Research on robot positioning algorithm based on dual frequency continuous wave

Zihong Chen; Chunling Wang; Liangyan Wang; Xiaoyi Zhan

doi:10.1117/12.2626811

21 December 2021 Research on robot positioning algorithm based on dual frequency continuous wave

Zihong Chen, Chunling Wang, Liangyan Wang, Xiaoyi Zhan

Proceedings Volume 12156, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2021); 121560T (2021) https://doi.org/10.1117/12.2626811
Event: International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2021), 2021, Sanya, China

Abstract

In order to improve the positioning and ranging capabilities of the robot, a method of processing information based on robot radar positioning is proposed. The radar scanning is used to collect the positioning signal of the robot. The phase difference method is used to estimate the target position of the robot from the radar signal of the simulated target echo. A parameterized dual-frequency mode generator is designed to achieve accurate positioning of the robot. The basic models of single-frequency and dual-frequency mode objectives are proposed, and the initial phase of the modulation generated by the distance is obtained. The dual-frequency mode spectrum obtained from the actual data and the parameters such as the calculated distance, velocity, and acceleration are calculated and analyzed. Simulation results show that this method can improve the accuracy of robot positioning. The signal-to-noise of the radar signal output is relatively high, which indicates that the robot positioning has strong anti-interference ability, which improves the positioning accuracy of the robot.

Citation Download Citation

Zihong Chen, Chunling Wang, Liangyan Wang, and Xiaoyi Zhan "Research on robot positioning algorithm based on dual frequency continuous wave", Proc. SPIE 12156, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2021), 121560T (21 December 2021); https://doi.org/10.1117/12.2626811

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KEYWORDS

LIDAR

Signal processing

Radar

Ranging

Signal detection

Phase shift keying

Signal to noise ratio

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