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 realize the high precision positioning of the mobile robot, a new hybrid positioning algorithm based on VLC was established, the theoretical analysis and experimental verification were investigated. First, according to the advantages and disadvantages of the traditional RSS position algorithm and AOA position algorithm, the RSS algorithm was improved in the paper. Using the relationship between the signal strength and the angle rather than the distance, a hybrid positioning algorithm model was obtained. Then the positioning algorithm was analyzed theoretically in the actual implementation process mainly from the angle of measurement in order to achieve the target parameters. The feasibility of the algorithm was verified by the experiment and the measurement data was obtained. Finally, the experimental data was analyzed to observe the positioning accuracy. The experimental results show that the localization accuracy of the proposed experiment is 6.11 cm, which is less than 10 cm. Besides, compared with the other two kinds of positioning algorithm, the algorithm had high precision, low cost and high feasibility.