CN105203996A - Mobile device and indoor positioning method, system and device as well as anchor nodes thereof - Google Patents

Abstract

The invention discloses a mobile device and an indoor positioning method, system and device as well as anchor nodes thereof. According to the method, radio-frequency signals are sent to at least three anchor nodes through the mobile device, the mobile device receives ultrasonic waves sent by the three anchor nodes, the ultrasonic waves are sent by the corresponding anchor nodes under the trigger of the radio-frequency signals, transmission time for the ultrasonic wave sent by each anchor node to the mobile device is acquired, the distance between each anchor node and the mobile device is calculated according to the transmission time corresponding to each ultrasonic wave and the transmission speed of each ultrasonic wave, and then position coordinates of the mobile device are determined according to position coordinates of each anchor node and the distance between each anchor node and the mobile device. By the adoption of the mobile device, the indoor positioning method, system and device as well as the anchor nodes thereof, indoor positioning of the mobile device based on the ultrasonic technology is achieved, and the accuracy of indoor positioning of the mobile device is improved.

Description

Mobile device and indoor orientation method, system and device, anchor node

Technical field

The present invention relates to location solution, particularly relate to a kind of mobile device and indoor orientation method, system and device, anchor node.

Background technology

Location technology navigating, test the speed, when surveying etc. in be used widely, interior of building is positioned at when needing the object of location, as in office block, warehouse, tradition GPS location technology positioning precision obviously declines and even cannot work, and needs the deficiency being made up GPS location technology by indoor positioning technologies.

At present, the solution that mobile device positions employing in indoor has Bluetooth technology, infrared technology, super-broadband tech and radio network technique.But there is the inaccurate problem in location in above-mentioned location solution.

Summary of the invention

The technical matters that the embodiment of the present invention solves how to improve the accuracy of mobile device indoor positioning.

For solving the problem, the embodiment of the present invention provides a kind of indoor orientation method of mobile device, and described method comprises:

Mobile device sends radiofrequency signal at least 3 anchor nodes;

Described mobile device receives the ultrasound wave that each described anchor node sends respectively, and described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal;

Obtain the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission;

The transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device;

According to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device.

Alternatively, described mobile device sends radiofrequency signal at least 3 anchor nodes, and described mobile device receives the ultrasound wave that each described anchor node sends respectively, and described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal, comprising:

Described mobile device sends same radio to all anchor nodes simultaneously, and receives the different ultrasonic signal of each described anchor node transmission.

Alternatively, described mobile device receives the ultrasound wave that each described anchor node sends respectively, and described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal, comprising:

Described mobile device sends different radiofrequency signals to all anchor nodes in order, the ultrasonic signal that different anchor nodes sends is identical, and long enough interval time between adjacent two radiofrequency signals that described mobile device sends receives the ultrasonic signal of each described anchor node transmission to make described mobile device by same sequence.

Alternatively, the quotient that in the interior space of mobile device place, point-to-point transmission longest distance obtains divided by described ultrasonic transmission speed is more than or equal to described interval time.

Alternatively, the ultrasonic transmission that each described anchor node of described acquisition sends, to the transmission time of described mobile device, comprising: the ultrasonic transmission sent to the mistiming between the time and the hyperacoustic time receiving the transmission of described anchor node of anchor node transmission radiofrequency signal as described anchor node by mobile device is to the transmission time of described mobile device.

Alternatively, described radiofrequency signal comprises: infrared ray, bluetooth or wifi.

Alternatively, described mobile device is intelligent robot, and described position coordinates is the two-dimensional coordinate of length and width composition, and the height of different anchor node is identical, and all anchor nodes are at least positioned on two straight lines.

The embodiment of the present invention also provides a kind of indoor positioning device of mobile device, and the indoor positioning device of described mobile device comprises: RF signal transmitter, ultrasonic receiver, timer and first processor;

Described RF signal transmitter, is suitable for sending radiofrequency signal at least 3 anchor nodes;

Described ultrasonic receiver, is suitable for the ultrasound wave receiving the transmission of each anchor node respectively;

Described timer, is suitable for the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission of acquisition;

Described first processor, be suitable for controlling described RF signal transmitter and send radiofrequency signal, control the ultrasound wave that described ultrasonic receiver receives the transmission of each anchor node respectively, the described transmission time obtained according to described timer and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, according to the position coordinates of each anchor node and the distance between described each anchor node and mobile device, determine the position coordinates of described mobile device.

Alternatively, described RF signal transmitter is one, the number of described ultrasonic receiver is identical with the number of described anchor node, described RF signal transmitter is suitable for sending same radio to different anchor nodes simultaneously, described ultrasonic receiver is suitable for the ultrasonic signal receiving corresponding described anchor node transmission, and the ultrasonic signal that different ultrasonic receiver receives is different.

Alternatively, described RF signal transmitter and described ultrasonic receiver are one, described RF signal transmitter is suitable for sending different radiofrequency signals to different anchor nodes in order, the ultrasonic signal that different anchor nodes sends is identical, and long enough interval time between adjacent two radiofrequency signals that described RF signal transmitter sends receives the ultrasonic signal of each described anchor node transmission to make described ultrasonic receiver by same sequence.

Alternatively, when described RF signal transmitter sends radiofrequency signal, described timer starts timing; When described ultrasonic receiver receives ultrasonic signal, described timer stops timing, the time that described timer obtains as described ultrasonic transmission to transmission time of described mobile device.

The embodiment of the present invention also provides a kind of mobile device, and described mobile device comprises above-mentioned indoor positioning device.

The embodiment of the present invention also provides a kind of indoor locating system of mobile device, and the indoor locating system of described mobile device comprises: above-mentioned mobile device and at least 3 anchor nodes;

Described anchor node, is suitable for sending ultrasound wave to described mobile device under the triggering of described radiofrequency signal.

The embodiment of the present invention also provides a kind of anchor node, and described anchor node comprises: radio frequency signal receiver, ultrasonic transmitter and the second processor;

Described radio frequency signal receiver, is suitable for receiving the radiofrequency signal sent from mobile device;

Described ultrasonic transmitter, is suitable for after described radio frequency signal receiver received RF signal, sends corresponding ultrasound wave under the control of described second processor;

Described second processor, is suitable for controlling described ultrasonic transmitter according to the radiofrequency signal received and sends corresponding ultrasonic signal.

Compared with prior art, the beneficial effect of the embodiment of the present invention is:

Radiofrequency signal is sent at least 3 anchor nodes by mobile device, described mobile device receives the ultrasound wave that each described anchor node sends respectively, described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal, obtain the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission, the transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, again according to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device, achieve the indoor positioning of carrying out mobile device based on ultrasonic technology, due to ultrasound wave itself be not vulnerable to the interference of other signals in surrounding environment and direction of propagation property good, and the embodiment of the present invention ensures to there is not interference between the ultrasound wave that receives respectively, thus the order of accuarcy that mobile device carries out indoor positioning can be improved.

Further, the embodiment of the present invention uses the number of anchor node by increasing, improve the accuracy of mobile device indoor positioning, when the barrier that especially space, mobile device place exists affects radiofrequency signal or hyperacoustic transmission, still can ensure the accuracy of locating.

Accompanying drawing explanation

Fig. 1 is the scene graph of a kind of mobile device indoor positioning in the embodiment of the present invention;

Fig. 2 is the structural representation of the indoor positioning device of a kind of mobile device in the embodiment of the present invention;

Fig. 3 is the structural representation of a kind of anchor node for mobile device indoor positioning in the embodiment of the present invention;

Fig. 4 is the structural representation of the indoor locating system of a kind of mobile device in the embodiment of the present invention;

Fig. 5 is the process flow diagram of the indoor orientation method of a kind of mobile device in the embodiment of the present invention;

Fig. 6 is the process flow diagram of the indoor orientation method of a kind of mobile device in the embodiment of the present invention;

Fig. 7 is the process flow diagram of the indoor orientation method of a kind of mobile device in the embodiment of the present invention.

Embodiment

As previously mentioned, mobile device positions employing solution in indoor has Bluetooth technology, infrared technology, super-broadband tech and radio network technique, but these location solution exist the inaccurate problem in location.

The embodiment of the present invention sends radiofrequency signal by mobile device at least 3 anchor nodes, described mobile device receives the ultrasound wave that each described anchor node sends respectively, described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal, obtain the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission, the transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, again according to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device, thus realize the indoor positioning of carrying out mobile device based on ultrasonic technology, improve the accuracy of mobile device indoor positioning.

For enabling above-mentioned purpose of the present invention, feature and advantage more become apparent, and are described in detail specific embodiments of the invention below in conjunction with accompanying drawing.

Fig. 1 is the scene graph of a kind of mobile device indoor positioning of the embodiment of the present invention.As shown in Figure 1, M represents mobile device to be positioned, and in concrete enforcement, described mobile device needs the position obtaining self, and thinking that its next step position is moved provides reference or auxiliary man-machine interaction.

As shown in fig. 1, A, B, C and D all represent anchor node, and described anchor node is suitable for mobility-aid apparatus M and locates its position in three dimensions.In concrete enforcement, when setting up three-dimensional system of coordinate in a specific interior space, be the fixed D coordinates value of i.e. described anchor node of the particular location of described anchor node is known, and anchor node A, B, C and D in Fig. 1 do not fix at grade.

It is to be noted, Fig. 1 illustrate only the situation that anchor node number is 4, when the anchor node of use more than 4, adopts the technical scheme in the embodiment of the present invention can obtain the three-dimensional location coordinates of mobile device to be positioned, wherein, require that all anchor nodes are not in same plane.In actual location demand, usually only need the two-dimensional position coordinate obtaining mobile device to be positioned, then minimum 3 anchor nodes just can the position of mobile device described in auxiliary positioning, but using the present invention to obtain the length of mobile device and the two-dimensional position coordinate time of wide composition, requiring that 3 anchor nodes for assisting are in sustained height and 3 anchor nodes are at least positioned at two straight lines.

Such as, suppose that the mobile device M to be positioned in Fig. 1 is intelligent robot, intelligent robot moves on the ground, 3 anchor nodes A, B and C can be used to carry out the coordinate figure of two dimensions of computational intelligence robot, at this moment 3 anchor nodes A, B and C are required to be in sustained height (in Fig. 1, the z coordinate value of A, B and C is equal) and 3 anchor nodes are at least positioned on two straight lines, then calculate x coordinate and the y coordinate of described intelligent robot by described 3 anchor nodes A, B and C, thus the position of intelligent robot on flooring can be determined.

In concrete enforcement, at least use 3 anchor nodes can obtain the two-dimensional position coordinate of mobile device, at least use 4 anchor nodes can obtain mobile device three-dimensional location coordinates, in addition, the technical scheme that the embodiment of the present invention adopts can also use more anchor node to improve the accuracy of positioning of mobile equipment, still can ensure the accuracy of locating when the barrier that especially space, mobile device place exists affects radiofrequency signal or hyperacoustic transmission.Particularly, can to use more than the anchor node of 3 to obtain the two-dimensional position coordinate of mobile device, wherein require that all anchor nodes are not point-blank; Can to use more than the anchor node of 4 to obtain the three-dimensional location coordinates of mobile device, wherein require that all anchor nodes are not in one plane.The computing method that the more anchor node of above-mentioned employing improves the accuracy of positioning of mobile equipment describe in detail hereinafter, are not repeated herein.

Fig. 2 is the structural representation of the indoor positioning device of a kind of mobile device in the embodiment of the present invention.The indoor positioning device 20 of mobile device as shown in Figure 2, can comprise: RF signal transmitter 201, ultrasonic receiver 202, timer 203 and first processor 204;

Described RF signal transmitter 201, is suitable for sending radiofrequency signal at least 3 anchor nodes;

Described ultrasonic receiver 202, is suitable for the ultrasound wave receiving the transmission of each anchor node respectively;

Described timer 203, is suitable for the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission of acquisition;

Described first processor 204, be suitable for controlling described RF signal transmitter 201 and send radiofrequency signal, control the ultrasound wave that described ultrasonic receiver 202 receives the transmission of each anchor node respectively, the described transmission time obtained according to described timer 203 and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, and according to the position coordinates of each anchor node and the distance between described each anchor node and mobile device, determine the position coordinates of described mobile device.

In concrete enforcement, described RF signal transmitter 201 can be one, and the number of described ultrasonic receiver 202 is identical with the number of described anchor node.Described RF signal transmitter 201 is suitable for sending same radio to different anchor nodes simultaneously, described ultrasonic receiver 202 is suitable for the ultrasonic signal receiving corresponding described anchor node transmission, and the ultrasonic signal that different ultrasonic receiver 202 receives is different.

Anchor node described in the present embodiment is suitable for sending ultrasonic signal, and mobility-aid apparatus carries out indoor positioning.

In concrete enforcement, different ultrasonic receivers 202 can receive the ultrasonic signal of different frequency, to distinguish the different ultrasound wave that corresponding anchor node sends.

The embodiment of the present invention carries out the indoor positioning of mobile device by the indoor positioning device 20 arranging mobile device, the ultrasonic signal of ultrasonic receiver 202 reception of the indoor positioning device 20 of described mobile device, come from the different anchor nodes that ultrasonic signal frequency is different between two, to receive the ultrasonic signal that corresponding anchor node is sent to mobile device respectively, thus make described locating device 20 can determine that each ultrasonic signal comes from the anchor node of which correspondence, and then the ultrasound wave that described in guarantee timer 203 Obtaining Accurate, corresponding anchor node sends is sent to the time of described mobile device, the described time finally making first processor 204 obtain according to described timer 203 and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, according to the position coordinates of each anchor node and the distance between described each anchor node and mobile device, determine the position coordinates of described mobile device.

In concrete enforcement, described RF signal transmitter 201 can also be set and described ultrasonic receiver 202 is one.Described RF signal transmitter 201 is suitable for sending different radiofrequency signals to different anchor node intervals in order, and the ultrasonic signal that different anchor nodes sends is identical.Long enough interval time between adjacent two radiofrequency signals that described RF signal transmitter 201 sends receives the ultrasonic signal of each described anchor node transmission to make described ultrasonic receiver 202 by same sequence.

In concrete enforcement, when described RF signal transmitter 201 sends radiofrequency signal, described timer 203 starts timing; When described ultrasonic receiver 202 receives ultrasonic signal, described timer 203 stops timing, the time that described timer 203 obtains as described ultrasonic transmission to transmission time of described mobile device.

Particularly, described RF signal transmitter 201 sends different radiofrequency signals respectively to all anchor node intervals in order, the ultrasonic signal that different anchor nodes sends is identical, the frequency of the radiofrequency signal of each transmission is identical but by carrying the different information corresponding from each described different anchor node to guarantee that each transmission only triggers one of them anchor node, like this, described radiofrequency signal triggers corresponding anchor node and sends ultrasonic signal to described ultrasonic receiver 202, the order that described ultrasonic receiver 202 is received from anchor node transmission ultrasonic signal is identical with the order that described RF signal transmitter 201 sends radiofrequency signal.Such as, shown in composition graphs 1, the RF signal transmitter 201 of mobile device M successively sends radiofrequency signal to anchor node A, B, C and D, wherein, the interval time that can arrange adjacent transmission radiofrequency signal is identical, and the radiofrequency signal sent only triggers anchor node A, B, C or D at every turn, anchor node A, B, C and D send the identical ultrasound wave of signal respectively under the triggering of described radiofrequency signal, make the ultrasonic receiver 202 of mobile device M also successively receive the ultrasonic signal of anchor node A, B, C and D transmission according to same order.

In concrete enforcement, can arrange and be more than or equal to the quotient that in the interior space of mobile device place, point-to-point transmission longest distance obtains divided by described ultrasonic transmission speed described interval time.The embodiment of the present invention is by arranging long enough interval time, be specially the quotient being greater than point-to-point transmission longest distance and described ultrasonic transmission speed in the interior space of mobile device place, to ensure when use only comprises the locating device 20 of a RF signal transmitter 201 and a ultrasonic receiver 202, the order that described ultrasonic receiver 202 receives ultrasonic signal is identical with the order that described RF signal transmitter 201 sends radiofrequency signal, like this, described ultrasonic receiver 202 receives between ultrasonic signal can not produce interference, ensures the accuracy of location.

Because the velocity of propagation of radiofrequency signal equals the light velocity, the time that radiofrequency signal is transferred to described anchor node from described mobile device is negligible, then described timer 203 can be recorded from described RF signal transmitter 201 sends radiofrequency signal, to the time that described ultrasonic receiver 202 receives ultrasonic signal as described ultrasonic transmission to transmission time of described mobile device.

The embodiment of the present invention carries out indoor positioning by the indoor positioning device 20 pairs of mobile devices arranging mobile device, the indoor positioning device 20 of described mobile device has a RF signal transmitter 201 and a ultrasonic receiver 202, described RF signal transmitter 201 sends different radiofrequency signals to different anchor node intervals in order, the ultrasonic signal of anchor node transmission is received respectively by same order to make ultrasonic receiver 202, first processor 204 is made to use the distance of the corresponding anchor node of correct ultrasonic transmission Time Calculation extremely between described mobile device, thus accurately can calculate the position coordinates of described mobile device.In addition, owing to only using a ultrasonic receiver 202, thus reduce production cost, reduce the volume of device.

In concrete enforcement, described radiofrequency signal can be infrared ray, bluetooth or wifi signal.

In concrete enforcement, when described mobile device is intelligent robot, above-mentioned indoor positioning device 20 can be adopted to obtain the two-dimensional position coordinate of described intelligent robot place plane, if described position coordinates is the two-dimensional coordinate of length and width composition, then require that the height of the different anchor nodes in order to auxiliary positioning is identical, all anchor nodes are no longer on same straight line.

Fig. 3 is the structural representation of a kind of anchor node for mobile device indoor positioning of the embodiment of the present invention.Anchor node 30 as shown in Figure 3, can comprise: radio frequency signal receiver 301, ultrasonic transmitter 302 and the second processor 303;

Described radio frequency signal receiver 301, is suitable for receiving the radiofrequency signal sent from mobile device;

Described ultrasonic transmitter 302, is suitable for after described radio frequency signal receiver 301 received RF signal, sends corresponding ultrasound wave under the control of described second processor 303;

Described second processor 303, is suitable for controlling described ultrasonic transmitter 301 according to the radiofrequency signal received and sends corresponding ultrasonic signal.

In concrete enforcement, described anchor node 30 carries out indoor positioning for auxiliary mobile device to be positioned, and described anchor node has structure as shown in Figure 3.

In concrete enforcement, when mobile device to be positioned needs to determine two-dimensional position coordinate time, the described anchor node 30 of minimum use three can determine the two-dimensional coordinate of mobile device, wherein, three described anchor node 30 place planes are parallel to mobile device place to be positioned plane, and 3 anchor nodes are at least positioned on two straight lines.Such as, when mobile device is intelligent robot, determine the two-dimensional position coordinate be made up of length and width of intelligent robot on ground, 3 anchor nodes 30 are in sustained height, and 3 anchor nodes are at least positioned on two straight lines.

In addition, in concrete enforcement, when the two-dimensional position coordinate time using the anchor node 30 more than three to determine mobile device, positioning error can be reduced further, specifically can after obtaining the distance between each anchor node to described mobile device, adopt least square fitting to calculate the two-dimensional position coordinate of described mobile device, computing method describe in detail hereinafter, are not repeated herein.

In concrete enforcement, when mobile device to be positioned needs to determine three-dimensional location coordinates, use 4 anchor nodes 30 just can determine its three-dimensional location coordinates, wherein, described 4 anchor nodes are not at same plane.

In addition, in concrete enforcement, the number (namely using the anchor node being greater than 4) of anchor node 30 can be increased, determine the three-dimensional location coordinates of described mobile device, to reduce positioning error, specifically can, after obtaining the distance between each anchor node to described mobile device, least square fitting be adopted to calculate the three-dimensional location coordinates of described mobile device, computing method describe in detail hereinafter, are not repeated herein.

In concrete enforcement, when the present embodiment employing anchor node 30 is assisted and is determined the position coordinates of mobile device, the indoor positioning device that described mobile device adopts is identical with the indoor positioning device 20 described in Fig. 2, therefore, about how obtaining the distance of each anchor node to described mobile device, do not repeat them here.

Fig. 4 is the structural representation of the indoor locating system of a kind of mobile device of the embodiment of the present invention.The indoor locating system 40 of mobile device as shown in Figure 4, can comprise mobile device 401 and anchor node 402, and described anchor node 402 number is at least 3.Wherein said mobile device 401 can adopt the indoor positioning device 20 of the mobile device shown in Fig. 2, and described anchor node 402 is identical with the anchor node 30 shown in Fig. 3.

In concrete enforcement, the locating device that described mobile device 401 adopts can comprise: RF signal transmitter 201, ultrasonic receiver 202, timer 203 and first processor 204;

Described RF signal transmitter 201, is suitable for sending radiofrequency signal at least 3 anchor nodes;

Described ultrasonic receiver 202, is suitable for the ultrasound wave receiving the transmission of each anchor node respectively;

Described timer 203, is suitable for the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission of acquisition;

Described first processor 204, be suitable for controlling described RF signal transmitter 201 and send radiofrequency signal, control the ultrasound wave that described ultrasonic receiver 202 receives the transmission of each anchor node respectively, the described transmission time obtained according to described timer 203 and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, according to the position coordinates of each anchor node and the distance between described each anchor node and mobile device, determine the position coordinates of described mobile device.

In concrete enforcement, described anchor node 402 is identical with the anchor node 30 shown in Fig. 3, and namely described anchor node 402 can comprise: radio frequency signal receiver 301, ultrasonic transmitter 302 and the second processor 303;

Described radio frequency signal receiver 301, is suitable for receiving the radiofrequency signal sent from mobile device;

Described ultrasonic transmitter 302, is suitable for after described radio frequency signal receiver 301 received RF signal, sends corresponding ultrasound wave under the control of described second processor 303;

Described second processor 303, is suitable for controlling described ultrasonic transmitter 301 according to the radiofrequency signal received and sends corresponding ultrasonic signal.

In concrete enforcement, described radiofrequency signal can be infrared ray, bluetooth or wifi signal.

In concrete enforcement, described RF signal transmitter 201 can be one, and the number of described ultrasonic receiver 202 is identical with the number of described anchor node.Described RF signal transmitter 201 is suitable for sending identical radiofrequency signal to different anchor nodes simultaneously, corresponding described ultrasonic receiver 202 is suitable for the ultrasonic signal receiving corresponding described anchor node 30 transmission, and the ultrasonic signal that different ultrasonic receivers 202 receives is different.

In concrete enforcement, different ultrasonic receivers 202 can receive the ultrasonic signal of different respective frequencies, to receive the different ultrasound wave that described anchor node 30 sends respectively.

The embodiment of the present invention carries out indoor positioning by the indoor locating system 40 arranging mobile device, the indoor locating system 40 of described mobile device adopts the indoor positioning device 20 of the mobile device shown in Fig. 2, the RF signal transmitter 201 of the indoor positioning device 20 of described mobile device 401 sends radio frequency signal receiver 301 received RF signal that radiofrequency signal triggers anchor node 402, described anchor node 402 sends corresponding ultrasonic signal under the control of described second processor 303, and any two ultrasonic signal differences, the ultrasonic signal that ultrasonic transmitter 302 is sent to mobile device 401 is received respectively to make different ultrasonic receivers 202, thus make the timer 203 of described mobile device 401 can determine that each ultrasonic signal comes from the anchor node of which correspondence, the ultrasound wave that the anchor node 402 obtaining described correspondence sends is sent to the time of described mobile device 401, the described time finally making described first processor 204 obtain according to described timer 203 and hyperacoustic transmission speed, calculate the distance between each anchor node 402 and mobile device 401, according to the position coordinates of each anchor node 402 and the distance between described each anchor node 402 and mobile device 401, determine the position coordinates of described mobile device 401.

In concrete enforcement, described RF signal transmitter 201 can also be set and described ultrasonic receiver 202 is one.Described RF signal transmitter 201 is suitable for sending different radiofrequency signals to different anchor node 402 intervals in order, the ultrasonic signal that different anchor nodes 402 sends is identical, and long enough interval time between adjacent two radiofrequency signals that described RF signal transmitter 201 sends receives the ultrasonic signal of each described anchor node 402 transmission to make described ultrasonic receiver 202 by same sequence.

In concrete enforcement, when described RF signal transmitter 201 sends radiofrequency signal, described timer 203 starts timing; When described ultrasonic receiver 202 receives ultrasonic signal, described timer 203 stops timing, the time that described timer 203 obtains as described ultrasonic transmission to transmission time of described mobile device 401.

Particularly, described RF signal transmitter 201 sends different radiofrequency signals respectively to different anchor node 402 intervals in order, the frequency of each radiofrequency signal is identical, but by carrying the different information corresponding from each described different anchor node 402 in radiofrequency signal to guarantee that each transmission only triggers one of them anchor node, like this, described radiofrequency signal triggers corresponding anchor node 402 and sends ultrasonic signal to described ultrasonic receiver 202, described ultrasonic receiver 202 is received send the order of ultrasonic signal from anchor node 402 identical with the order that described RF signal transmitter 201 sends radiofrequency signal.Such as, shown in composition graphs 1, the RF signal transmitter 201 of mobile device M is successively to anchor node A, B, C and D sends radiofrequency signal, wherein, the interval time that can arrange adjacent transmission radiofrequency signal is identical, and the radiofrequency signal sent only triggers anchor node A at every turn, B, C or D, radio frequency signal receiver 301 received RF signal of corresponding anchor node 402, second processor 303 of anchor node 402 controls described ultrasonic signal emitters 302 and sends ultrasound wave, the order of the ultrasonic signal that the ultrasonic receiver 202 of mobile device M is received is also respectively from anchor node A, B, C and D.

In concrete enforcement, shown in composition graphs 1, the quotient being greater than point-to-point transmission longest distance and described ultrasonic transmission speed in the interior space of mobile device place described interval time can be set, during to guarantee the locating device 20 formed at use RF signal transmitter 201 and ultrasonic receiver 202, the order that described ultrasonic receiver 202 receives ultrasonic signal is identical with the order that described RF signal transmitter 201 sends radiofrequency signal, namely described ultrasonic receiver 202 receives between ultrasonic signal and can not produce interference, ensures the accuracy of location.

In concrete enforcement, because the velocity of propagation of radiofrequency signal equals the light velocity, the time that radiofrequency signal is transferred to described anchor node 402 from described mobile device is negligible, then described timer 203 can be recorded from described RF signal transmitter 201 sends radiofrequency signal, to the time that described ultrasonic receiver 202 receives ultrasonic signal as described ultrasonic transmission to transmission time of described mobile device.

The indoor locating system 40 that the embodiment of the present invention arranges mobile device carries out the indoor positioning of mobile device, the mobile device 401 of the indoor locating system 40 of described mobile device adopts the indoor positioning device 20 of the mobile device shown in Fig. 2, anchor node 402 adopts the anchor node 30 shown in Fig. 3, and the indoor positioning device 20 of described mobile device 401 is made up of a RF signal transmitter 201 and a ultrasonic receiver 202.Described RF signal transmitter 201 sends different radiofrequency signals to different anchor node 402 intervals in order, radio frequency signal receiver 301 received RF signal of described anchor node 402, under the triggering of described radiofrequency signal, the second processor 303 controls ultrasonic transmitter 302 and sends ultrasonic signal, because described radiofrequency signal interval under the control of first processor 204 sends, ultrasonic receiver 202 also receives the ultrasonic signal of ultrasonic transmitter 302 transmission respectively by same order, first processor 204 is made to obtain distance between the corresponding anchor node 402 to described mobile device of correct ultrasonic transmission Time Calculation, thus accurately can calculate the position coordinates of described mobile device 401.In addition, owing to only using a ultrasonic receiver 202, thus reduce production cost, reduce the volume of device.

In concrete enforcement, when mobile device 401 to be positioned needs to determine two-dimensional position coordinate time, the described anchor node 402 of minimum use three can determine the two-dimensional coordinate of mobile device 401, wherein, three described anchor node 402 place planes are parallel to mobile device 401 place to be positioned plane, and 3 anchor nodes are at least positioned on two straight lines.Such as, when mobile device 401 is intelligent robot, determine the two-dimensional position coordinate be made up of length and width of intelligent robot on ground, 3 anchor nodes 402 are in sustained height, and 3 anchor nodes 402 are at least positioned on two straight lines.

Brief description uses 3 anchor nodes 402 to calculate two-dimensional position and sits calibration method: when from initial point, and with mutually perpendicular x-axis between two, y-axis and z-axis set up three-dimensional system of coordinate, and the plane that wherein x-axis and y-axis are formed is parallel to surface level, and z-axis is perpendicular to surface level.The position coordinates of 3 described anchor nodes is known, and anchor node 402 coordinate is respectively (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), the described two-dimensional position coordinate (X, Y) of mobile device 401 uses formula (1) and (2) can be calculated:

$X=\frac{\left|\begin{array}{cc}(d_1^2-d_2^2)-(x_1^2-x_2^2)-(y_1^2-y_2^2)& 2(y_2-y_1)\\ (d_1^2-d_3^2)-(x_1^2-x_3^2)-(y_1^2-y_3^2)& 2(y_3-y_1)\end{array}\right|}{\left|\begin{array}{cc}2(x_2-x_1)& 2(y_2-y_1)\\ 2(x_3-x_1)& 2(y_3-y_1)\end{array}\right|}---\left(1\right)$

$Y=\frac{\left|\begin{array}{cc}2(x_2-x_1)& (d_1^2-d_2^2)-(x_1^2-x_2^2)-(y_1^2-y_2^2)\\ 2(x_3-x_1)& (d_1^2-d_3^2)-(x_1^2-x_3^2)-(y_1^2-y_3^2)\end{array}\right|}{\left|\begin{array}{cc}2(x_2-x_1)& 2(y_2-y_1)\\ 2(x_3-x_1)& 2(y_3-y_1)\end{array}\right|}---\left(2\right)$

In addition, in concrete enforcement, when the two-dimensional position coordinate time using the anchor node 402 more than three to determine mobile device, can reduce to exist in the interior space error that barrier brings, specifically can after obtaining the distance between each anchor node 402 to described mobile device 401, least square fitting is adopted to calculate the two-dimensional position coordinate of described mobile device 401, to use 5 anchor nodes, formula (3) can be used to calculate described two-dimensional position coordinate (X, Y):

$\left[\begin{array}{c}x\\ y\end{array}\right]=A^{-1}{\left(A^T\right)}^{-1}{A}^{T}B---\left(3\right)$

Wherein, $A=\left[\begin{array}{cc}2(x_2-x_1)& 2(y_2-y_1)\\ 2(x_3-x_2)& 2(x_3-x_2)\\ 2(x_4-x_3)& 2(x_4-x_3)\\ 2(x_5-x_4)& 2(x_5-x_4)\end{array}\right];$

$B=\left[\begin{array}{c}\left(d_1^2-d_2^2\right)-\left(x_1^2-x_2^2\right)-\left(y_1^2-y_2^2\right)\\ \left(d_2^2-d_3^2\right)-\left(x_2^2-x_3^2\right)-\left(y_2^2-y_3^2\right)\\ \left(d_3^2-d_4^2\right)-\left(x_3^2-x_4^2\right)-\left(y_3^2-y_4^2\right)\\ \left(d_4^2-d_5^2\right)-\left(x_4^2-x_5^2\right)-\left(y_4^2-y_5^2\right)\end{array}\right]$

In concrete enforcement, from initial point, with mutually perpendicular x-axis between two, y-axis and z-axis set up three-dimensional system of coordinate, and the plane that wherein x-axis and y-axis are formed is parallel to surface level, and z-axis is perpendicular to surface level.When mobile device 401 to be positioned needs to determine three-dimensional location coordinates, use 4 anchor nodes 402 just can determine its three-dimensional location coordinates, wherein, described 4 anchor nodes 402 are not at same plane.Such as, anchor node coordinate is respectively (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), (x ₄, y ₄, z ₄), the three-dimensional location coordinates (X, Y, Z) of described mobile device can use formula (4), (5) and (6) calculate:

$X=\frac{\left|\begin{array}{ccc}\left(d_1^2-d_2^2\right)-\left(x_1^2-x_2^2\right)-\left(y_1^2-y_2^2\right)-\left(z_1^2-z_2^2\right)& 2\left(y_2-y_1\right)& 2\left(z_2-z_1\right)\\ \left(d_1^2-d_3^2\right)-\left(x_1^2-x_3^2\right)-\left(y_1^2-y_3^2\right)-\left(z_1^2-z_3^2\right)& 2\left(y_3-y_1\right)& 2\left(z_3-z_1\right)\\ \left(d_1^2-d_4^2\right)-\left(x_1^2-x_4^2\right)-\left(y_1^2-y_4^2\right)-\left(z_1^2-z_4^2\right)& 2\left(y_4-y_1\right)& 2\left(z_4-z_1\right)\end{array}\right|}{\left|\begin{array}{ccc}2\left(x_2-x_1\right)& 2\left(y_2-y_1\right)& 2\left(z_2-z_1\right)\\ 2\left(x_3-x_1\right)& 2\left(y_3-y_1\right)& 2\left(z_3-z_1\right)\\ 2\left(x_4-x_1\right)& 2\left(y_4-y_1\right)& 2\left(z_4-z_1\right)\end{array}\right|}---\left(4\right)$

$Y=\frac{\left|\begin{array}{ccc}2\left(x_2-x_1\right)& \left(d_1^2-d_2^2\right)-\left(x_1^2-x_2^2\right)-\left(y_1^2-y_2^2\right)-\left(z_1^2-z_2^2\right)& 2\left(z_2-z_1\right)\\ 2\left(x_3-x_1\right)& \left(d_1^2-d_3^2\right)-\left(x_1^2-x_3^2\right)-\left(y_1^2-y_3^2\right)-\left(z_1^2-z_3^2\right)& 2\left(z_3-z_1\right)\\ 2\left(x_4-x_1\right)& \left(d_1^2-d_4^2\right)-\left(x_1^2-x_4^2\right)-\left(y_1^2-y_4^2\right)-\left(z_1^2-z_4^2\right)& 2\left(z_4-z_1\right)\end{array}\right|}{\left|\begin{array}{ccc}2\left(x_2-x_1\right)& 2\left(y_2-y_1\right)& 2\left(z_2-z_1\right)\\ 2\left(x_3-x_1\right)& 2\left(y_3-y_1\right)& 2\left(z_3-z_1\right)\\ 2\left(x_4-x_1\right)& 2\left(y_4-y_1\right)& 2\left(z_4-z_1\right)\end{array}\right|}---\left(5\right)$

$Z=\frac{\left|\begin{array}{ccc}2\left(x_2-x_1\right)& 2\left(y_2-y_1\right)& \left(d_1^2-d_2^2\right)-\left(x_1^2-x_2^2\right)-\left(y_1^2-y_2^2\right)-\left(z_1^2-z_2^2\right)\\ 2\left(x_3-x_1\right)& 2\left(y_3-y_1\right)& \left(d_1^2-d_3^2\right)-\left(x_1^2-x_3^2\right)-\left(y_1^2-y_3^2\right)-\left(z_1^2-z_3^2\right)\\ 2\left(x_4-x_1\right)& 2\left(y_4-y_1\right)& \left(d_1^2-d_4^2\right)-\left(x_1^2-x_4^2\right)-\left(y_1^2-y_4^2\right)-\left(z_1^2-z_4^2\right)\end{array}\right|}{\left|\begin{array}{ccc}2\left(x_2-x_1\right)& 2\left(y_2-y_1\right)& 2\left(z_2-z_1\right)\\ 2\left(x_3-x_1\right)& 2\left(y_3-y_1\right)& 2\left(z_3-z_1\right)\\ 2\left(x_4-x_1\right)& 2\left(y_4-y_1\right)& 2\left(z_4-z_1\right)\end{array}\right|}---\left(6\right)$

In addition, in concrete enforcement, can increase and use anchor node 402 namely to use the anchor node being greater than 4, determine the three-dimensional location coordinates of described mobile device 401, to reduce positioning error, specifically can after obtaining the distance between each anchor node 402 to described mobile device 401, least square fitting is adopted to calculate the three-dimensional location coordinates of described mobile device, formula (7) specifically can be used to carry out calculating described three-dimensional location coordinates (X, Y, Z):

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=A^{-1}{\left(A^T\right)}^{-1}{A}^{T}B---\left(7\right)$

Wherein, $A=\left[\begin{array}{ccc}2(x_2-x_1)& 2(y_2-y_1)& 2(z_2-z_1)\\ .& .& .\\ .& .& .\\ .& .& .\\ 2(x_i-x_{i-1})& 2(y_i-y_{i-1})& 2(z_i-z_{i-1})\end{array}\right];$

$B=\left[\begin{array}{c}\left(d_1^2-d_2^2\right)-\left(x_1^2-x_2^2\right)-\left(y_1^2-y_2^2\right)-\left(z_1^2-x_2^2\right)\\ .\\ .\\ .\\ \left(d_{i-1}^2-d_i^2\right)-\left(x_{i-1}^2-x_i^2\right)-\left(y_{i-1}^2-y_i^2\right)-\left(z_{i-1}^2-x_i^2\right)\end{array}\right]$

The indoor locating system 40 of the mobile device of the embodiment of the present invention, by adopting described mobile device 401 and described anchor node 402, described mobile device 401 adopts the indoor positioning device 20 of the mobile device described in Fig. 2, anchor node 402 adopts the anchor node 30 described in Fig. 3, mobile device 401 sends radiofrequency signal at least 3 anchor nodes 402, described mobile device 401 receives the ultrasound wave that each described anchor node 402 sends respectively, described ultrasound wave is sent by the anchor node 402 of correspondence under the triggering of described radiofrequency signal, mobile device 401 obtains the transmission time of ultrasonic transmission to described mobile device of each described anchor node 402 transmission, the transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node 402 and mobile device 401, again according to the position coordinates of each anchor node 402 and the distance between each anchor node 402 and mobile device 401, determine the position coordinates of described mobile device 401, thus improve the order of accuarcy of the indoor positioning of mobile device 401.

Fig. 5 is the process flow diagram of the indoor orientation method of a kind of mobile device in the embodiment of the present invention.The indoor orientation method of mobile device as shown in Figure 5, can comprise the following steps:

Step S501: mobile device sends radiofrequency signal at least 3 anchor nodes.

Step S502: described mobile device receives the ultrasound wave that each described anchor node sends respectively.

Step S503: the transmission time of ultrasonic transmission to described mobile device obtaining each described anchor node transmission.

Step S504: the transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device.

Step S505: according to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device.

Below in conjunction with Fig. 6, Fig. 7 and specific embodiment, introduction detailed is further done to the indoor orientation method of mobile device of the present invention.

Fig. 6 is the process flow diagram of the indoor orientation method of a kind of mobile device in the embodiment of the present invention.The indoor orientation method of mobile device as shown in Figure 6, can comprise the following steps:

Step S601: mobile device sends same radio to all anchor nodes simultaneously.

In concrete enforcement, described radiofrequency signal comprises: infrared ray, bluetooth or wifi.

Step S602: receive the different ultrasonic signal that each described anchor node sends.

Step S603: the transmission time of ultrasonic transmission to described mobile device obtaining each described anchor node transmission.

Step S604: the transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device.

In concrete enforcement, because hyperacoustic transmission speed is known, be generally 340m/s in atmosphere, then according to transmission time corresponding to each ultrasound wave and described transmission speed, the distance between each anchor node and mobile device can be calculated.

Step S605: according to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device.

The method calculating the position coordinates of described mobile device in the embodiment of the present invention is identical with the method described in embodiment in Fig. 4, namely adopts formula (1) to the formula in (7) as the case may be, does not repeat them here.

In concrete enforcement, the ultrasonic transmission that mobile device can be sent to the mistiming between the time and the hyperacoustic time receiving the transmission of this anchor node of anchor node transmission radiofrequency signal as this anchor node is to the transmission time of described mobile device.

The embodiment of the present invention sends identical radiofrequency signal to all anchor nodes by mobile device simultaneously, receive the different ultrasonic signal that corresponding anchor node is sent to mobile device respectively, thus each ultrasonic signal comes from the anchor node of which correspondence to make described mobile device to determine, the ultrasound wave that anchor node corresponding described in Obtaining Accurate sends is sent to the time of described mobile device, according to described time and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, again according to the position coordinates of each anchor node and the distance between described each anchor node and mobile device, determine the position coordinates of described mobile device, thus realize the accuracy improving mobile device indoor positioning based on ultrasonic technology.

In concrete enforcement, when described mobile device is intelligent robot, when described position coordinates is the two-dimensional coordinate of length and width composition, require that the height of different anchor node is identical, namely all anchor nodes are not at least positioned on two straight lines on same straight line.

When determining two-dimensional position coordinate or the three-dimensional location coordinates of mobile device in the present embodiment, the anchor node number of use and its layout in indoor, with reference to embodiment above, do not repeat them here.

Fig. 7 is the process flow diagram of the indoor orientation method of a kind of mobile device in the embodiment of the present invention.The indoor orientation method of mobile device as shown in Figure 7, can comprise the following steps:

Step S701: mobile device sends different radiofrequency signals to all anchor nodes in order.

In concrete enforcement, the ultrasonic signal that different anchor nodes sends is identical, and long enough interval time between adjacent two radiofrequency signals that described mobile device sends receives the ultrasonic signal of each described anchor node transmission to make described mobile device by same sequence.

In concrete enforcement, the quotient being more than or equal to point-to-point transmission longest distance and described ultrasonic transmission speed in the interior space of mobile device place described interval time can be set.

In concrete enforcement, described radiofrequency signal comprises: infrared ray, bluetooth or wifi.

Step S702: described mobile device receives the ultrasound wave that each described anchor node sends respectively.

In concrete enforcement, because described mobile device sends identical radiofrequency signal to all anchor nodes in order, and interval time long enough, make described mobile device also receive by same order the ultrasonic signal that corresponding anchor node sends respectively.

Step S703: the transmission time of ultrasonic transmission to described mobile device obtaining each described anchor node transmission.

In concrete enforcement, the ultrasonic transmission that mobile device can be sent to the mistiming between the time and the hyperacoustic time receiving the transmission of this anchor node of anchor node transmission radiofrequency signal as this anchor node is to the transmission time of described mobile device.

Step S704: the transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device.

In concrete enforcement, because hyperacoustic transmission speed is known, be generally 340m/s in atmosphere, then according to transmission time corresponding to each ultrasound wave and described transmission speed, the distance between each anchor node and mobile device can be calculated.

Step S705: according to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device.

The method calculating the position coordinates of described mobile device in the embodiment of the present invention is identical with the method described in embodiment in Fig. 4, namely adopts formula (1) to the formula in (7) as the case may be, does not repeat them here.

When described mobile device is intelligent robot, described position coordinates is the two-dimensional coordinate of length and width composition, and the height of different anchor node is identical, and all anchor nodes are at least positioned on two straight lines.

When determining two-dimensional position coordinate or the three-dimensional location coordinates of mobile device in the present embodiment, the anchor node number of use and its layout in indoor, with embodiment in Fig. 4, do not repeat them here.

The embodiment of the present invention sends different radiofrequency signals to all anchor node intervals in order by described mobile device, trigger described anchor node and send ultrasonic signal, described mobile device receives the ultrasound wave of the correspondence that described anchor node sends respectively by same order, obtain the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission, the transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, again according to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device, thus realize the accuracy improving mobile device indoor positioning based on ultrasonic technology.

The embodiment of the present invention also provides a kind of mobile device, described mobile device adopts the indoor positioning device 20 of mobile device as shown in Figure 2, namely can comprise: RF signal transmitter 201, ultrasonic receiver 202, timer 203 and first processor 204, not repeat them here its function separately.Described mobile device can be obtained from position coordinates in the place interior space by adopting the indoor positioning device 20 of described mobile device, to move or man-machine interaction provides position data for described mobile device carries out next step.

The mobile device of the embodiment of the present invention can be the mobile device that intelligent robot or other needs position, and does not limit at this.

One of ordinary skill in the art will appreciate that the part steps in the indoor orientation method of the mobile device in above-described embodiment, and the hardware that described first processor, described second processor and timer can carry out instruction relevant by program has come, this program can be stored in computer-readable recording medium, and storage medium can comprise: ROM, RAM, disk or CD etc.

Although the present invention discloses as above, the present invention is not defined in this.Any those skilled in the art, without departing from the spirit and scope of the present invention, all can make various changes or modifications, and therefore protection scope of the present invention should be as the criterion with claim limited range.

Claims (14)

1. an indoor orientation method for mobile device, is characterized in that, comprising:

Mobile device sends radiofrequency signal at least 3 anchor nodes;

Described mobile device receives the ultrasound wave that each described anchor node sends respectively, and described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal;

Obtain the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission;

The transmission time corresponding according to each ultrasound wave and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device;

According to the position coordinates of each anchor node and the distance between each anchor node and mobile device, determine the position coordinates of described mobile device.

2. the indoor orientation method of mobile device as claimed in claim 1, it is characterized in that, described mobile device sends radiofrequency signal at least 3 anchor nodes, described mobile device receives the ultrasound wave that each described anchor node sends respectively, described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal, comprising:

Described mobile device sends same radio to all anchor nodes simultaneously, and receives the different ultrasonic signal of each described anchor node transmission.

3. the indoor orientation method of mobile device as claimed in claim 1, is characterized in that, described mobile device receives the ultrasound wave that each described anchor node sends respectively, and described ultrasound wave is sent by the anchor node of correspondence under the triggering of described radiofrequency signal, comprising:

Described mobile device sends different radiofrequency signals to all anchor nodes in order, the ultrasonic signal that different anchor nodes sends is identical, and long enough interval time between adjacent two radiofrequency signals that described mobile device sends receives the ultrasonic signal of each described anchor node transmission to make described mobile device by same sequence.

4. the indoor orientation method of mobile device as claimed in claim 3, is characterized in that, be more than or equal to the quotient that in the interior space of mobile device place, point-to-point transmission longest distance obtains divided by described ultrasonic transmission speed described interval time.

5. the indoor orientation method of mobile device as claimed in claim 1, it is characterized in that, the ultrasonic transmission that each described anchor node of described acquisition sends, to the transmission time of described mobile device, comprising: the ultrasonic transmission sent to the mistiming between the time and the hyperacoustic time receiving the transmission of described anchor node of anchor node transmission radiofrequency signal as described anchor node by mobile device is to the transmission time of described mobile device.

6. the indoor orientation method of mobile device as claimed in claim 1, it is characterized in that, described radiofrequency signal comprises: infrared ray, bluetooth or wifi.

7. the indoor orientation method of mobile device as claimed in claim 1, it is characterized in that, described mobile device is intelligent robot, and described position coordinates is the two-dimensional coordinate of length and width composition, the height of different anchor node is identical, and all anchor nodes are at least positioned on two straight lines.

8. an indoor positioning device for mobile device, is characterized in that, comprising: RF signal transmitter, ultrasonic receiver, timer and first processor;

Described RF signal transmitter, is suitable for sending radiofrequency signal at least 3 anchor nodes;

Described ultrasonic receiver, is suitable for the ultrasound wave receiving the transmission of each anchor node respectively;

Described timer, is suitable for the transmission time of ultrasonic transmission to described mobile device of each described anchor node transmission of acquisition;

Described first processor, be suitable for controlling described RF signal transmitter and send radiofrequency signal, control the ultrasound wave that described ultrasonic receiver receives the transmission of each anchor node respectively, the described transmission time obtained according to described timer and hyperacoustic transmission speed, calculate the distance between each anchor node and mobile device, according to the position coordinates of each anchor node and the distance between described each anchor node and mobile device, determine the position coordinates of described mobile device.

9. the indoor positioning device of mobile device as claimed in claim 8, it is characterized in that, described RF signal transmitter is one, the number of described ultrasonic receiver is identical with the number of described anchor node, described RF signal transmitter is suitable for sending same radio to different anchor nodes simultaneously, described ultrasonic receiver is suitable for the ultrasonic signal receiving corresponding described anchor node transmission, and the ultrasonic signal that different ultrasonic receiver receives is different.

10. the indoor positioning device of mobile device as claimed in claim 8, it is characterized in that, described RF signal transmitter and described ultrasonic receiver are one, described RF signal transmitter is suitable for sending different radiofrequency signals to different anchor nodes in order, the ultrasonic signal that different anchor nodes sends is identical, and long enough interval time between adjacent two radiofrequency signals that described RF signal transmitter sends receives the ultrasonic signal of each described anchor node transmission to make described ultrasonic receiver by same sequence.

The indoor positioning device of 11. mobile devices as claimed in claim 10, is characterized in that, when described RF signal transmitter sends radiofrequency signal, described timer starts timing; When described ultrasonic receiver receives ultrasonic signal, described timer stops timing, the time that described timer obtains as described ultrasonic transmission to transmission time of described mobile device.

12. 1 kinds of mobile devices, is characterized in that, comprise the indoor positioning device according to any one of claim 8 to 11.

The indoor locating system of 13. 1 kinds of mobile devices, is characterized in that, comprising: mobile device as claimed in claim 12 and at least 3 anchor nodes;

Described anchor node, is suitable for sending ultrasound wave to described mobile device under the triggering of described radiofrequency signal.

14. 1 kinds of anchor nodes, is characterized in that, comprising: radio frequency signal receiver, ultrasonic transmitter and the second processor;

Described radio frequency signal receiver, is suitable for receiving the radiofrequency signal sent from mobile device;

Described ultrasonic transmitter, is suitable for after described radio frequency signal receiver received RF signal, sends corresponding ultrasound wave under the control of described second processor;

Described second processor, is suitable for controlling described ultrasonic transmitter according to the radiofrequency signal received and sends corresponding ultrasonic signal.