CN105929368A - Supersonic wave based indoor positioning method, device and system - Google Patents
Supersonic wave based indoor positioning method, device and system Download PDFInfo
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- CN105929368A CN105929368A CN201610230275.3A CN201610230275A CN105929368A CN 105929368 A CN105929368 A CN 105929368A CN 201610230275 A CN201610230275 A CN 201610230275A CN 105929368 A CN105929368 A CN 105929368A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a supersonic wave based indoor positioning method. The method comprises that supersonic wave transmission time between a target device and at least three reference devices in different positions is obtained, the target device sends supersonic waves to the at least three reference devices, or the at least three reference devices send supersonic waves to the target device; the distances between the target device and the reference devices are calculated according to the transmission time; position coordinate of the target device is obtained according to the calculated distances and position coordinates of the reference devices; and position information of the target device is updated according to the position coordinate. The invention also provides an indoor positioning device and system based on the supersonic waves. The method, device and system can be used to solve the technical problem that accurate position information of an object which moves indoor is hard to obtain in the positioning process.
Description
Technical field
The present invention relates to ultrasonic locating technical field, particularly relate to a kind of indoor positioning based on ultrasound wave
Method, Apparatus and system.
Background technology
At open outdoor environment, global positioning system has been able to provide point-device location information.
But, in industrial and agricultural production, military and national defense, it is often necessary under indoor environment, target location thing is entered
Row location and monitoring.Such as, on-the-spot in Industry Control, robot and locomotive, security protection, mine
The indoor positioning information accurately that is required under working environment realizes efficient control spatially, with outdoor ring
Border is compared, and indoor environment wants complicated many, and the structure of building, the situation of interior layout also have many
Artificial limitation factors etc. can produce impact to the accuracy of indoor positioning, utilizes existing alignment system, as
GPS alignment systems etc., are difficult to use in indoor ring owing to gps signal cannot penetrate the construction material in room
Border, when causing needs to position indoor mobile target, it is difficult to get accurate positional information.
Summary of the invention
The present invention provides a kind of indoor orientation method based on ultrasound wave, Apparatus and system, its main purpose
When being to solve indoor mobile target is positioned, it is difficult to get the skill of accurate positional information
Art problem.
For achieving the above object, the present invention provides a kind of indoor orientation method based on ultrasound wave, described base
Indoor orientation method in ultrasound wave includes:
When obtaining target device and the ultrasonic transmission between at least three reference device of diverse location
Between, wherein, described target device send ultrasound wave at least three reference device, or by least three
Individual reference device sends ultrasound wave to described target device；
According to distance between target device and each described reference device described in described transmission Time Calculation；
Position coordinates according to calculated described distance and each described reference device obtains described mesh
The position coordinates of marking device；
Positional information according to target device described in described position coordinates real-time update.
Alternatively, the described step being sent ultrasound wave at least three reference device by target device includes:
Described target device sends ultrasound wave and radiofrequency signal at least three reference device simultaneously；
When obtaining target device and the ultrasonic transmission between at least three reference device of diverse location
Between step include:
Obtain each described reference device receive the time point of described radiofrequency signal with receive described
Time difference between the time point of ultrasound wave；
Using described time difference as transmission time of described ultrasound wave.
Alternatively, described by described target device at least three reference device send ultrasound wave, or by
Before at least three reference device sends the step of ultrasound wave to described target device, described method also includes:
Synchronize the system time of described reference device and the system time of described target device.
Alternatively, the step of the described positional information according to target device described in described position coordinates real-time update
After Zhou, described method also includes:
When moving out predeterminable area of described target device being detected according to described positional information, send
Information warning.
Alternatively, the step of the described positional information according to target device described in described position coordinates real-time update
After Zhou, described method also includes:
When receiving position display instruction, determine the target device that the instruction of described position display is corresponding, and
Show the positional information of described target device.
Additionally, for achieving the above object, the present invention also provides for a kind of indoor positioning device based on ultrasound wave,
Described indoor positioning device based on ultrasound wave includes:
Acquisition module, for obtaining target device and between at least three reference device of diverse location
The ultrasonic transmission time, wherein, by described target device at least three reference device send ultrasound wave,
Or sent ultrasound wave by least three reference device to described target device；
Processing module, for setting with reference each described according to target device described in described transmission Time Calculation
Distance between Bei；
And, obtain according to the position coordinates of calculated described distance and each described reference device
The position coordinates of described target device；
Display module, for the positional information according to target device described in described position coordinates real-time update.
Alternatively, described indoor positioning device based on ultrasound wave also includes:
Synchronization module, when being used for the system synchronizing the system time of described reference device and described target device
Between.
Alternatively, described server also includes:
Reminding module, for when detecting that moving out of described target device is pre-according to described positional information
If during region, send information warning.
Alternatively, described display module, it is additionally operable to, when receiving position display instruction, determine institute's rheme
Put the target device that idsplay order is corresponding, and show the positional information of described target device.
For achieving the above object, the present invention provides a kind of indoor locating system based on ultrasound wave, described base
Indoor locating system in ultrasound wave includes above-mentioned indoor positioning device based on ultrasound wave, described based on super
The indoor locating system of sound wave also includes target device and reference device；
Described target device is used for sending ultrasound wave to the most described three reference devices, or, receive extremely
The ultrasound wave that few described three reference devices send；
Described reference device, for sending ultrasound wave to described target device, or, receive described target
The ultrasound wave that equipment sends.
The indoor orientation method based on ultrasound wave of present invention proposition, Apparatus and system, arrange at least three
The reference device of known location coordinate, is sent ultrasound wave by target device to reference device, or by reference
Equipment sends ultrasound wave to target device, obtains ultrasound wave between target device and each reference device
The transmission time, owing to the transmission speed of ultrasound wave is it is known that target device can be calculated to each reference
Distance between equipment, and then according to the distance between target device to each reference device, and often
The position coordinates of one reference device calculates the position coordinates of target device, penetrates energy due to ultrasound wave
Power is strong, even if be also not readily susceptible to the impact of barrier in indoor, the distance accuracy recorded is high, solves
When indoor mobile target is positioned, it is difficult to get the technical problem of accurate positional information.
Accompanying drawing explanation
Fig. 1 is the flow chart of present invention indoor orientation method based on ultrasound wave preferred embodiment；
Fig. 2 is target device and reference in present invention indoor orientation method based on ultrasound wave preferred embodiment
The schematic layout pattern of equipment；
Fig. 3 is rectangular coordinate system in space schematic diagram in present invention indoor orientation method based on ultrasound wave；
Fig. 4 be in present invention indoor orientation method based on ultrasound wave preferred embodiment multiple target devices and
The schematic layout pattern of reference device；
Fig. 5 is the high-level schematic functional block diagram of present invention indoor positioning based on ultrasound wave device preferred embodiment；
Fig. 6 is present invention indoor positioning based on ultrasound wave device hardware configuration schematic diagram.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, do referring to the drawings further
Explanation.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit
Determine the present invention.
The present invention provides a kind of indoor orientation method based on ultrasound wave.
With reference to shown in Fig. 1, for the flow process of present invention indoor orientation method based on ultrasound wave preferred embodiment
Figure.
In the first embodiment, should include by indoor orientation method based on ultrasound wave:
Step S10, obtains target device and ultrasonic between at least three reference device of diverse location
The ripple transmission time, wherein, described target device send ultrasound wave at least three reference device, or
Ultrasound wave is sent to described target device by least three reference device.
The localization method that the present embodiment proposes, the reference being positioned at diverse location in indoor layout at least three sets
Standby, and the position coordinates of these reference devices is known.Being provided with three reference devices it is below
The present invention is explained by example.
Owing to the transmission speed of ultrasound wave is known, its aerial transmission speed is 341m/s, this
Invent target device as the sender of ultrasound wave, simultaneously using reference device as the recipient of ultrasound wave,
Or, reference device is sent out as the transmission of ultrasound wave, simultaneously using target device as the reception of ultrasound wave
Side, by carrying out record to the transmission time of ultrasound wave and reception time, to obtain ultrasound wave in target
The transmission time shared by transmitting between equipment and reference device, and then combine ultrasound wave according to the transmission time
Transmission speed calculate target device to the distance between reference device.
About the acquisition of transmission time, using target device as the sender of ultrasound wave in below example,
Reference device is illustrated as a example by the recipient of ultrasound wave simultaneously.
As a kind of embodiment, radio frequency can be sent by target device while sending ultrasound wave
Signal, each reference device, when receiving the radiofrequency signal that target device sends, starts timing,
When receiving the ultrasonic signal that target device sends, stopping timing, each reference device is by record
Time transmits the time taken to reference device as ultrasonic signal from target device, because radio frequency is believed
Number very fast in spread speed, equal with the light velocity, about 3 × 108M/s, and the spread speed of ultrasound wave is relatively
Low, about 341m/s, therefore the transmission time of radiofrequency signal is negligible.Due to each reference
Distance between equipment from target device may be different, therefore, during the transmission that each reference device obtains
Between be likely to difference.
Alternatively, target device can send radio frequency letter at interval of prefixed time interval to reference device simultaneously
Number and ultrasonic signal.
Alternatively, target device is when receiving the positioning instruction that server sends, to reference device simultaneously
Send radiofrequency signal and ultrasonic signal, wherein, server can as required to target device timing or
The transmission positioning instruction of person's variable interval.
Alternatively, instructed by the form of WLAN between target device and server or believe
Number transmission, the transmission means such as such as Zigbee, bluetooth, WiFi, enter between reference device and server
During the transmission of row information, such as, when time tranfer will be transmitted to server, it is also possible to pass through wireless local
The form of net carries out instructing or the transmission of signal, the transmission means such as such as Zigbee, bluetooth, WiFi.
In this embodiment, with reference to shown in Fig. 2, target device is provided with ultrasonic transmitter, radio frequency
Emitter and Wireless LAN module, reference device is provided with ultrasonic receiver, radio frequency receiver,
Wireless LAN module and timer, wherein, receive what target device sent at Receiver Module
During radiofrequency signal, timer starts timing, when ultrasonic receiver receives ultrasonic signal, and timing
Device stops timing, and the time of record is ultrasound wave and is transmitted the transmission taken to reference device by target device
Time.
Alternatively, timer can also substitute with enumerator, obtains the data of counter records, then by it
Be converted to the time.
As another embodiment, target device can be not provided with radiofrequency launcher, in reference device
Radio frequency receiver and timer can be not provided with, in this embodiment, before step S10, the party
Method is further comprising the steps of:
Synchronize the system time of described reference device and the system time of described target device.
Before positioning, the system time of reference device and the system time of target device are carried out same
Step, it is for instance possible to use the side of Network Time Protocol (network Time Protocol, NTP)
Formula synchronizes, certainly, in other examples, it would however also be possible to employ other time synchronizing method, it is ensured that
The system time of reference device is consistent with the system time of target device, and the error after synchronization will be much smaller than super
Sound wave transmits the time taken between target device and reference device, to ensure position coordinates result of calculation
Degree of accuracy.
Owing to the system time of reference device and the system time of target device are consistent, then, target device
Sending while ultrasound wave, the current system time point of record object equipment is as the time of transmission, reference
Equipment, when receiving ultrasound wave, records the current system time point of reference device as the time of reception, mesh
Transmission time and the reception time of record are sent to server by marking device and handbook equipment respectively, service
Device goes out time difference, as the transmission time of ultrasound wave according to reception time and transmission Time Calculation.
It is understood that due in actual use environment, it is understood that there may be other various radiofrequency signals
Interference, therefore, for radiofrequency signal, the frequency not being well used can be selected to be transmitted,
Or, radiofrequency signal loads identification information, recipient is receiving radiofrequency signal according to identification information
Judge whether radiofrequency signal is that target device sends.Each reference device is carrying out data to server
During transmission, data are added the identification information of this reference device.
Step S20, according to described in described transmission Time Calculation between target device and each described reference device
Distance.
Step S30, obtains according to the position coordinates of calculated described distance and each described reference device
Take the position coordinates of described target device.
Server is after getting the transmission time, according to the transmission speed 341 of transmission time with ultrasound wave
M/s calculates the distance between target device and each reference device.Certainly, with at air in the present embodiment
Illustrate as a example by middle transmission, when using in other media, it is possible to use sound wave is in the medium
Transmission speed calculates, such as, when positioning under water, then use ultrasound wave transmission in water
Speed calculates.
With reference to shown in Fig. 3, set up rectangular coordinate system as depicted in the interior space, it is assumed that three references
Equipment is respectively C1, C2, C3, and its position coordinates is: C1 (X1, Y1, Z1)、C2(X2, Y2,
Z2)、C3(X3, Y3, Z3)。
The distance calculated between three reference devices of target device distance of gained is respectively l1、l2、l3, mesh
The computing formula of the position coordinates (X, Y, Z) of marking device is:
Alternatively, in order to simplify calculating, three reference devices can be disposed on the same plane, such as,
It is arranged in the plane being parallel to horizontal plane, then Z1=Z2=Z3
Equation can be reduced to:
Wherein:
α21=x2-x1, β21=y2-y1
α31=x3-x1, β31=y3-y1
If X1=X2, owing to three reference points are the most misaligned, and not conllinear, therefore y1≠y2, x1≠x3,
I.e. β21≠ 0, α31≠ 0, then:
According to Cyclic Symmetry, work as β21=0, α31=0, β31=0 when setting up respectively, all can obtain
Similar solution；Whereas if α21≠0、β21≠0、α31≠0、β31≠ 0 sets up simultaneously, then:
According toCalculate Z value.
It is understood that in order to simplify above-mentioned calculating process, the quantity of reference device can be increased, and
It is disposed on conplane non-same straight line.
Step S40, according to the positional information of target device described in described position coordinates real-time update.
Load indoor map on the server, map demonstrates the position coordinates of target device, works as mesh
When marking device is moved, according to the change of its position coordinates, its position in indoor map of real-time update
Confidence ceases, for example, it is possible to demonstrate its location point being currently located, or, demonstrate that it is when one section
Interior movement locus.
Further, preset areas is moved out when described target device detected according to described positional information
During territory, send information warning.For example, it is possible to arrange the warning devicess such as buzzer on the server, work as mesh
When moving out predeterminable area of marking device, sends information warning.
Further, when indoor have multiple target device to need to position, shown in reference Fig. 4, then
Respectively each target device is positioned, wherein, each target device send radiofrequency signal time,
Specific identification information can be loaded make a distinction with the equipment with other.
When receiving position display instruction, determine the target device that the instruction of described position display is corresponding, and
Show the positional information of described target device.
Owing to can position multiple target devices respectively, server can multiple to current indoor
The position of target device shows, when user wants the positional information individually checking certain target device,
Can be with trigger position idsplay order, such as, icon based on display screen upper cover target device, work as server
When receiving position display instruction, determine the target device that position display instruction is corresponding, by this target device
Positional information show, or the regional area that taken by the positional information of this target device amplifies aobvious
Show.
The indoor orientation method based on ultrasound wave that the present embodiment proposes, arranges that at least three known location is sat
Target reference device, is sent ultrasound wave by target device to reference device, or by reference device to target
Equipment sends ultrasound wave, obtains the ultrasound wave transmission time between target device and each reference device,
Owing to the transmission speed of ultrasound wave is it is known that target device can be calculated between each reference device
Distance, and then according to the distance between target device to each reference device, and each is with reference to setting
Standby position coordinates calculates the position coordinates of target device, owing to the penetration capacity of ultrasound wave is strong, even if
Also be not readily susceptible to the impact of barrier in indoor, the distance accuracy recorded is high, solves for indoor
Mobile target when positioning, it is difficult to get the technical problem of accurate positional information.
The present invention also proposes a kind of indoor positioning device based on ultrasound wave.
With reference to shown in Fig. 5, for present invention indoor positioning based on ultrasound wave apparatus function module diagram.
In this embodiment, should include with lower module by indoor positioning device based on ultrasound wave:
Acquisition module 10, for obtain target device with at least three reference device being positioned at diverse location it
Between the ultrasonic transmission time, wherein, by described target device at least three reference device send ultrasonic
Ripple, or sent ultrasound wave by least three reference device to described target device.
The positioner that the present embodiment proposes, acquisition is arranged in indoor at least three and is positioned at the ginseng of diverse location
Examining the ultrasonic transmission time between equipment and target device, it is fixed to carry out target device according to the transmission time
Position.The position coordinates of these reference devices is known.Right as a example by being provided with three reference devices below
The present invention explains.
Owing to the transmission speed of ultrasound wave is known, its aerial transmission speed is 341m/s, this
Invent target device as the sender of ultrasound wave, simultaneously using reference device as the recipient of ultrasound wave,
Or, reference device is sent out as the transmission of ultrasound wave, simultaneously using target device as the reception of ultrasound wave
Side, by carrying out record to the transmission time of ultrasound wave and reception time, to obtain ultrasound wave in target
The transmission time shared by transmitting between equipment and reference device, and then combine ultrasound wave according to the transmission time
Transmission speed calculate target device to the distance between reference device.
About the acquisition of transmission time, using target device as the sender of ultrasound wave in below example,
Reference device is illustrated as a example by the recipient of ultrasound wave simultaneously.
As a kind of embodiment, radio frequency can be sent by target device while sending ultrasound wave
Signal, each reference device, when receiving the radiofrequency signal that target device sends, starts timing,
When receiving the ultrasonic signal that target device sends, stopping timing, each reference device is by record
Time transmits the time taken to reference device as ultrasonic signal from target device, because radio frequency is believed
Number very fast in spread speed, equal with the light velocity, about 3 × 108M/s, and the spread speed of ultrasound wave is relatively
Low, about 341m/s, therefore the transmission time of radiofrequency signal is negligible.Due to each reference
Distance between equipment from target device may be different, therefore, during the transmission that each reference device obtains
Between be likely to difference.
Alternatively, target device can send radio frequency letter at interval of prefixed time interval to reference device simultaneously
Number and ultrasonic signal.
Alternatively, target device, when receiving the positioning instruction that indoor positioning device sends, sets to reference
Standby transmission radiofrequency signal and ultrasonic signal simultaneously, wherein, indoor positioning device can be as required to mesh
Marking device timing or the transmission positioning instruction of variable interval.
Alternatively, instructed by the form of WLAN between indoor positioning device and target device
Or the transmission means such as the transmission of signal, such as Zigbee, bluetooth, WiFi, reference device is fixed with indoor
When carrying out information transmission between the device of position, such as, when time tranfer will be transmitted to indoor positioning device,
Can also carry out instructing or the transmission of signal by the form of WLAN, such as Zigbee, bluetooth,
The transmission means such as WiFi.
In this embodiment, with reference to shown in Fig. 2, target device is provided with ultrasonic transmitter, radio frequency
Emitter and Wireless LAN module, reference device is provided with ultrasonic receiver, radio frequency receiver,
Wireless LAN module and timer, wherein, receive what target device sent at Receiver Module
During radiofrequency signal, timer starts timing, when ultrasonic receiver receives ultrasonic signal, and timing
Device stops timing, and the time of record is ultrasound wave and is transmitted the transmission taken to reference device by target device
Time.
Alternatively, timer can also substitute with enumerator, obtains the data of counter records, then by it
Be converted to the time.
As another embodiment, target device can be not provided with radiofrequency launcher, in reference device
Can be not provided with radio frequency receiver and timer, in this embodiment, indoor positioning device also include with
Lower module:
Synchronization module, when being used for the system synchronizing the system time of described reference device and described target device
Between.
Before positioning, the system time of reference device and the system time of target device are carried out same
Step, it is for instance possible to use the side of Network Time Protocol (network Time Protocol, NTP)
Formula synchronizes, certainly, in other examples, it would however also be possible to employ other time synchronizing method, it is ensured that
The system time of reference device is consistent with the system time of target device, and the error after synchronization will be much smaller than super
Sound wave transmits the time taken between target device and reference device, to ensure position coordinates result of calculation
Degree of accuracy.
Owing to the system time of reference device and the system time of target device are consistent, then, target device
Sending while ultrasound wave, the current system time point of record object equipment is as the time of transmission, reference
Equipment, when receiving ultrasound wave, records the current system time point of reference device as the time of reception, mesh
Transmission time and the reception time of record are sent to indoor positioning dress by marking device and handbook equipment respectively
Putting, acquisition module 10 goes out time difference, as the transmission of ultrasound wave according to reception time and transmission Time Calculation
Time.
It is understood that due in actual use environment, it is understood that there may be other various radiofrequency signals
Interference, therefore, for radiofrequency signal, the frequency not being well used can be selected to be transmitted,
Or, radiofrequency signal loads identification information, recipient is receiving radiofrequency signal according to identification information
Judge whether radiofrequency signal is that target device sends.Each reference device is being carried out to indoor positioning device
During the transmission of data, data are added the identification information of this reference device.
Processing module 20, for according to target device described in described transmission Time Calculation and each described reference
Distance between equipment, and, according to calculated described distance and each described reference device
Position coordinates obtains the position coordinates of described target device.
Acquisition module 10 after getting the transmission time, processing module 20 according to transmission the time with ultrasonic
Transmission speed 341m/s of ripple calculates the distance between target device and each reference device.Certainly, originally
Embodiment illustrates as a example by transmitting in atmosphere, when using in other media, it is possible to use
Sound wave transmission speed in the medium calculates, such as, when positioning under water, then use super
Sound wave transmission speed in water calculates.
With reference to shown in Fig. 3, set up rectangular coordinate system as depicted in the interior space, it is assumed that three references
Equipment is respectively C1, C2, C3, and its position coordinates is: C1 (X1, Y1, Z1)、C2(X2, Y2,
Z2)、C3(X3, Y3, Z3)。
The distance calculated between three reference devices of target device distance of gained is respectively l1、l2、l3, mesh
The computing formula of the position coordinates (X, Y, Z) of marking device is:
Alternatively, in order to simplify calculating, three reference devices can be disposed on the same plane, such as,
It is arranged in the plane being parallel to horizontal plane, then Z1=Z2=Z3
Equation can be reduced to:
α21=x2-x1, β21=y2-y1
α31=x3-x1, β31=y3-y1
If X1=X2, owing to three reference points are the most misaligned, and not conllinear, therefore y1≠y2, x1≠x3,
I.e. β21≠ 0, α31≠ 0, then:
According to Cyclic Symmetry, work as β21=0, α31=0, β31=0 when setting up respectively, all can obtain
Similar solution；Whereas if α21≠0、β21≠0、α31≠0、β31≠ 0 sets up simultaneously, then:
According toCalculate Z value.
It is understood that in order to simplify above-mentioned calculating process, the quantity of reference device can be increased, and
It is disposed on conplane non-same straight line.
Display module 30, for the positional information according to target device described in described position coordinates real-time update.
Load indoor map on the server, map demonstrates the position coordinates of target device, works as mesh
When marking device is moved, according to the change of its position coordinates, its position in indoor map of real-time update
Confidence ceases, for example, it is possible to demonstrate its position being currently located, or, demonstrate that it is in a period of time
Interior movement locus.
Further, this device also includes reminding module, for when institute being detected according to described positional information
State when moving out predeterminable area of target device, send information warning.For example, it is possible on the server
Arranging the warning devicess such as buzzer, when when moving out predeterminable area of target device, reminding module sends
Information warning.
When mobile object is positioned by needs, target device can be installed or be placed on motive objects
On body, it is positioned.
Further, when indoor have multiple target device to need to position, shown in reference Fig. 4, then
Respectively each target device is positioned, wherein, each target device send radiofrequency signal time,
Specific identification information can be loaded make a distinction with the equipment with other.
Display module 30, is additionally operable to, when receiving position display instruction, determine that described position display instructs
Corresponding target device, and show the positional information of described target device.
Owing to can position multiple target devices respectively, server can multiple to current indoor
The position of target device shows, when user wants the positional information individually checking certain target device,
Can be with trigger position idsplay order, such as, icon based on display screen upper cover target device, work as server
When receiving position display instruction, determine the target device that position display instruction is corresponding, by this target device
Positional information show, or the regional area that taken by the positional information of this target device amplifies aobvious
Show.
About the hardware layout of indoor positioning device, as shown in Figure 6, in the following manner it is referred to:
Hardware system includes but not limited to core processor, Flash (solid-state memory), SDRAM
(Synchronous Dynamic Random Access Memory, synchronous DRAM), honeybee
Ring device, USB, UART (Universal Asynchronous Receiver/Transmitter, universal asynchronous
Receiving-transmitting transmitter), Wi-Fi module, LCD (Liquid Crystal Display, liquid crystal display), honeybee
Ring device, power supply and communication management module etc..Wherein, alternatively, core processor is at S5PV210
Reason device, communication management module is capable of the functions such as serial ports selection, serial ports start and stop and AccessPort, uses
In the connection with sampling high accuracy UB-355 RS232 receptor.Indoor positioning device is as location, backstage prison
Control terminal, can carry different operating system as required, for example, it may be android system etc..
About target device and the hardware configuration of reference device, in one embodiment, target device include but
It is not limited to MSP430 single-chip microcomputer, WLAN Zigbee module, ultrasonic transmitter, radio-frequency receiving-transmitting
Module；Reference device includes but not limited to MSP430 single-chip microcomputer, WLAN Zigbee module, surpasses
Acoustic receiver, radio-frequency (RF) receiving and transmission module etc..
Further, the model stating MSP530 single-chip microcomputer is MSP430F14.
Further, the model of described WLAN ZigBee module is QAZ2000.
Further, the CC1101 wireless module of described radio-frequency (RF) receiving and transmission module.
Further, described ultrasonic emitting module is GH311RT ultrasound wave T emitter.
Further, described ultrasound wave receiver module is GH311RT ultrasound wave R receptor.
Further, the MSP530 single-chip microcomputer of described position receiver node uses serial ports to monitor with Android
Terminal communication.
Further, the model of the core board of described indoor positioning device is S5PV210.
Further, described indoor positioning device include UART, USB, buzzer, SDRAM,
The interface circuits such as Flash.
Further, described indoor positioning device software includes Android embedded OS and runs on
Android indoor positioning monitoring system software in this operating system.
Further, described indoor positioning device background data base is Embedded SQL ite.
It should be noted that above-mentioned indoor positioning device can be a single server, or collection
Become wherein on a reference device.
The indoor positioning device based on ultrasound wave that the present embodiment proposes, arranges that at least three known location is sat
Target reference device, is sent ultrasound wave by target device to reference device, or by reference device to target
Equipment sends ultrasound wave, obtains the ultrasound wave transmission time between target device and each reference device,
Owing to the transmission speed of ultrasound wave is it is known that target device can be calculated between each reference device
Distance, and then according to the distance between target device to each reference device, and each is with reference to setting
Standby position coordinates calculates the position coordinates of target device, owing to the penetration capacity of ultrasound wave is strong, even if
Also be not readily susceptible to the impact of barrier in indoor, the distance accuracy recorded is high, solves for indoor
Mobile target when positioning, it is difficult to get the technical problem of accurate positional information.
The present invention also proposes a kind of indoor locating system based on ultrasound wave, and this system includes above-mentioned based on super
Indoor positioning device, target device and at least three of sound wave are arranged on the reference device of diverse location, its
In, target device is used for sending ultrasound wave to reference device described at least three, or, receive at least institute
State the ultrasound wave that three reference devices send；Reference device is used for sending ultrasound wave to target device, or,
Receive the ultrasound wave that described target device sends.About indoor positioning device based on ultrasound wave, with reference to upper
State embodiment, do not repeat them here.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every
Utilize equivalent structure or equivalence flow process conversion that description of the invention and accompanying drawing content made, or directly or
Connect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. an indoor orientation method based on ultrasound wave, it is characterised in that described room based on ultrasound wave
Inner position method includes:
When obtaining target device and the ultrasonic transmission between at least three reference device of diverse location
Between, wherein, described target device send ultrasound wave at least three reference device, or by least three
Individual reference device sends ultrasound wave to described target device；
According to distance between target device and each described reference device described in described transmission Time Calculation；
Position coordinates according to calculated described distance and each described reference device obtains described mesh
The position coordinates of marking device；
Positional information according to target device described in described position coordinates real-time update.
Indoor orientation method based on ultrasound wave the most according to claim 1, it is characterised in that institute
State the step being sent ultrasound wave at least three reference device by target device to include:
Described target device sends ultrasound wave and radiofrequency signal at least three reference device simultaneously；
When obtaining target device and the ultrasonic transmission between at least three reference device of diverse location
Between step include:
Obtain each described reference device receive the time point of described radiofrequency signal with receive described
Time difference between the time point of ultrasound wave；
Using described time difference as transmission time of described ultrasound wave.
Indoor orientation method based on ultrasound wave the most according to claim 1, it is characterised in that institute
State and sent ultrasound wave by described target device at least three reference device, or by least three with reference to setting
Standby before described target device sends the step of ultrasound wave, described method also includes:
Synchronize the system time of described reference device and the system time of described target device.
Indoor orientation method based on ultrasound wave the most according to claim 1, it is characterised in that institute
After stating the step of positional information according to target device described in described position coordinates real-time update, described side
Method also includes:
When moving out predeterminable area of described target device being detected according to described positional information, send
Information warning.
5., according to the indoor orientation method based on ultrasound wave according to any one of claim 1-4, it is special
Levy and be, the step of the described positional information according to target device described in described position coordinates real-time update it
After, described method also includes:
When receiving position display instruction, determine the target device that the instruction of described position display is corresponding, and
Show the positional information of described target device.
6. an indoor positioning device based on ultrasound wave, it is characterised in that described room based on ultrasound wave
Interior locating device includes:
Acquisition module, for obtaining target device and between at least three reference device of diverse location
The ultrasonic transmission time, wherein, by described target device at least three reference device send ultrasound wave,
Or sent ultrasound wave by least three reference device to described target device；
Processing module, for setting with reference each described according to target device described in described transmission Time Calculation
Distance between Bei；
And, obtain according to the position coordinates of calculated described distance and each described reference device
The position coordinates of described target device；
Display module, for the positional information according to target device described in described position coordinates real-time update.
Indoor positioning device based on ultrasound wave the most according to claim 6, it is characterised in that institute
State indoor positioning device based on ultrasound wave also to include:
Synchronization module, when being used for the system synchronizing the system time of described reference device and described target device
Between.
Indoor positioning device based on ultrasound wave the most according to claim 6, it is characterised in that institute
State server also to include:
Reminding module, for when detecting that moving out of described target device is pre-according to described positional information
If during region, send information warning.
9., according to the indoor positioning device based on ultrasound wave according to any one of claim 6-8, it is special
Levy and be, described display module, it is additionally operable to, when receiving position display instruction, determine that described position shows
Show the target device that instruction is corresponding, and show the positional information of described target device.
10. an indoor locating system based on ultrasound wave, it is characterised in that described based on ultrasound wave
Indoor locating system includes indoor positioning based on the ultrasound wave dress as according to any one of claim 6-9
Putting, described indoor locating system based on ultrasound wave also includes target device and reference device；
Described target device is used for sending ultrasound wave to the most described three reference devices, or, receive extremely
The ultrasound wave that few described three reference devices send；
Described reference device, for sending ultrasound wave to described target device, or, receive described target
The ultrasound wave that equipment sends.
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| CN110426676A (en) * | 2019-07-31 | 2019-11-08 | 长春工程学院 | A kind of positioning system based on ultrasound and localization method |
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