| 基于磁钉技术的集装箱码头AGV 定位精度分析 |
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| 引用本文： | 李凤娥,牛王强.基于磁钉技术的集装箱码头AGV 定位精度分析[J].上海海事大学学报,2016,37(1):38-41. |
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| 作者姓名： | 李凤娥 牛王强 |
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| 作者单位： | 上海民航职业技术学院 民航工程系,上海海事大学 航运技术与控制工程交通行业重点实验室 |
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| 基金项目： | 国家智能制造装备发展专项(2013 2519)； 2013 年度上海市战略性新兴产业重点项目“大型智能化码头装卸系统研究及应用” |
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| 摘 要： | 为解决自动导引车（Automated Guided Vehicle, AGV）的定位精度问题，以国内某在建的自动化集装箱码头为工程背景，研究与基于磁钉技术的AGV定位误差相关的因素.通过给出AGV惯性导航系统的运动方程和误差方程，按照工程实况，在忽略陀螺仪影响的基础上，得到AGV惯性导航系统位置误差的理论计算式.依此指出，基于磁钉技术的AGV组合导航系统定位精度与加速度计精度、AGV 运行方向的余弦、磁钉数据更新时间的平方成正比例关系.最后，对某工程算例进行数值仿真，验证了理论分析的正确性.该方法对磁钉排布、惯性导航系统传感器选型等有参考意义.
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| 关 键 词： | 集装箱码头 自动导引车（AGV） 定位精度 磁钉 惯性导航 组合导航 |
| 收稿时间： | 2015/7/15 0:00:00 |
| 修稿时间： | 2015/9/10 0:00:00 |
Analysis on positioning accuracy of container terminal AGV based on transponder technique |
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| Li Fenge and Niu Wangqiang.Analysis on positioning accuracy of container terminal AGV based on transponder technique[J].Journal of Shanghai Maritime University,2016,37(1):38-41. |
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| Authors: | Li Fenge and Niu Wangqiang |
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| Institution: | Department of Civil Aviation Engineering, Shanghai Civil Aviation College,Shanghai Maritime University,Key Laboratory of Marine Technology and Control Engineering, Ministry of Communications, PRC |
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| Abstract: | To solve the positioning accuracy problem of Automated Guided Vehicles (AGVs), the factors related to positioning error of AGVs based on the transponder technique are studied with a background of an automated container terminal being built in China. The movement equations and error equations of AGV inertial navigation system are given. Based on real engineering conditions, the theoretical expression for positioning error of AGV inertial navigation system is got, where the influence of gyros is omitted. Acoording to the expression, it is pointed out that the positioning accuracy of AGV integrated navigation system based on the transponder technique is in direct proportion to the accelerometer accuracy, the cosine of the AGV running direction, and the square of the update time of transponders. Finally, the validity of the theoretical analysis is verified through numerical simulation on an engineering case. The method is of reference for transponder layout and sensor selection of inertial navigation systems. |
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| Keywords: | container terminal Automated Guided Vehicle (AGV) positioning accuracy transponder inertial navigation integrated navigation |
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