An indoor autonomous guided vehicle based on electromagnetic tracking and positioning ibeacon

In order to further improve the efficiency of indoor unmanned transport, a low-power and efficient navigation and positioning system is designed. The system combines the advantages of the detecting method of electromagnetic signals and the indoor positioning technology based on Bluetooth Low Energy (BTLE). By analyzing the magnetic field model, common inductance coils are used as a sensor to detect the magnetic field, and the differential steering mechanism of the motor is controlled by the tracking characteristics of the dual-inductive electromagnetic sensor. For GPS can not provide satisfactory indoor positioning results, on the basis of the electromagnetic tracking system combined with the indoor positioning technology based on spatial information mode, a stable and independent indoor positioning system is finally realized. And with the predetermined electromagnetic track crossing point, the dead reckoning accumulated error for signpost is revised. The experimental results show that the system can achieve stable operation, and the system design is reasonable and basically meets the design goals and users' needs.