EKF-based fusion algorithm for magnetic nail navigation technology
Guijuan Lin, Silin Zhao, Houde Dai · 2022
Limited by the difficulty of vehicle speed control when registering QR codes and the high maintenance cost of QR codes, the development of automated guided vehicle (AGV) navigation technology based on QR codes has encountered bottlenecks in the development of industrial logistics. The information fusion of the magnetic positioning method and the odometer can overcome the shortcomings of the AGV navigation technology based on the two-dimensional code. By laying magnetic nails on the ground, the magnetic positioning method provides the attitude of the closest magnetic nail relative to the automated guided vehicle. The experimental results show that the average path accuracy of the magnetic nail navigation based on the EKF algorithm proposed in this paper is 83±15 mm, and the average magnetic positioning accuracy is 11.7±0.59 mm.