CN106908083A - Inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology - Google Patents
Inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
Inertial acceleration indoor positioning error calibrating method the present invention relates to be based on ultrasonic wave location technology, solves the defect that inertial positioning accumulated error causes it to be accurately positioned for a long time compared with prior art.The present invention is comprised the following steps：The acquisition of the inertial acceleration elements of a fix；The acquisition of the ultrasonic wave elements of a fix；The contrast of inertial acceleration positional information and ultrasonic wave location information；The calibration of inertial acceleration positional information.Present invention utilizes the directivity characteristic of ultrasonic wave, the accumulated error of inertial positioning generation is completely eliminated by way of updating reference point at any time, so that inertial positioning system can be long lasting for holding high accuracy positioning.
Description
Technical field
The present invention relates to indoor positioning technologies field, the specifically inertial acceleration room based on ultrasonic wave location technology
Interior positioning error calibrating method.
Background technology
Indoor positioning is different from outdoor positioning, and indoor environment has more and the barrier of complexity relative to wide outdoor,
Its required precision is higher but limited coverage area.Current indoor positioning technologies can be divided into two major classes：One class is to utilize electromagnetic signal
Positioning, such as WiFi, ultra wide band, radio frequency localization method；One class is the inertial positioning positioned using inertial sensor.Relative to according to
Rely for the positioning method of electromagnetic signal, inertial positioning is low to hardware requirement, easy realization, and its precision depends on inertia and adds
The precision of velocity sensor, without protected from environmental.
But the application of inertial positioning extensively, is primarily due to the presence of inertial acceleration sensor not as other positioning methods
Null offset and positioning depend on beginning point of reference, once producing error in position fixing process, its error is by later positioning
Influence is produced, error is easily built up.As positioning time is elongated, error can be increasing so that it cannot enough positioning.
Therefore, how to develop a kind of new technology and can solve the problem that the accumulated error of inertial positioning has become urgent need and solves
Technical problem.
The content of the invention
Cause it accurate for a long time the invention aims to solve inertial positioning accumulated error in the prior art
The defect of positioning, there is provided a kind of inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology is come on solving
State problem.
To achieve these goals, technical scheme is as follows：
A kind of inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology, is provided with used on car body
Property alignment system, inertial positioning system includes inertial sensor and MCU, the data output end of inertial sensor and the data of MCU
Input is connected, and ultrasonic positioning system is included installed in several ultrasonic wave transmitter modules of indoor top and installed in car body
On ultrasonic wave receiver module, ultrasonic wave receiver module is connected by signal conditioning circuit with pilot controller, pilot controller
It is connected by serial ports with MCU,
Inertial acceleration indoor positioning error calibrating method is comprised the following steps：
The acquisition of the inertial acceleration elements of a fix, inertial sensor will artificial setting positioning starting point as start reference
Point, inertial sensor obtains vector acceleration information when car body is moved, the acceleration that MCU is detected according to inertial sensor to
Gauge calculates displacement of the car body relative to beginning point of reference, obtains the inertial acceleration elements of a fix；
The acquisition of the ultrasonic wave elements of a fix, the node set being made up of several ultrasonic wave transmitter modules, using super
Sound wave directivity characteristic principle is loaded with the ultrasonic wave of node coordinate to the area of space transmitting in respective direction scope, when car body warp
When crossing node, the ultrasonic wave receiver module on car body receives the node transmitted by the ultrasonic wave transmitter module in current spatial region
Coordinate, obtains the ultrasonic wave elements of a fix；
The contrast of inertial acceleration positional information and ultrasonic wave location information, MCU receives what ultrasonic wave receiver module sent
The ultrasonic wave elements of a fix, MCU is contrasted the inertial acceleration elements of a fix with the ultrasonic wave elements of a fix in period of time T,
If the inertial acceleration elements of a fix exceed threshold value Z with the error of the ultrasonic wave elements of a fix, inertial acceleration positional information is carried out
Calibration；
The calibration of inertial acceleration positional information, inertial sensor is using the ultrasonic wave elements of a fix as new start reference
Point, MCU continues to obtain vector acceleration information when car body is moved according to new beginning point of reference.
Described ultrasonic wave transmitter module includes transmitting single-chip microcomputer and the piezoelectricity being connected with transmitting single-chip microcomputer signal output end
Potsherd, the acquisition of the ultrasonic wave elements of a fix is comprised the following steps：
Several ultrasonic wave transmitter modules are carried out node ID definition by the foundation in coded data storehouse, by node ID with
Coordinate where it carries out correspondence composition node database, and by node data library storage in pilot controller；
The coding of node data, several ultrasonic wave transmitter modules are carried out according to node ID coding method to respective node
Coding, each node produces the corresponding square-wave signal sequence of its node ID coding method；
The transmission of ultrasonic wave transmitter module data, the transmitting single-chip microcomputer of ultrasonic wave transmitter module presses the square wave of its corresponding node
Number sends square-wave signal to piezoelectric ceramic piece, and piezoelectric ceramic piece externally sends the compound acoustic signals with square wave；
The reception of ultrasonic wave receiver module data, ultrasonic wave receiver module receives the ultrasonic wave that ultrasonic wave transmitter module sends
Signal, and pilot controller is transmitted to after ultrasonic signal is amplified through signal conditioning circuit；
The interpretation of the ultrasonic wave elements of a fix, pilot controller is according to node ID coding method to the ultrasonic wave with crest
The number of oscillation is interpreted, and solution translates the node ID of current ultrasonic transmitter module, and according to node ID in node data
The coordinate of current ultrasonic transmitter module is found out in storehouse, as the ultrasonic wave elements of a fix.
Described inertial acceleration positional information is comprised the following steps with the contrast of ultrasonic wave location information：
The ultrasonic wave elements of a fix are sent to MCU by pilot controller；
MCU is contrasted the inertial acceleration elements of a fix with the ultrasonic wave elements of a fix in period of time T,
If inertial positioning coordinate is (x1, y1), the ultrasonic wave elements of a fix are (x2, y2), then error amountComputing formula such as
Under：
If error amountMore than threshold value Z, then the calibration of inertial acceleration positional information is carried out；If error amountNot less than threshold value
Z, then proceed the obtaining step of the inertial acceleration elements of a fix.
Described node ID coding method is comprised the following steps：
The node ID of ultrasonic wave transmitter module is converted into binary number；
Every for binary number is encoded successively, wherein the Binary Zero square-wave signal of 10 represent, binary system
1 is represented with 100 square-wave signals.
The transmission of the ultrasonic wave transmitter module data is comprised the following steps：
The transmission of opening flag, transmitting single-chip microcomputer sends 1000 square-wave signals, piezoelectric ceramic piece pair to piezoelectric ceramic piece
Outer to send 1000 compound acoustic signals with square wave, transmitting is single after 1000 compound acoustic signals with square wave have sent
Piece machine sends the low level of 100ms again；
The binary transmission of node ID, transmitting single-chip microcomputer gives piezoelectric ceramic piece in units of the binary position of node ID
100 or 10 square-wave signals are sent, piezoelectric ceramic piece externally sends the 100 or 10 compound acoustic signals with square wave,
A binary system is often sent, transmitting single-chip microcomputer sends the low level of 100ms；
The transmission of end mark, transmitting single-chip microcomputer sends 1000 square-wave signals, piezoelectric ceramic piece pair to piezoelectric ceramic piece
Outer to send 1000 compound acoustic signals with square wave, transmitting is single after 1000 compound acoustic signals with square wave have sent
Piece machine sends the low level of 100ms again.
The reception of the ultrasonic wave receiver module data is comprised the following steps：
The entrance of data receiving state, ultrasonic wave receiver module receives the ultrasonic signal that ultrasonic wave transmitter module sends,
It is boundary with 100ms silent signals, when one group of compound acoustic signals that square wave is carried more than 1000 is received, then into data
Reception state；
The binary reception of node ID, is boundary with 100ms silent signals, is carried more than 100 when receiving one group
The compound acoustic signals of square wave, then be recorded as 1；When one group of compound acoustic signals that square wave is carried more than 1000 is received, then
It is recorded as 0；
The end of data receiving state, is boundary with 100ms silent signals, and 1000 bands are more than when receiving one group again
There are the compound acoustic signals of square wave, then the end of data receiving state.
Beneficial effect
Inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology of the invention, with prior art
Compared to the directivity characteristic that make use of ultrasonic wave, inertial positioning generation is completely eliminated by way of updating reference point at any time
Accumulated error, so that inertial positioning system can be long lasting for holding high accuracy positioning.Ultrasonic wave positioning of the invention
Technology is independent of electromagnetic field and is positioned, and antijamming capability is protruded under complicated electromagnetic environment, is formed with inertial positioning technology
Complementation, is adapted to positioning precision electromagnetic susceptibility place high.
Brief description of the drawings
Fig. 1 is method of the present invention precedence diagram；
Fig. 2 is ultrasonic positioning system operating diagram in the present invention；
Fig. 3 is the circuit catenation principle figure of inertial positioning system and ultrasonic positioning system in the present invention；
Wherein, 1- car bodies, 2- inertial positioning systems, 3- ultrasonic positioning systems, 4- inertial sensors, 5-MCU, 6- ultrasound
Ripple transmitter module, 7- ultrasonic waves receiver module, 8- signal conditioning circuits, 9- pilot controllers, 11- transmittings single-chip microcomputer, 12- piezoelectricity
Potsherd.
Specific embodiment
To make have a better understanding and awareness to architectural feature of the invention and the effect reached, to preferably
Embodiment and accompanying drawing coordinate detailed description, are described as follows：
A kind of inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology of the present invention, such as
Shown in Fig. 2 and Fig. 3, inertial positioning system 2 and ultrasonic wave receiver module 7 are installed on car body 1, inertial positioning system 2 is using biography
The inertial sensor location technology of system is positioned.Inertial positioning system 2 includes inertial sensor 4 and MCU5, inertial sensor 4
Data output end be connected with the data input pin of MCU5, the acceleration information that inertial sensor 4 gets is transmitted to MCU5, MCU5
Current positional information is calculated in conjunction with the start position information for manually providing according to acceleration information, to realize positioning.
Ultrasonic positioning system 3 is included installed in several ultrasonic wave transmitter modules 6 of indoor top and installed in car body
On ultrasonic wave receiver module 7, ultrasonic wave transmitter module 6 is used in combination with ultrasonic wave receiver module 7.Ultrasonic wave is utilized herein
The directionality characteristic of transmitter module 6, is installed in indoor top (on ceiling), and ultrasonic wave transmitter module 6 is then presented downwards
45 degree of ultrasound information radiation at angle.In actual applications, in the installation of specific ultrasonic wave transmitter module 6, can be with
Every square metre is unit, intensive arrangement is carried out to ultrasonic wave transmitter module 6, as long as ultrasonic wave coverage from each other is not weighed
It is folded；Can also on the movement locus of car body 1 some it is possible that the scope of inertial acceleration sensor zero drift
Ultrasonic wave transmitter module 6 is installed, it is also possible to play calibrating for error and correcting for ad-hoc location.
Ultrasonic wave receiver module 7 is connected by signal conditioning circuit 8 with pilot controller 9, and pilot controller 9 leads to MCU5
Cross serial ports to be connected, the ultrasonic signal auxiliary that signal conditioning circuit 8 is used for ultrasonic wave receiver module 7 is obtained.Here, MCU5 and auxiliary
Helping controller 9 can select Arduino Uno chips.
As shown in figure 1, inertial acceleration indoor positioning error calibrating method is comprised the following steps：
The first step, the acquisition of the inertial acceleration elements of a fix.Inertial sensor 4 will artificial setting positioning starting point as
Beginning point of reference, inertial sensor 4 obtains vector acceleration information when car body 1 is moved, and MCU5 is detected according to inertial sensor 4
To vector acceleration calculate displacement of the car body 1 relative to beginning point of reference, obtain the inertial acceleration elements of a fix.
Second step, the acquisition of the ultrasonic wave elements of a fix.The set of node being made up of several ultrasonic wave transmitter modules 6
Close, be loaded with the ultrasound of node coordinate to the area of space transmitting in respective direction scope using ultrasonic wave directivity characteristic principle
Ripple, when car body 1 is by node, the ultrasonic wave receiver module 7 on car body 1 receives the ultrasonic wave transmitting mould in current spatial region
Node coordinate transmitted by block 6, obtains the ultrasonic wave elements of a fix.
Wherein, ultrasonic wave transmitter module 6 is connected including transmitting single-chip microcomputer 11 and with the transmitting signal output part of single-chip microcomputer 11
Piezoelectric ceramic piece 12, the square wave with crest is found by piezoelectric ceramic piece 12, and transmitting is compound containing single-chip microcomputer input square wave
The sound wave of waveform, but data transfer is not influenceed, it is a kind of method with low cost, waveform stabilization.
The acquisition of the ultrasonic wave elements of a fix specifically includes following steps：
(1) foundation in coded data storehouse.Node ID definition is carried out to several ultrasonic wave transmitter modules 6, by node sequence
Number with coordinate where it carry out it is corresponding constitute node database, and by node data library storage in pilot controller 9.For example will
Certain coordinate (xi,yi) orientate node ID 21 as, then (the x in node databasei,yi) corresponding node ID be 21, meanwhile,
By manually in the node database of pilot controller 9 also by (xi,yi) corresponding node ID be 21.
(2) coding of node data.Several ultrasonic wave transmitter modules 6 are according to node ID coding method to respective node
Encoded, each node produces the corresponding square-wave signal sequence of its node ID coding method.Wherein, node ID coding staff
Method is：
First, the node ID of ultrasonic wave transmitter module 6 is converted into binary number, such as node ID 21 is converted into two
System number is 10101.
Secondly, every for binary number is encoded successively, wherein the Binary Zero square-wave signal of 10 represent,
Binary one is represented with 100 square-wave signals.Binary number 10101 for example corresponding to node ID 21, its square-wave signal sends
Order is { 100 square waves, 10 square waves, 100 square waves, 10 square waves, 100 square waves }.Thus, sent out for each ultrasonic wave
Module 6 is penetrated, the node ID corresponding to its coordinate information is converted into the acoustic signals represented by different square waves, so as to realize
Carried out data transmission using sound wave.
(3) transmission of the data of ultrasonic wave transmitter module 6.The transmitting single-chip microcomputer 11 of ultrasonic wave transmitter module 6 is saved by its correspondence
The square-wave signal sequence of point sends square-wave signal to piezoelectric ceramic piece 12, and piezoelectric ceramic piece 12 externally sends compound with square wave
Acoustic signals.It is comprised the following steps that：
The transmission of the ultrasonic wave transmitter module data is comprised the following steps：
First, the transmission of opening flag is carried out, the beginning of data transfer is represented.Transmitting single-chip microcomputer 11 gives piezoelectric ceramic piece 12
1000 square-wave signals are sent, piezoelectric ceramic piece 12 externally sends 1000 compound acoustic signals with square wave, 1000 bands
The compound acoustic signals for having square wave launch the low level that single-chip microcomputer 11 sends 100ms again after having sent.Transmitting single-chip microcomputer 11 sends
The low level effect of 100ms is the silent signal for producing 100ms, i.e., using the 100ms as line of demarcation that mourns in silence.
Secondly, the binary transmission of node ID.Transmitting single-chip microcomputer 11 is in units of the binary position of node ID to pressure
Electroceramics piece 12 sends 100 or 10 square-wave signals, and piezoelectric ceramic piece 12 externally sends 100 or 10 answering with square wave
Acoustic signals are closed, a binary system is often sent, transmitting single-chip microcomputer 11 sends the low level of 100ms.By taking node ID 21 as an example,
In this square-wave signal transmission order { 100 square waves, the 100ms that mourns in silence, 10 square waves, the 100ms that mourns in silence, 100 square waves, to mourn in silence
100ms, 10 square waves, the 100ms that mourns in silence, 100 square waves, mourn in silence 100ms }.
Finally, the transmission of end mark, represents the end of data transfer.Transmitting single-chip microcomputer 11 sends to piezoelectric ceramic piece 12
1000 square-wave signals, piezoelectric ceramic piece 12 externally sends 1000 compound acoustic signals with square wave, and 1000 with side
The compound acoustic signals of ripple launch the low level that single-chip microcomputer 11 sends 100ms again after having sent.
By taking node ID 21 as an example, during the entire process of the transmission of the data of ultrasonic wave transmitter module 6, its square-wave signal hair
Order is sent for { 1000 square waves, the 100ms that mourns in silence, 100 square waves, the 100ms that mourns in silence, 10 square waves, the 100ms that mourns in silence, 100 sides
Ripple, the 100ms that mourns in silence, 10 square waves, the 100ms that mourns in silence, 100 square waves, the 100ms that mourns in silence, 1000 square waves, mourn in silence 100ms }.
(4) reception of the data of ultrasonic wave receiver module 7.Ultrasonic wave receiver module 7 receives what ultrasonic wave transmitter module 6 sent
Ultrasonic signal, and pilot controller 9 is transmitted to after signal conditioning circuit 8 amplifies ultrasonic signal, it is current super to obtain
Coordinate value in acoustical range.The reception of the data of ultrasonic wave receiver module 7 and the transmission of the data of ultrasonic wave transmitter module 6 similarly,
Ultrasonic wave receiver module 7 is also adopted by traditional piezoelectric ceramic piece and carries out cooperation reception, and it is comprised the following steps that：
First, the entrance of data receiving state.Ultrasonic wave receiver module 7 receives the ultrasound that ultrasonic wave transmitter module 6 sends
Ripple signal, is boundary with 100ms silent signals, when one group of compound acoustic signals that square wave is carried more than 1000 is received, then
Into data receiving state.
Secondly, the binary reception of node ID.It is boundary with 100ms silent signals, 100 is more than when receiving one group
Compound acoustic signals with square wave, then be recorded as 1；When receiving one group, more than 1000, the compound sound wave with square wave is believed
Number, then it is recorded as 0.
Finally, the end of data receiving state.It is boundary with 100ms silent signals, is more than when receiving one group again
1000 compound acoustic signals with square wave, the then end of data receiving state.
(5) interpretation of the ultrasonic wave elements of a fix, pilot controller 9 is according to node ID coding method to surpassing with crest
Sonication number of times is interpreted, and solution translates the node ID of current ultrasonic transmitter module 6, and according to node ID in node
The coordinate of current ultrasonic transmitter module 6 is found out in database, as the ultrasonic wave elements of a fix.
The contrast of the 3rd step, inertial acceleration positional information and ultrasonic wave location information.MCU5 receives ultrasonic wave and receives mould
The ultrasonic wave elements of a fix that block 7 sends, here, pilot controller 9 can make MCU5 produce interruption by I/O port, then pass to MCU5
Defeated coordinate data, this mode can make response more rapid, error smaller with the parallel ability of strengthening system.MCU5 according to plus
Velocity information calculates the inertial acceleration elements of a fix, and MCU5 is in period of time T by the inertial acceleration elements of a fix and ultrasound
The ripple elements of a fix are contrasted, if the inertial acceleration elements of a fix exceed threshold value Z with the error of the ultrasonic wave elements of a fix, are carried out
The calibration of inertial acceleration positional information.Wherein, the contrast step of inertial acceleration positional information and ultrasonic wave location information is such as
Under：
The ultrasonic wave elements of a fix are sent to MCU5 by A, pilot controller 9.
B, MCU5 are contrasted the inertial acceleration elements of a fix and the ultrasonic wave elements of a fix in period of time T.
If inertial positioning coordinate is (x1, y1)；The ultrasonic wave elements of a fix are (x2, y2), then error amountComputing formula such as
Under：
If C, error amountMore than threshold value Z, (concrete numerical value of threshold value Z is according to the requirement standard in practical application to accuracy
To determine), then carry out the calibration of inertial acceleration positional information；If error amountNot less than threshold value Z, then proceed inertia acceleration
Spend the obtaining step of the elements of a fix.
4th step, the calibration of inertial acceleration positional information.Inertial sensor 4 rises the ultrasonic wave elements of a fix as new
Beginning reference point, MCU5 continues to obtain vector acceleration information when car body 1 is moved according to new beginning point of reference, so as to be directed to
Error acquired in MCU5 is calibrated.
When actually used, when car body 1 is moved, its inertial sensor 4 obtains acceleration information and is transmitted to MCU5, MCU5 pairs
Acceleration information is calculated and obtains the elements of a fix.When car body 1 moves into the Ultrasonic Radiation scope of ultrasonic wave transmitter module 6,
Ultrasonic wave receiver module 7 receives the coordinate data that ultrasonic wave transmitter module 6 is transmitted, and is connect by obtaining current ultrasonic after interpretation
Receive the elements of a fix of module 7.MCU5 is again contrasted two coordinates, it is found that deviation is larger, then by ultrasonic wave receiver module 7
The elements of a fix are revised as origin coordinates, are further continued for being carried out with reference to new origin coordinates with the acquisition acceleration information of inertial sensor 4
Positioning, so as to completely eliminate the accumulated error of inertial positioning generation by way of updating reference point at any time so that inertia is fixed
Position system can be long lasting for holding high accuracy positioning.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, the simply present invention described in above-described embodiment and specification
Principle, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these change and
Improvement is both fallen within the range of claimed invention.The protection domain of application claims by appending claims and its
Equivalent is defined.
Claims (6)
1. a kind of inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology, car body is provided with (1)
Inertial positioning system (2), inertial positioning system (2) includes inertial sensor (4) and MCU (5), the data of inertial sensor (4)
Output end is connected with the data input pin of MCU (5), ultrasonic positioning system (3) including installed in indoor top several surpass
Acoustic emission module (6) and the ultrasonic wave receiver module (7) on car body, ultrasonic wave receiver module (7) are adjusted by signal
Reason circuit (8) is connected with pilot controller (9), and pilot controller (9) is connected with MCU (5) by serial ports, it is characterised in that
Inertial acceleration indoor positioning error calibrating method is comprised the following steps：
11) acquisition of the inertial acceleration elements of a fix, inertial sensor (4) joins the positioning starting point of artificial setting as starting
Examination point, inertial sensor (4) obtains vector acceleration information during car body (1) movement, and MCU (5) is examined according to inertial sensor (4)
The vector acceleration for measuring calculates displacement of the car body (1) relative to beginning point of reference, obtains the inertial acceleration elements of a fix；
12) acquisition of the ultrasonic wave elements of a fix, the node set being made up of several ultrasonic wave transmitter modules (6) is utilized
Ultrasonic wave directivity characteristic principle is loaded with the ultrasonic wave of node coordinate to the area of space transmitting in respective direction scope, works as car body
(1) when by node, the ultrasonic wave receiver module (7) on car body (1) receives the ultrasonic wave transmitter module in current spatial region
(6) node coordinate transmitted by, obtains the ultrasonic wave elements of a fix；
13) contrast of inertial acceleration positional information and ultrasonic wave location information, MCU (5) receives ultrasonic wave receiver module (7) hair
The ultrasonic wave elements of a fix for sending, MCU (5) enters the inertial acceleration elements of a fix with the ultrasonic wave elements of a fix in period of time T
Row contrast, if the inertial acceleration elements of a fix exceed threshold value Z with the error of the ultrasonic wave elements of a fix, carries out inertial acceleration position
The calibration of confidence breath；
14) calibration of inertial acceleration positional information, inertial sensor (4) is using the ultrasonic wave elements of a fix as new start reference
Point, MCU (5) continues to obtain vector acceleration information during car body (1) movement according to new beginning point of reference.
2. the inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology according to claim 1,
The pressure that described ultrasonic wave transmitter module (6) is connected including transmitting single-chip microcomputer (11) and with transmitting single-chip microcomputer (11) signal output part
Electroceramics piece (12), it is characterised in that the acquisition of the ultrasonic wave elements of a fix is comprised the following steps：
21) several ultrasonic wave transmitter modules (6) are carried out node ID definition, by node ID by the foundation in coded data storehouse
Corresponding composition node database is carried out with coordinate where it, and by node data library storage in pilot controller (9)；
22) coding of node data, several ultrasonic wave transmitter modules (6) enter according to node ID coding method to respective node
Row coding, each node produces the corresponding square-wave signal sequence of its node ID coding method；
23) transmission of ultrasonic wave transmitter module (6) data, the transmitting single-chip microcomputer (11) of ultrasonic wave transmitter module (6) is by its correspondence
The square wave number of node sends square-wave signal to piezoelectric ceramic piece (12), and piezoelectric ceramic piece (12) externally sends compound with square wave
Acoustic signals；
24) reception of ultrasonic wave receiver module (7) data, ultrasonic wave receiver module (7) receives ultrasonic wave transmitter module (6) and sends
Ultrasonic signal, and be transmitted to pilot controller (9) after ultrasonic signal is amplified through signal conditioning circuit (8)；
25) interpretation of the ultrasonic wave elements of a fix, pilot controller (9) is according to node ID coding method to the ultrasound with crest
The ripple number of oscillation is interpreted, and solution translates the node ID of current ultrasonic transmitter module (6), and according to node ID in node
The coordinate of current ultrasonic transmitter module (6) is found out in database, as the ultrasonic wave elements of a fix.
3. the inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology according to claim 1,
Characterized in that, described inertial acceleration positional information is comprised the following steps with the contrast of ultrasonic wave location information：
31) the ultrasonic wave elements of a fix are sent to MCU (5) by pilot controller (9)；
32) MCU (5) is contrasted the inertial acceleration elements of a fix with the ultrasonic wave elements of a fix in period of time T,
If inertial positioning coordinate is (x1, y1), the ultrasonic wave elements of a fix are (x2, y2), then error amountComputing formula it is as follows：
If 33) error amountMore than threshold value Z, then the calibration of inertial acceleration positional information is carried out；If error amountNot less than threshold value
Z, then proceed the obtaining step of the inertial acceleration elements of a fix.
4. the inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology according to claim 2,
Characterized in that, described node ID coding method is comprised the following steps：
41) node ID of ultrasonic wave transmitter module (6) is converted into binary number；
42) every for binary number is encoded successively, wherein the Binary Zero square-wave signal of 10 represent, binary one
Represented with 100 square-wave signals.
5. the inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology according to claim 2,
Characterized in that, the transmission of the ultrasonic wave transmitter module data is comprised the following steps：
51) transmission of opening flag, transmitting single-chip microcomputer (11) sends 1000 square-wave signals, piezoelectricity pottery to piezoelectric ceramic piece (12)
Ceramics (12) externally sends 1000 compound acoustic signals with square wave, and 1000 compound acoustic signals with square wave send
Transmitting single-chip microcomputer (11) sends the low level of 100ms again after complete；
52) the binary transmission of node ID, transmitting single-chip microcomputer (11) is made pottery in units of the binary position of node ID to piezoelectricity
Ceramics (12) sends 100 or 10 square-wave signals, and piezoelectric ceramic piece (12) externally sends 100 or 10 answering with square wave
Acoustic signals are closed, a binary system is often sent, transmitting single-chip microcomputer (11) sends the low level of 100ms；
53) transmission of end mark, transmitting single-chip microcomputer (11) sends 1000 square-wave signals, piezoelectricity pottery to piezoelectric ceramic piece (12)
Ceramics (12) externally sends 1000 compound acoustic signals with square wave, and 1000 compound acoustic signals with square wave send
Transmitting single-chip microcomputer (11) sends the low level of 100ms again after complete.
6. the inertial acceleration indoor positioning error calibrating method based on ultrasonic wave location technology according to claim 2,
Characterized in that, the reception of the ultrasonic wave receiver module data is comprised the following steps：
61) entrance of data receiving state, ultrasonic wave receiver module (7) receives the ultrasonic wave that ultrasonic wave transmitter module (6) sends
Signal, is boundary with 100ms silent signals, when one group of compound acoustic signals that square wave is carried more than 1000 is received, is then entered
Enter data receiving state；
62) the binary reception of node ID, is boundary with 100ms silent signals, and side is carried more than 100 when receiving one group
The compound acoustic signals of ripple, then be recorded as 1；When one group of compound acoustic signals that square wave is carried more than 1000 is received, then remember
Record is 0；
63) end of data receiving state, is boundary with 100ms silent signals, and 1000 bands are more than when receiving one group again
There are the compound acoustic signals of square wave, then the end of data receiving state.
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| CN107314766A (en) * | 2017-07-31 | 2017-11-03 | 成都楷模电子科技有限公司 | Robot indoor positioning system and method based on ultrasound and magnetometer |
| CN108287339A (en) * | 2017-12-22 | 2018-07-17 | 北京凌宇智控科技有限公司 | Antidote and device, ultrasonic probe, ultrasonic receiver for ultrasonic ranging |
| CN109959375A (en) * | 2019-02-27 | 2019-07-02 | 浙江大学 | A kind of acoustics amendment localization method based on error triggering calibration |
| US11500089B2 (en) | 2017-12-22 | 2022-11-15 | Nolo Co., Ltd. | Control method and device for ultrasonic receiving device |
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