CN105629201A - Indoor supersonic wave positioning position correction method - Google Patents

Abstract

The invention discloses an indoor supersonic wave positioning position correction method. A positioning system consists of a center station, a beacon node, an object node and a reference station. The indoor supersonic wave positioning position correction method can eliminate the positioning errors caused by a supersonic wave speed error, a hardware delay error, an installation error and other errors. Compared with the prior art, the position information accuracy of the object node obtained through the indoor supersonic wave positioning position correction method is high.

Description

A kind of indoor ultrasonic position location modification method

Technical field

The present invention relates to a kind of indoor ultrasonic position location modification method; Adopt position correcting method to carry out error compensation and improve indoor position accuracy, for being accurately positioned indoor object, belong to field of navigation technology.

Background technology

Indoor positioning technologies becomes the focus of research in recent years, and along with the development of indoor positioning technologies, the life of people also can be more and more convenient therewith.

Ultrasound wave indoor positioning technologies has that low cost, anti-electromagnetic interference capability affect by force, not by light smog, temporal information is directly perceived and positioning precision high. Therefore, ultrasonic locating technology is widely used in various range findings and alignment system.

Conventional mainly has based on hyperacoustic indoor positioning technologies:

The first is for positioning installation radiofrequency launcher (or infrared transmission module) and ultrasonic transmitter array on object, in indoor fixed position, ultrasonic receiver and radio frequency receiver are installed, location object launches radiofrequency signal and ultrasonic signal simultaneously, receiving terminal is by the distance between digital object and each ultrasonic receiver of two signals arrival, base station receives the range information launched from fixed position and carries out positions calculations, then by Data-Link, operation result is sent to location object.

The second is the method for ultrasonic locating based on CDMA. This technology is to launch ultrasonic signal at the multiple beaconing nodes of indoor layout, positioning end installs ultrasonic receiver array, beaconing nodes launches the ultrasonic signal through ovennodulation simultaneously, extracts the time of advent at positioning end by auto-correlation computation, positions computing.

By these method for ultrasonic locating, it is only necessary to the distance recorded between location terminal and three beaconing nodes can be carried out three-dimensional localization computing, calculates location terminal positional information. Owing to there is ultrasonic velocity error (ultrasonic velocity changes), hardware delay time error, alignment error and other errors with variation of ambient temperature so that the coordinate calculated and actual position information are different, there is error.

Summary of the invention

For the defect that existing ultrasound wave indoor orientation method exists, the invention provides a kind of indoor ultrasonic position location modification method.

The present invention for achieving the above object, adopts the following technical scheme that

Indoor ultrasonic positioning system structure of the present invention includes: indoor ultrasonic alignment system is by central station, beaconing nodes, destination node and reference station four part.

Indoor ultrasonic position location of the present invention modification method step is:

If being laid in three beaconing nodes coordinate respectively (x at fixed position, roof place₁,y₁,z₁), (x₂,y₂,z₂), (x₃,y₃,z₃); Set reference station position coordinates as (x_u,y_u,z_u), subscript u is reference station label;

(1) radiofrequency signal launched by central station, as time synchronizing signal;

(2), after reference station receives the time synchronizing signal that central station transmission comes, ultrasonic signal is launched; It is arranged on after the beaconing nodes at indoor fixed position place receives the time synchronizing signal that central station is sent, starts intervalometer, find range, obtain the reference station range information �� to beaconing nodes k_uk;

Above-mentioned k is three beaconing nodes numberings, k=1,2,3;

Above-mentioned ��_ukDistance for the reference station that records to beaconing nodes k;

(3) range information obtained according to (2nd) step obtains reference station measurement three-dimensional coordinate (x ' by formula (1) resolving_u,y��_u,z��_u);

$\left\{\begin{array}{c}{(x_u^{\′}-x_1)}^2+{(y_u^{\′}-y_1)}^2+{(z_u^{\′}-z_1)}^2={\mathrm{\ρ}}_{u1}^2\\ {(x_u^{\′}-x_2)}^2+{(y_u^{\′}-y_2)}^2+{(z_u^{\′}-z_2)}^2={\mathrm{\ρ}}_{u2}^2\\ {(x_u^{\′}-x_3)}^2+{(y_u^{\′}-y_2)}^2+{(z_u^{\′}-z_2)}^2={\mathrm{\ρ}}_{u3}^2\end{array}\right.---\left(1\right)$

(4) according to formula (2) measurement coordinate and reference station standard value compared and obtain measuring site error correction number ��;

$\left\{\begin{array}{c}{\mathrm{\Δ}}_x=x_u-x_u^{\′}\\ {\mathrm{\Δ}}_y=y_u-y_u^{\′}\\ {\mathrm{\Δ}}_z=z_u-z_u^{\′}\end{array}\right.---\left(2\right)$

(5) central station synchronizing signal launch time again, destination node launches ultrasonic signal after receiving the time synchronizing signal that central station transmission comes; It is arranged on after the beaconing nodes at indoor fixed position place receives the time synchronizing signal that central station is sent, starts intervalometer, find range, obtain the destination node range information �� to beaconing nodes k_rk, ��_rkDistance for the destination node that records to beaconing nodes k;

(6) range information obtained according to (5th) step obtains destination node three-dimensional coordinate (x ' by formula (3) resolving_r,y��_r,z��_r);

$\left\{\begin{array}{c}{(x_r^{\′}-x_1)}^2+{(y_r^{\′}-y_1)}^2+{(z_r^{\′}-z_1)}^2={\mathrm{\ρ}}_{r1}^2\\ {(x_r^{\′}-x_2)}^2+{(y_r^{\′}-y_2)}^2+{(z_r^{\′}-z_2)}^2={\mathrm{\ρ}}_{r2}^2\\ {(x_r^{\′}-x_3)}^2+{(y_r^{\′}-y_2)}^2+{(z_r^{\′}-z_2)}^2={\mathrm{\ρ}}_{r3}^2\end{array}\right.---\left(3\right)$

(7) utilize the measurement site error correction number �� that (4th) step obtains to be revised the three-dimensional coordinate calculated by formula (4), obtain the destination node location coordinate information of higher precision.

$\left\{\begin{array}{c}x=x_r^{\′}+{\mathrm{\Δ}}_x\\ y=y_r^{\′}+{\mathrm{\Δ}}_y\\ z=z_r^{\′}+{\mathrm{\Δ}}_z\end{array}\right.---\left(4\right)$

It follows that obtain site error correction number according to reference station, by position correcting method can accurately record destination node three-dimensional coordinate (x, y, z).

Table 1 position error Comparative result table

Beneficial effects of the present invention: indoor ultrasonic position location modification method can eliminate the position error owing to ultrasonic velocity error, hardware delay time error, alignment error and other errors cause, for existing method for ultrasonic locating, the positional information precision of the destination node obtained by indoor ultrasonic position location modification method is higher.

Accompanying drawing explanation

Fig. 1 is indoor ultrasonic location method, system pie graph;

Fig. 2 is beaconing nodes artwork;

Fig. 3 is position error Comparative result figure;

In figure: A is tradition position error, B is position correcting method position error, abscissa is data number, vertical coordinate is position error/.

Detailed description of the invention

In order to realize high-precision indoor ultrasonic three-dimensional localization, the invention provides a kind of indoor ultrasonic position location modification method. Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:

The system structure composition of indoor ultrasonic alignment system:

Such as Fig. 1 indoor ultrasonic positioning system structure composition diagram, it is mainly made up of central station, beaconing nodes, destination node and reference station four part. The four concrete positioning steps of part are as follows:

If being laid in three beaconing nodes coordinate respectively (x at fixed position, roof place₁,y₁,z₁), (x₂,y₂,z₂), (x₃,y₃,z₃); Set reference station position coordinates as (x_u,y_u,z_u), subscript u is reference station label;

(1) radiofrequency signal launched by central station, as time synchronizing signal.

(2), after reference station receives the time synchronizing signal that central station transmission comes, ultrasonic signal is launched; It is arranged on after the beaconing nodes at indoor fixed position place receives the time synchronizing signal that central station is sent, starts intervalometer, find range, obtain the reference station range information �� to beaconing nodes k_uk;

Above-mentioned k is three beaconing nodes numberings, k=1,2,3;

Above-mentioned ��_ukDistance for the reference station that records to beaconing nodes k;

(3) range information obtained according to (2nd) step obtains reference station measurement three-dimensional coordinate (x ' by formula (5) resolving_u,y��_u,z��_u);

$\left\{\begin{array}{c}{(x_u^{\′}-x_1)}^2+{(y_u^{\′}-y_1)}^2+{(z_u^{\′}-z_1)}^2={\mathrm{\ρ}}_{u1}^2\\ {(x_u^{\′}-x_2)}^2+{(y_u^{\′}-y_2)}^2+{(z_u^{\′}-z_2)}^2={\mathrm{\ρ}}_{u2}^2\\ {(x_u^{\′}-x_3)}^2+{(y_u^{\′}-y_2)}^2+{(z_u^{\′}-z_2)}^2={\mathrm{\ρ}}_{u3}^2\end{array}\right.---\left(5\right)$

(4) according to formula (6) measurement coordinate and reference station standard value compared and obtain measuring site error correction number ��;

$\left\{\begin{array}{c}{\mathrm{\Δ}}_x=x_u-x_u^{\′}\\ {\mathrm{\Δ}}_y=y_u-y_u^{\′}\\ {\mathrm{\Δ}}_z=z_u-z_u^{\′}\end{array}\right.---\left(6\right)$

(5) central station synchronizing signal launch time again, destination node launches ultrasonic signal after receiving the time synchronizing signal that central station transmission comes; It is arranged on after the beaconing nodes at indoor fixed position place receives the time synchronizing signal that central station is sent, starts intervalometer, find range, obtain the destination node range information �� to beaconing nodes k_rk, ��_rkDistance for the destination node that records to beaconing nodes k;

(6) range information obtained according to (5th) step obtains destination node three-dimensional coordinate (x ' by formula (7) resolving_r,y��_r,z��_r);

$\left\{\begin{array}{c}{(x_r^{\′}-x_1)}^2+{(y_r^{\′}-y_1)}^2+{(z_r^{\′}-z_1)}^2={\mathrm{\ρ}}_{r1}^2\\ {(x_r^{\′}-x_2)}^2+{(y_r^{\′}-y_2)}^2+{(z_r^{\′}-z_2)}^2={\mathrm{\ρ}}_{r2}^2\\ {(x_r^{\′}-x_3)}^2+{(y_r^{\′}-y_2)}^2+{(z_r^{\′}-z_2)}^2={\mathrm{\ρ}}_{r3}^2\end{array}\right.---\left(7\right)$

(7) utilize the measurement site error correction number �� that (4th) step obtains to be revised the three-dimensional coordinate calculated by formula (8), obtain the destination node location coordinate information of higher precision.

$\left\{\begin{array}{c}x=x_r^{\′}+{\mathrm{\Δ}}_x\\ y=y_r^{\′}+{\mathrm{\Δ}}_y\\ z=z_r^{\′}+{\mathrm{\Δ}}_z\end{array}\right.---\left(8\right)$

It follows that obtain site error correction factor according to reference station, by position correcting method can accurately record destination node three-dimensional coordinate (x, y, z).

One that is illustrated in figure 2 the present invention is embodied as case beaconing nodes artwork, four beaconing nodes are laid in the region of roof 1.6m*1.6m, four beaconing nodes three-dimensional coordinates (coordinate unit: mm) respectively (0, 0, 3925), (1600, 0, 3925), (1600, 1600, 3925), (0, 1600, 3925), ground drop target node, carry out indoor ultrasonic positioning experiment, it is respectively adopted conventional ultrasonic wave localization method and ultrasonic locating position correcting method (taking square area central point as a reference point) positions computing, position error table and application condition figure are respectively in Table 1 and Fig. 3, can be seen that in conjunction with chart, adopt ultrasonic locating position correcting method can improve positioning precision better, suitable in indoor accurate position.

Table 1 position error Comparative result table

One of the above-mentioned present invention of giving is embodied as case, and indoor ultrasonic position location modification method can realize being accurately positioned of indoor object. The content not being described in detail in present specification belongs to the known prior art of professional and technical personnel in the field.

Above in conjunction with accompanying drawing, embodiments of the present invention are described, but the invention is not limited in above-mentioned embodiment, in the ken that those skilled in the art possesses, it is also possible to make a variety of changes under the premise without departing from present inventive concept.

Claims (1)

1. an indoor ultrasonic position location modification method, it is characterised in that: described positioning system structure includes: indoor ultrasonic alignment system is by central station, beaconing nodes, destination node and reference station four part.

Described indoor ultrasonic position location its main positioning step of modification method is:

If being laid in three beaconing nodes coordinate respectively (x at fixed position, roof place₁,y₁,z₁), (x₂,y₂,z₂), (x₃,y₃,z₃); Set reference station position coordinates as (x_u,y_u,z_u), subscript u is reference station label;

(1) radiofrequency signal launched by central station, as time synchronizing signal;

(2), after reference station receives the time synchronizing signal that central station transmission comes, ultrasonic signal is launched; It is arranged on after the beaconing nodes at indoor fixed position place receives the time synchronizing signal that central station is sent, starts intervalometer, find range, obtain the reference station range information �� to beaconing nodes k_uk;

Above-mentioned k is three beaconing nodes numberings, k=1,2,3;

Above-mentioned ��_ukDistance for the reference station that records to beaconing nodes k;

(3) range information obtained according to (2nd) step obtains reference station measurement three-dimensional coordinate (x ' by formula (1) resolving_u,y��_u,z��_u);

$\left\{\begin{array}{c}{(x_u^{\′}-x_1)}^2+{(y_u^{\′}-y_1)}^2+{(z_u^{\′}-z_1)}^2={\mathrm{\ρ}}_{u1}^2\\ {(x_u^{\′}-x_2)}^2+{(y_u^{\′}-y_2)}^2+{(z_u^{\′}-z_2)}^2={\mathrm{\ρ}}_{u2}^2\\ {(x_u^{\′}-x_3)}^2+{(y_u^{\′}-y_2)}^2+{(z_u^{\′}-z_2)}^2={\mathrm{\ρ}}_{u3}^2\end{array}\right.---\left(1\right)$

(4) according to formula (2) measurement coordinate and reference station standard value compared and obtain measuring site error correction number ��;

$\left\{\begin{array}{c}{\mathrm{\Δ}}_x=x_u-x_u^{\′}\\ {\mathrm{\Δ}}_y=y_u-y_u^{\′}\\ {\mathrm{\Δ}}_z=z_u-z_u^{\′}\end{array}\right.---\left(2\right)$

(5) central station synchronizing signal launch time again, destination node launches ultrasonic signal after receiving the time synchronizing signal that central station transmission comes; It is arranged on after the beaconing nodes at indoor fixed position place receives the time synchronizing signal that central station is sent, starts intervalometer, find range, obtain the destination node range information �� to beaconing nodes k_rk, ��_rkDistance for the destination node that records to beaconing nodes k;

(6) range information obtained according to (5th) step obtains destination node three-dimensional coordinate (x ' by formula (3) resolving_r,y��_r,z��_r);

$\left\{\begin{array}{c}{(x_r^{\′}-x_1)}^2+{(y_r^{\′}-y_1)}^2+{(z_r^{\′}-z_1)}^2={\mathrm{\ρ}}_{r1}^2\\ {(x_r^{\′}-x_2)}^2+{(y_r^{\′}-y_2)}^2+{(z_r^{\′}-z_2)}^2={\mathrm{\ρ}}_{r2}^2\\ {(x_r^{\′}-x_3)}^2+{(y_r^{\′}-y_2)}^2+{(z_r^{\′}-z_2)}^2={\mathrm{\ρ}}_{r3}^2\end{array}\right.---\left(3\right)$

(7) utilize the measurement site error correction number �� that (4th) step obtains to be revised the three-dimensional coordinate calculated by formula (4), obtain the destination node location coordinate information of higher precision;

$\left\{\begin{array}{c}x=x_r^{\′}+{\mathrm{\Δ}}_x\\ y=y_r^{\′}+{\mathrm{\Δ}}_y\\ z=z_r^{\′}+{\mathrm{\Δ}}_z\end{array}\right.---\left(4\right)$

It follows that obtain site error correction number according to reference station, by position correcting method can accurately record destination node three-dimensional coordinate (x, y, z).