)定位算法与到达角度(AOA)定位算法的优缺点,改进了RSS算法,使其不再利用接收到的信号强度和距离的关系而改用接收到的信号强度和探测器旋转角度的关系,并综合以上两种算法分析得到一种混合定位算法模型。同时对混合型算法进行理论分析,主要从角度的测量方面,确定要达到的目标参数,进而可以达到理想的定位精度。然后通过实验验证该算法模型的实现可行性,主要从测量出的角度数据进行计算,并分析通过该实验数据计算出的定位精度是否达到定位精度目标。实验结果表明:定位精度为6.11 cm,高于10 cm定位目标。同时分别相对于其他两种定位算法,该算法定位精度高、成本低、可行性高。
In order to achieve high-precision positioning of mobile robots, a novel hybrid algorithm for locating light is studied, and the algorithm is theoretically analyzed and experimentally verified. First of all, aiming at the advantages and disadvantages of traditional RSS positioning algorithm and AOA positioning algorithm, the RSS algorithm is improved so that it can no longer use the received signal strength and distance instead of the received signal Intensity and angle of rotation of the detector, and combined the above two algorithms to obtain a hybrid positioning algorithm model. At the same time, the hybrid algorithm is analyzed theoretically, mainly from the angle of measurement, to determine the target parameters to be achieved, and then to achieve the desired positioning accuracy. Then the feasibility of this algorithm model is verified through experiments. The main calculation is from the measured angle data, and whether the positioning accuracy calculated by the experimental data reaches the positioning accuracy target is analyzed. Experimental results show that the positioning accuracy is 6.11 cm, higher than the 10 cm positioning target. At the same time relative to the other two positioning algorithms, the algorithm has high positioning accuracy, low cost and high feasibility.