CN101799544A - Space locating method and system based on sound waves - Google Patents
Space locating method and system based on sound waves Download PDFInfo
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- CN101799544A CN101799544A CN 201010134802 CN201010134802A CN101799544A CN 101799544 A CN101799544 A CN 101799544A CN 201010134802 CN201010134802 CN 201010134802 CN 201010134802 A CN201010134802 A CN 201010134802A CN 101799544 A CN101799544 A CN 101799544A
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Abstract
The invention discloses space locating method and system based on sound waves, belonging to the field of distance measurement location. The method comprises the following steps of: receiving the sound waves with a certain frequency spectrum characteristic, which are sent by a tested object from a plurality of receiving positions in a located space, and recording the frequency spectrum characteristic of the sound waves by the tested object; converting the sound waves received by the plurality of receiving positions to a plurality of electric signals; matching a frequency spectrum characteristic of sound waves borne by each electric signal with the frequency spectrum characteristic of the recorded sound waves sent by the tested object, and calculating the distance between the tested object and each receiving position by utilizing a time difference of receiving and sending the sound waves; and determining a space position of the tested object in the located space based on the obtained distance calculation. The locating method can utilize ordinary sound waves or ultrasonic waves; and because a sound wave sending end does not receive echo waves, under the condition, the locating method can weaken the influence generated by a multipath effect and ensure the sensitivity and the accuracy of measurement and has the advantages of simpleness and low cost.
Description
Technical field
The present invention relates to positioning field, particularly relate to a kind of space-location method and system based on sound wave.
Background technology
The indoor positioning technology has a variety of at present, as A-GPS location technology, ultrasonic locating technology, Bluetooth technology, infrared technology, REID, super-broadband tech, WLAN, light track and localization technology, and graphical analysis, beacon location, computer vision location technology or the like, each have their own application merits and demerits.
Wherein, location technology bearing accuracies such as A-GPS, Bluetooth technology, infrared technology, REID, super-broadband tech, WLAN are all poor, generally in meter level resolution; Though light track and localization technology, graphical analysis, computer vision location technology precision are higher, but system cost is than higher; Existing ultrasound wave indoor positioning technology can have degree of precision, but what generally adopt is the ultrasonic reflections echo ranging, according to computed range testee is positioned then, but because the ultrasound wave transmitting terminal is accepted echo, can there be the influence of ultrasound wave multipath effect in this situation, thereby can't guarantee sensitivity and the accuracy measured.
Summary of the invention
Based on above-mentioned existing in prior technology problem, the embodiment of the invention provides a kind of space-location method and system based on sound wave, can conveniently the measurand in the space accurately be located.
The objective of the invention is to be achieved through the following technical solutions:
The embodiment of the invention provides a kind of space-location method based on sound wave, comprising:
A plurality of receiving positions receive the sound wave with certain spectrum signature that measurand sent from the location space, and the spectrum signature of record sound wave that measurand sends;
The sound wave that a plurality of receiving positions are received is converted to a plurality of electric signal;
The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, utilize receive and the transmission sound wave between mistiming calculate distance between measurand and each receiving position;
Determine the locus of measurand in the location space by the distance calculation that draws.
Described from the location space a plurality of receiving positions receive the sound waves that measurand sent and comprise with certain spectrum signature:
A plurality of receiving positions in the location space all are provided with the sound wave receiving trap, the sound wave dispensing device is set on measurand, and a plurality of sound wave receiving traps in the space of locating receive the sound wave of certain spectrum signature that the sound wave dispensing device that is provided with on the measurands sends in the location space.
The distance that mistiming between described utilization reception and the transmission sound wave calculates between measurand and each receiving position comprises:
Utilize to send the distance between the measurand that sound wave and the product that receives mistiming between the sound wave and acoustic wave propagation velocity draw receiving position and transmission sound wave.
Describedly determine that by the distance calculation that draws the locus of measurand in the location space comprises:
Utilize the triangulation calculation method to calculate the locus of measurand in the location space by the distance that draws.
The embodiment of the invention also provides a kind of space positioning system based on sound wave, comprising:
A plurality of sound wave receiving traps, sound wave dispensing device and treating apparatus;
A plurality of sound wave receiving traps, be used for being arranged on a plurality of receiving positions in the space of locating receive the sound wave that measurand sent with certain spectrum signature, and the sound wave that is received is converted to electric signal;
The sound wave dispensing device is used to be arranged on measurand, sends the sound wave with certain spectrum signature in the location space;
Treating apparatus is used to write down the spectrum signature that described sound wave dispensing device sends sound wave; And receive a plurality of electric signal of described a plurality of sound wave receiving trap according to reception sound wave conversion; The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, mistiming between utilization reception and the transmission sound wave calculates the distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws.
Described treating apparatus comprises:
Record cell, electric signal receiving element, timing unit, calculation processing unit and output unit;
Record cell is used to write down the spectrum signature of sound wave sound wave that dispensing device sends;
The electric signal receiving element is used to receive a plurality of electric signal of described a plurality of sound wave receiving trap according to the conversion of reception sound wave;
Timing unit is used for drawing the mistiming that receives and send between the sound wave according to the moment of described sound wave dispensing device transmission sound wave and the moment of described sound wave receiving trap reception sound wave;
Calculation processing unit is used to utilize the mistiming that receives and send between the sound wave to calculate distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws;
Output unit is used for exporting the spatial positional information of measurand in the location space.
Described timing unit comprises:
A plurality of reception timing subelements, transmission timing unit and computing unit;
Described a plurality of reception timing subelement is respectively applied for the moment that each sound wave receiving trap of record receives sound wave;
Described transmission timing unit is used to write down the moment that described sound wave dispensing device sends sound wave;
Computing unit, be used for the moment, calculate the sound wave receiving trap that sends sound wave and each receiving position and receive mistiming between the sound wave according to the transmission sound wave of the described moment that receives sound wave that respectively receives timing subelement record and described transmission timing unit record.
Described output unit comprises:
Instantaneous speech power and/or demonstration output unit.
Described sound wave receiving trap comprises:
Acoustic receiver and converting unit;
Described acoustic receiver is used to receive sound wave;
Described converting unit is used for the sound wave that described acoustic receiver receives is converted to electric signal.
From the technical scheme that the invention described above embodiment provides as can be seen, the mistiming that utilize acoustic signals transmitting speed and transmission in the embodiment of the invention, receives this sound wave is calculated the measurand of being located and the distance between a plurality of receiving position, thereby utilizes the distance calculation that obtains to draw the locus of measurand in the location space.This localization method can utilize common sound wave or ultrasound wave, because the sound wave transmitting terminal is not accepted echo, can weaken the influence that the sound wave multipath effect produces in this case, guarantee the sensitivity and the accuracy of measurement, and this method is simple, and cost is low.
Description of drawings
The localization method synoptic diagram that Fig. 1 provides for the embodiment of the invention one;
The structured flowchart of the positioning system that Fig. 2 provides for the embodiment of the invention two;
The structured flowchart of the treating apparatus of the positioning system that Fig. 3 provides for the embodiment of the invention two;
The timing unit structured flowchart of the treating apparatus of the positioning system that Fig. 4 provides for the embodiment of the invention two
The structured flowchart of the sound wave receiving trap of the positioning system that Fig. 5 provides for the embodiment of the invention two.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
Embodiment one
Present embodiment provides a kind of space-location method based on sound wave, can utilize common sound wave or ultrasound wave, and measurand is located fast and accurately in the position in space, and this method comprises:
A plurality of receiving positions receive the sound wave with certain spectrum signature that measurand sent from the location space, and the spectrum signature of record sound wave that measurand sends; Four receiving positions generally are set in the location space at least, four receiving positions distribute be arranged on the Different Plane in the space of locating;
In the above-mentioned steps, specifically be that a plurality of receiving positions in the location space all are provided with the sound wave receiving trap, the sound wave dispensing device is set on measurand, and a plurality of sound wave receiving traps in the space of locating receive the sound wave of certain spectrum signature that the sound wave dispensing device that is provided with on the measurands sends in the location space.
The sound wave that a plurality of receiving positions are received is converted to a plurality of electric signal;
The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, utilize receive and the transmission sound wave between mistiming calculate distance between measurand and each receiving position;
Determine the locus of measurand in the location space by the distance calculation that draws.Generally utilize the triangulation calculation method to calculate the locus of measurand in the location space by the distance that draws.
In the said method, described utilization receives and sends the distance that the mistiming between the sound wave calculates between measurand and each receiving position and is specially: utilize the product of the mistiming that sends between sound wave and the reception sound wave and acoustic wave propagation velocity to draw distance between the measurand of receiving position and transmission sound wave.
Synoptic diagram below in conjunction with shown in Figure 1 is described further said method:
(1) measures the place at needs and lay some acoustic receivers 1,2,3...n as receiving position, each acoustic receiver all is connected to computing machine 5, and the exact position of definite each acoustic receiver, acoustic receiver quantity can be by the decision of measured site space size, 4 above acoustic receivers (a plurality of receiving positions promptly are set in measured site space) generally are set at least, and all not within same plane;
(2) sound wave generating device 6 is placed on the testee, this sound wave generating device 6 is connected with computing machine 5 by wireless mode;
(3) sound wave generating device 6 sends the sound wave of certain spectrum signature, can be sent the sound wave of certain spectrum signature by computing machine 5 controls according to instruction;
(4) acoustic receiver 1,2, the 3...n that is arranged on receiving position is converted to electric signal with the sound wave that receives and sends on the computing machine 5;
(5) to receive the signal spectrum feature of sound wave (be that each acoustic receiver 1,2,3...n convert the sound wave that receives to electric signal to computing machine 5 couples of each acoustic receiver 1,2,3...n, electric signal sends computing machine to, the frequecy characteristic of the corresponding sound wave of carrying in the electric signal) spectrum signature that sends sound wave with sound wave generating device mates, and utilizes the mistiming that receives and send between the sound wave to calculate distance (promptly calculating the distance between testee and the receiving position) between sound wave generating device and each acoustic receiver;
(6) according to sound wave generating device that calculates and the distance between each acoustic receiver, utilize the triangulation calculation method to calculate the locus of sound wave generating device, promptly determine the position of testee in measuring site space that sound wave generating device is installed.
Localization method in the present embodiment if positioning accuracy request is low, can use common sound wave (as music) to position, and common sound wave can detour by certain barrier because wavelength is longer, is fit to be applied in the place of environment more complicated; If ultrasound wave then can be used in the higher place of positioning accuracy request; Do not accept echo owing to send the transmitting terminal of sound wave, can weaken the influence that the sound wave multipath effect produces in this case, guarantee sensitivity and the accuracy measured; And, realize that the system architecture of this localization method is simple, cost is lower.
Embodiment two
Present embodiment provides a kind of space positioning system based on sound wave, utilizes this system can realize the localization method that provides in the foregoing description one, and as shown in Figure 2, this system comprises:
A plurality of sound wave receiving traps 21,22 ... 2N, sound wave dispensing device 31 and treating apparatus 41;
A plurality of sound wave receiving traps 21,22 ... 2N, be used for being arranged on a plurality of receiving positions in the space of locating receive the sound wave that measurand sent with certain spectrum signature, and the sound wave that is received is converted to electric signal;
Sound wave dispensing device 31 is used to be arranged on measurand, sends the sound wave with certain spectrum signature in the location space;
Treating apparatus 41 is used to write down the spectrum signature that described sound wave dispensing device 31 sends sound wave; And receive described a plurality of sound wave receiving trap 21,22 ... 2N is according to a plurality of electric signal of reception sound wave conversion; The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, mistiming between utilization reception and the transmission sound wave calculates the distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws.
As shown in Figure 3, the treating apparatus in the above-mentioned positioning system comprises:
Electric signal receiving element 211 is used to receive described a plurality of sound wave receiving trap 21,22 ... 2N is according to a plurality of electric signal of reception sound wave conversion;
As shown in Figure 4, the timing unit in the above-mentioned treating apparatus comprises:
A plurality of reception timing subelements 2121,2122...212n, transmission timing unit 312 and computing unit 313;
Described a plurality of reception timing subelement 2121,2122...212n are respectively applied for the moment that each sound wave receiving trap of record receives sound wave;
Described transmission timing unit 312 is used to write down the moment that described sound wave dispensing device sends sound wave;
Computing unit 313, be used for the moment, calculate the sound wave receiving trap that sends sound wave and each receiving position and receive mistiming between the sound wave according to the transmission sound wave of the described moment that receives sound wave that respectively receives timing subelement 2121,2122...212n record and described transmission timing unit 312 records.
As shown in Figure 5, the sound wave receiving trap in the above-mentioned positioning system comprises:
Acoustic receiver 411 and converting unit 412;
Described acoustic receiver 411 is used to receive sound wave;
Described converting unit 412 is used for the sound wave that described acoustic receiver receives is converted to electric signal.
This system architecture is simple, can utilize sound wave or ultrasound wave, easily the position of measured position in measurement space is positioned.
Can know that the treating apparatus in the above-mentioned positioning system can realize that the mode that software module also can be set realizes with the mode of hardware circuit module in computing machine.
In sum, the mistiming that utilize acoustic signals transmitting speed and transmission in the embodiment of the invention, receives this sound wave is calculated the measurand of being located and the distance between a plurality of receiving position, thereby utilizes the distance calculation that obtains to draw the locus of measurand in the location space.This localization method can utilize common sound wave or ultrasound wave, because the sound wave transmitting terminal is not accepted echo, can weaken the influence that the sound wave multipath effect produces in this case, guarantees sensitivity and the accuracy measured.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (10)
1. the space-location method based on sound wave is characterized in that, comprising:
A plurality of receiving positions receive the sound wave with certain spectrum signature that measurand sent from the location space, and the spectrum signature of record sound wave that measurand sends;
The sound wave that a plurality of receiving positions are received is converted to a plurality of electric signal;
The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, utilize receive and the transmission sound wave between mistiming calculate distance between measurand and each receiving position;
Determine the locus of measurand in the location space by the distance calculation that draws.
2. the space-location method based on sound wave as claimed in claim 1 is characterized in that, described a plurality of receiving positions are at least four receiving positions, four receiving positions distribute be arranged on the Different Plane in the space of locating.
3. the space-location method based on sound wave as claimed in claim 1 is characterized in that, described from the location space a plurality of receiving positions receive the sound waves that measurand sent and comprise with certain spectrum signature:
A plurality of receiving positions in the location space all are provided with the sound wave receiving trap, the sound wave dispensing device is set on measurand, and a plurality of sound wave receiving traps in the space of locating receive the sound wave of certain spectrum signature that the sound wave dispensing device that is provided with on the measurands sends in the location space.
4. the space-location method based on sound wave as claimed in claim 1 is characterized in that, the distance that the mistiming between described utilization reception and the transmission sound wave calculates between measurand and each receiving position comprises:
Utilize to send the distance between the measurand that sound wave and the product that receives mistiming between the sound wave and acoustic wave propagation velocity draw receiving position and transmission sound wave.
5. the space-location method based on sound wave as claimed in claim 1 is characterized in that, describedly determines that by the distance calculation that draws the locus of measurand in the location space comprises:
Utilize the triangulation calculation method to calculate the locus of measurand in the location space by the distance that draws.
6. the space positioning system based on sound wave is characterized in that, comprising:
A plurality of sound wave receiving traps, sound wave dispensing device and treating apparatus;
A plurality of sound wave receiving traps, be used for being arranged on a plurality of receiving positions in the space of locating receive the sound wave that measurand sent with certain spectrum signature, and the sound wave that is received is converted to electric signal;
The sound wave dispensing device is used to be arranged on measurand, sends the sound wave with certain spectrum signature in the location space;
Treating apparatus is used to write down the spectrum signature that described sound wave dispensing device sends sound wave; And receive a plurality of electric signal of described a plurality of sound wave receiving trap according to reception sound wave conversion; The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, mistiming between utilization reception and the transmission sound wave calculates the distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws.
7. the space positioning system based on sound wave as claimed in claim 6 is characterized in that, described treating apparatus comprises:
Record cell, electric signal receiving element, timing unit, calculation processing unit and output unit;
Record cell is used to write down the spectrum signature of sound wave sound wave that dispensing device sends;
The electric signal receiving element is used to receive a plurality of electric signal of described a plurality of sound wave receiving trap according to the conversion of reception sound wave;
Timing unit is used for drawing the mistiming that receives and send between the sound wave according to the moment of described sound wave dispensing device transmission sound wave and the moment of described sound wave receiving trap reception sound wave;
Calculation processing unit is used to utilize the mistiming that receives and send between the sound wave to calculate distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws;
Output unit is used for exporting the spatial positional information of measurand in the location space.
8. the space positioning system based on sound wave as claimed in claim 7 is characterized in that, described timing unit comprises:
A plurality of reception timing subelements, transmission timing unit and computing unit;
Described a plurality of reception timing subelement is respectively applied for the moment that each sound wave receiving trap of record receives sound wave;
Described transmission timing unit is used to write down the moment that described sound wave dispensing device sends sound wave;
Computing unit, be used for the moment, calculate the sound wave receiving trap that sends sound wave and each receiving position and receive mistiming between the sound wave according to the transmission sound wave of the described moment that receives sound wave that respectively receives timing subelement record and described transmission timing unit record.
9. the space positioning system based on sound wave as claimed in claim 7 is characterized in that, described output unit comprises:
Instantaneous speech power and/or demonstration output unit.
10. the space positioning system based on sound wave as claimed in claim 6 is characterized in that, described sound wave receiving trap comprises:
Acoustic receiver and converting unit;
Described acoustic receiver is used to receive sound wave;
Described converting unit is used for the sound wave that described acoustic receiver receives is converted to electric signal.
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| CN 201010134802 CN101799544A (en) | 2010-03-26 | 2010-03-26 | Space locating method and system based on sound waves |
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| CN 201010134802 CN101799544A (en) | 2010-03-26 | 2010-03-26 | Space locating method and system based on sound waves |
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| CN103889048A (en) * | 2012-12-20 | 2014-06-25 | 联想(北京)有限公司 | Device positioning method and apparatus |
| CN104155644A (en) * | 2014-08-20 | 2014-11-19 | 西安电子科技大学 | Ranging method based on sound sensor and system thereof |
| CN106339081A (en) * | 2016-08-15 | 2017-01-18 | 北京理工大学 | Commercial equipment-based equipment carrying-free palm-positioning human-computer interaction method |
| CN110864191A (en) * | 2018-08-27 | 2020-03-06 | 宁波思慧智能科技有限公司 | Novel pipeline robot positioning system based on sound wave positioning |
| CN111007462A (en) * | 2019-12-13 | 2020-04-14 | 北京小米智能科技有限公司 | Positioning method, positioning device, positioning equipment and electronic equipment |
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Application publication date: 20100811 |