CN107271962A - Indoor locating system and its localization method based on ultrasonic wave - Google Patents
Indoor locating system and its localization method based on ultrasonic wave Download PDFInfo
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- CN107271962A CN107271962A CN201710639428.4A CN201710639428A CN107271962A CN 107271962 A CN107271962 A CN 107271962A CN 201710639428 A CN201710639428 A CN 201710639428A CN 107271962 A CN107271962 A CN 107271962A
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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
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses the indoor locating system based on ultrasonic wave and its localization method, including the beaconing nodes on ceiling and the mobile node on mobile device, the quantity of the beaconing nodes is at least one, each beaconing nodes are made up of ultrasonic wave transmitting probe S1 and ultrasonic wave transmitting probe S2, each mobile node includes at least three ultrasonic wave receiving transducers, and the ultrasonic wave receiving transducer is connected with receiving control system.The present invention realizes a kind of simple in construction, can be accurately positioned the position of mobile object indoors, be avoided that the purpose of the system and method for electromagnetic interference.
Description
Technical field
The present invention relates to indoor navigation field of locating technology, and in particular to indoor locating system based on ultrasonic wave and its fixed
Position method.
Background technology
Than more typical system it is Active Bat and Cricket systems in ultrasound positioning system.Wherein the former movable joint
Point transmitting RF signals and US signals, the beaconing nodes that position is fixed receive RF signals and US signals；Cricket systems then on the contrary,
Beaconing nodes are used for the reception of signal as signal transmitting node, mobile node to be positioned, are then believed according to RF signals and US
Number reaching time-difference carry out distributed object positioning.
Active Bat are low-power consumption, wireless indoor alignment system, and precision is up to 3cm.Using triangulation location, using
Embedded ultrasonic receiver on ceiling, measures TOF.
In Active Bat systems, the multiple receiving nodes of center control main frame centralized Control, and mobile node undetermined is made
It is uncontrollable for transmitting node, especially in the case of mobile node is a fairly large number of, each group RF and US will necessarily be caused to believe
Crosstalk between number.So as to cause the positioning of mistake, the stability of system is influenceed.Cricket systems have expansible well
Property, but its beaconing nodes is by the way of random transmission signal, the problem of being still unable to effective address signal crosstalk.
In master's thesis of big vast woods《Mobile robot indoor ultrasonic locating system is studied》In propose cross battle array
Single-shot penetrates many reception systems, and the system still will solve the problems, such as ranging by synchronous.
Included by analyzing subject matter present in current system：
1) synchronization is needed in system position fixing process, the general method using radio frequency synchronization adds the complexity of system；
2) system positioning uses triangulation location, it is therefore desirable to which at least three beaconing nodes and a mobile node are
Positioning can be completed, beaconing nodes number in system is added, also implies that the increase of cost；
3) pattern of radio frequency synchronization, in common frequency band, frequency is equal to WIFI, electromagnetic interference is added, meanwhile, system is also held
It is vulnerable to the influence of electromagnetic interference.
The content of the invention
The technical problems to be solved by the invention are to overcome above technical problem, it is therefore intended that provide the room based on ultrasonic wave
Interior alignment system and its localization method, realize that one kind is simple in construction, can be accurately positioned the position of mobile object indoors, be avoided that
The purpose of the system and method for electromagnetic interference.
The present invention is achieved through the following technical solutions：
Indoor locating system based on ultrasonic wave, including beaconing nodes on ceiling and on mobile device
Mobile node, the quantity of the beaconing nodes is at least one, and each beaconing nodes are by ultrasonic wave transmitting probe S1 and ultrasonic wave
Transmitting probe S2 is constituted, and each mobile node includes at least three ultrasonic wave receiving transducers, and the ultrasonic wave receiving transducer is with connecing
Control system connection is received, wherein：
Ultrasonic wave transmitting probe S1：Using time T as the cycle, constant duration repeat its transmission ultrasonic wave is believed in a cycle
Number give ultrasonic wave receiving transducer；
Ultrasonic wave transmitting probe S2：Using time T as the cycle, constant duration repeat its transmission ultrasonic wave is believed in a cycle
Number give ultrasonic wave receiving transducer；
Ultrasonic wave receiving transducer：The ultrasonic wave of ultrasonic wave transmitting probe S1 and ultrasonic wave transmitting probe S2 transmittings is received successively
Signal, and give reception control system by ultrasound signal transmission；
Receive control system：The ultrasonic signal of ultrasonic wave receiving transducer transmission is received, and is handled.Further, this hair
The bright method using direction finding measures position of the mobile node with respect to beaconing nodes, only needs a beaconing nodes and a movable joint
Point can complete positioning, and each beaconing nodes are made up of two ultrasonic wave transmitting probes, and each mobile node is by three ultrasonic waves
Receiving transducer constitutes receiving plane and completes to receive；Compared with prior art, structure of the present invention is simpler, reduces beacon section in system
Point number, effectively reduces positioning cost.Secondly, the present invention need not launch radiofrequency signal, effectively prevent system position fixing process
In need synchronization, the problem of complexity of system is added using the method for radio frequency synchronization, while it also avoid electromagnetic interference.It is super
Acoustic emission probe is connected with launch control system.Ultrasonic wave receiving transducer is with receiving control system, by reception control system
Manage location information, the reception control system be existing structure, including be sequentially connected with ultrasonic wave receiving transducer amplifier, BPF,
MCU module etc., the ultrasonic signal that amplifier transmits ultrasonic wave receiving transducer is transferred to BPF after carrying out power amplification；BPF connects
The ultrasonic signal of amplifier transfer is received, is handled by MCU module is transferred to after frequency filtering where it, MCU module will be super
Acoustic signals carry out the location information of output mobile equipment after digital-to-analogue conversion and echo signal processing.
It is preferred that, the distance between ultrasonic wave transmitting probe S1 and ultrasonic wave transmitting probe S2 are 6~8cm.
It is preferred that, when each mobile node is made up of three ultrasonic wave receiving transducers, three ultrasonic wave receiving transducers enclose
Into a triangle receiving array.Further, three ultrasonic wave receiving transducers can form the array element plane of arbitrary shape three, surround
One triangle receiving array, three array element planes have preferable orientation accuracy in the array of same apertures with linear array；Work as battle array
Row aperture is bigger, and its spacing precision is higher.In the prior information without any target location, to avoid the positioning accurate of whole plane
Degree is not in some king-sized problems of point, can be using positive triangle battle array.
It is preferred that, when each mobile node is made up of four ultrasonic wave receiving transducers, four ultrasonic wave receiving transducer positions
The line of the line of the two relative probes probe relative with two other mutually hangs down in same plane, and four probes
Directly.Further, the structural arrangement is into cross array, alternatively referred to as square array or circular array, and the distance of this array is joined
Number only one of which, compared with prior art, data processing is got up simpler.
Memory in the reception control system uses FIFO memory, and the FIFO memory is used to store ultrasonic wave
The data that receiving transducer is received, after data storage has expired, override most initial data automatically.Further, FIFO is deposited
Reservoir is a kind of push-up storage, is adopted in such a way, and receiving terminal waits reception without carrying out signal transacting always
After exceeding certain thresholding to signal, indicate that transmission signal is received, start simultaneously at and handled.
The localization method of indoor locating system based on ultrasonic wave, comprises the following steps：
A：The two ultrasonic wave transmitting probes set in a beaconing nodes are respectively S1 and S2, with ultrasonic wave transmitting probe
S1 and S2 base-line extension is y-axis, in same level, using the normal direction of base-line extension as x-axis, with x-axis, y-axis
The vertical line in place face is z-axis, and the joining of x, y, z axle sets up a three-dimensional system of coordinate for center of circle O；
B：The beaconing nodes are using time interval T as the cycle, repeat its transmission ultrasonic signal, in a cycle it is adjacent twice
The interval time of ultrasonic signal transmitting is equal；
C：The mobile node receives the ultrasonic signal of beaconing nodes transmitting, obtains three ultrasonic waves in a cycle T
The arrival time of signal, respectively t11、t12、t13, define τ1=t12-t11, τ2=t13-t12, further according to Δ τ=τ1-τ2=
dsCos θ/c calculates the horizontal angle θ of mobile node；
In above formula, dsFor the spacing of two ultrasonic wave transmitting probes in a beaconing nodes, c is the velocity of sound；
D：It is theoretical according to array df, beaconing nodes are measured to the angle of pitch of mobile nodeHorizontal angle ψ, is moved with this
Attitude angle ψ-the θ of dynamic equipment；Further according to the angle of pitchAnd beaconing nodes pass through to the vertical height h of mobile nodeCalculating obtains the projected length l of mobile node apart from beaconing nodes in the horizontal plane；
E：S1 and S2 coordinates are (x in known three-dimensional system of coordinate beaconing nodes0,y0), further according to equations x1=x0+l·
Cos θ, y1=y0+ lsin θ, which are calculated, obtains the coordinate of mobile node for (x1,y1), the position of mobile device is obtained with this.Enter one
Step, the present invention devises a kind of localization method on the basis of alignment system, and initiative is determined by the way of direction finding
Position.Indoors, ground is parallel with ceiling, and is all plane (this hypothesis is easy to set up), so mobile device
Elevation information be known, it is assumed that be h.So positioning is and mobile it is required to determine that the coordinate position (x, y) of robot
The attitude information of equipment.To obtain information above, it is necessary to measure three angles, the pitching of ultrasonic wave transmitting probe to mobile device
AngleThe horizontal angle θ of mobile device, the attitude angle ψ-θ of mobile device itself.Due to the ultrasonic wave transmitting probe on ceiling
The constant duration repeat its transmission in a cycle, mobile device is always in movement in a cycle, so installed in movement
The time that three ultrasonic signals received by ultrasonic wave receiving transducer in equipment are reached is different, passes through Velocity Time formula
The horizontal angle θ of mobile device is can obtain, it is theoretical further according to array df, beaconing nodes are measured to the angle of pitch of mobile node
Horizontal angle ψ, the attitude angle ψ-θ of mobile device are obtained with this；Then further according to step D, E, two probe S1 and S2 seat is utilized
Mark is calculated, and can obtain the position coordinates of any one ultrasonic wave receiving transducer in the mobile node, at least three ultrasonic waves
Three position coordinateses that receiving transducer is constituted in receiving plane are overlapped, and the accurate location of mobile device is can obtain with this.
In the step B, the ultrasonic signal transmitting in a cycle specifically includes following steps：
B1：Ultrasonic wave transmitting probe S1 is in T11Moment and T21Moment launches ultrasonic signal respectively, and sets T11With T21Moment
Interval time be τ；
B2：When apart from T21During time at intervals τ durations, the ultrasonic wave transmitting probe S2 is in T31Moment transmitting ultrasonic wave letter
Number.Further, two probe S1 and S2 in beaconing nodes are using time interval T as the cycle, repeat its transmission ultrasonic signal, and
And the interval time that adjacent ultrasonic signal twice is launched in a cycle is equal；Due to T11It is fixed at random, so that
The probability reduction that each probe is sent simultaneously, the probability of adjacent transmission probe transmitting simultaneously turns into small probability event, so that
The probability that mobile node on mobile device receives the signal of multiple probes simultaneously is small probability event, is reduced with this
The interference of beaconing nodes synchronized transmissions, can accurately determine the position of mobile device indoors.In addition, ultrasonic wave is launched
Probe periodic emission coded pulse string, i.e. ultrasonic signal, each coded pulse string includes multiple pulses, using CDMA skill
Art is encoded, accordingly even when when mobile device receives multiple ultrasonic signals simultaneously, can also will be multiple different by decoding
Transmission signal is distinguished, and the accuracy that the present invention is positioned is may further ensure that with this.
The present invention compared with prior art, has the following advantages and advantages：
1st, indoor locating system and its localization method of the invention based on ultrasonic wave, only need a beaconing nodes and a shifting
Dynamic node, position of the mobile node with respect to beaconing nodes is measured using the method for direction finding, with the position of this determination mobile device,
Compared with prior art, structure is simpler, reduces beaconing nodes number in system, effectively reduces positioning cost；
2nd, indoor locating system and its localization method of the invention based on ultrasonic wave, without launching radiofrequency signal, effectively keep away
The problem of having exempted to add the complexity of system using the method for radio frequency synchronization in system position fixing process, while it also avoid electromagnetism
Interference；
3rd, two probe S1 in of the invention indoor locating system and its localization method based on ultrasonic wave, beaconing nodes and
S2 is using time interval T as the cycle, repeat its transmission ultrasonic signal, and the adjacent transmitting of ultrasonic signal twice in a cycle
Interval time is equal so that the mobile node on mobile device is while the probability for the signal for receiving multiple transmitting probes is
Small probability event, the interference of beaconing nodes synchronized transmissions is reduced with this, can accurately determine mobile device indoors
Position.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is ultrasonic positioning system schematic diagram of the present invention；
Fig. 2 is that beaconing nodes of the present invention launch timing diagram；
Fig. 3 is cross receiving array schematic diagram of the present invention；
Fig. 4 is three-dimensional system of coordinate structure chart of the present invention.
Mark and corresponding parts title in accompanying drawing：
1- ceilings, 2- ground, 3- ultrasonic wave transmitting probes, 4- ultrasonic wave receiving transducers.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the present invention, does not make
For limitation of the invention.
Embodiment 1
As shown in Figure 1, 2, the indoor locating system of the invention based on ultrasonic wave, including the beacon section on ceiling 1
Point and the mobile node on mobile device, the quantity of the beaconing nodes are at least one, and each beaconing nodes are by ultrasound
Ripple transmitting probe S1 and ultrasonic wave transmitting probe S2 compositions, each mobile node includes at least three ultrasonic wave receiving transducers, institute
State ultrasonic wave receiving transducer and be connected with receiving control system, wherein：
Ultrasonic wave transmitting probe S1：Using time T as the cycle, constant duration repeat its transmission ultrasonic wave is believed in a cycle
Number give ultrasonic wave receiving transducer；
Ultrasonic wave transmitting probe S2：Using time T as the cycle, constant duration repeat its transmission ultrasonic wave is believed in a cycle
Number give ultrasonic wave receiving transducer；
Ultrasonic wave receiving transducer：The ultrasonic wave of ultrasonic wave transmitting probe S1 and ultrasonic wave transmitting probe S2 transmittings is received successively
Signal, and give reception control system by ultrasound signal transmission；
Receive control system：The ultrasonic signal of ultrasonic wave receiving transducer transmission is received, and is handled.Ultrasonic wave transmitting probe
The distance between S1 and ultrasonic wave transmitting probe S2 are 6cm.Memory in the reception control system uses FIFO memory,
The FIFO memory is used for the data for storing the reception of ultrasonic wave receiving transducer, after data storage has expired, overrides automatically
Most initial data.
The localization method of indoor locating system based on ultrasonic wave, comprises the following steps：
A：The two ultrasonic wave transmitting probes set in a beaconing nodes are respectively S1 and S2, with ultrasonic wave transmitting probe
S1 and S2 base-line extension is y-axis, in same level, using the normal direction of base-line extension as x-axis, with x-axis, y-axis
The vertical line in place face is z-axis, and the joining of x, y, z axle sets up a three-dimensional system of coordinate for center of circle O；
B：The beaconing nodes are using time interval T as the cycle, repeat its transmission ultrasonic signal, in a cycle it is adjacent twice
The interval time of ultrasonic signal transmitting is equal；
C：The mobile node receives the ultrasonic signal of beaconing nodes transmitting, obtains three ultrasonic waves in a cycle T
The arrival time of signal, respectively t11、t12、t13, define τ1=t12-t11, τ2=t13-t12, further according to Δ τ=τ1-τ2=
dsCos θ/c calculates the horizontal angle θ of mobile node；
In above formula, dsFor the spacing of two ultrasonic wave transmitting probes in a beaconing nodes, c is the velocity of sound；
D：It is theoretical according to array df, beaconing nodes are measured to the angle of pitch of mobile nodeHorizontal angle ψ, is moved with this
Attitude angle ψ-the θ of dynamic equipment；Further according to the angle of pitchAnd beaconing nodes pass through to the vertical height h of mobile nodeCalculating obtains the projected length l of mobile node apart from beaconing nodes in the horizontal plane；
E：S1 and S2 coordinates are (x in known three-dimensional system of coordinate beaconing nodes0,y0), further according to equations x1=x0+l·
Cos θ, y1=y0+ lsin θ, which are calculated, obtains the coordinate of mobile node for (x1,y1), the position of mobile device is obtained with this.
Embodiment 2
As shown in figures 1-4, the indoor locating system of the invention based on ultrasonic wave, on the basis of embodiment 1, when each
When mobile node is made up of four ultrasonic wave receiving transducers 4, four ultrasonic wave receiving transducers 4 are generally aligned in the same plane, and four spies
The line of the line of the relative two probes probe relative with two other is mutually perpendicular in head.Its cross constituted receives battle array
Row are as shown in figure 3, whereinRepresent the position immediately ahead of mobile device.Its set up three-dimensional system of coordinate as shown in figure 4, its
Middle S1, S2 are two ultrasonic wave transmitting probes 3 of a beaconing nodes；A1, A2, A3, A4 connect for 4 ultrasonic waves of mobile node
Receive probe 4；S' is upright projections of the S1 to the plane of ultrasonic wave receiving transducer 4；H is the place plane of ultrasonic wave transmitting probe 3 with surpassing
Acoustic receiver probe 4 constitutes the distance between plane；Dr is the spacing between A1 and A3, and the spacing between A2 and A4 is also dr；
Ds is the spacing between two ultrasonic wave transmitting probes 3；O is the central point of cross receiving array, also represent mobile device
Position.
To obtain the position of mobile device, then positioning is it is required to determine that the coordinate position (x, y) of mobile device；And
With the angle of y-axis immediately ahead of the attitude information ψ-θ of mobile device, i.e. mobile device, it is in three-dimensional system of coordinateWith y-axis
Angle.
So localization method is as follows：
Theoretical first with array df, four ultrasonic wave transmitting probes 4 can measure ultrasonic wave and transmit signals to mobile set
The standby angle of pitchThat is OS1 and z-axis angle；The horizontal angle ψ of mobile device, i.e. OS ' withAngle；Due to the He of ground 2
Ceiling 1 is parallel, measures beaconing nodes to the vertical height h of mobile node, passes throughCalculating is moved
The projected length l of nodal distance beaconing nodes in the horizontal plane；
Then ultrasonic wave transmitting probe 3S1 is in T11Moment and T21Moment launches ultrasonic signal respectively, and sets T11With T21When
The interval time at quarter is τ；When apart from T21During time at intervals τ durations, ultrasonic wave transmitting probe S2 is in T31Moment also launches ultrasonic wave
Signal；
Then mobile node receives the ultrasonic signal of ultrasonic wave transmitting probe 3S1, S2 transmitting successively, obtains a cycle
The arrival time of three ultrasonic signals, respectively t in T11、t12、t13, define τ1=t12-t11, τ2=t13-t12, further according to Δ
τ=τ1-τ2=dsCos θ/c calculates the horizontal angle θ of mobile node；In above formula, dsFor two ultrasounds in a beaconing nodes
The spacing of ripple transmitting probe, c is the velocity of sound；
Finally, because S1 and S2 coordinates are (x in known three-dimensional system of coordinate beaconing nodes0,y0), according to equations x1=x0+
Lcos θ, y1=y0+ lsin θ, calculate and obtain the coordinate of a ultrasonic wave receiving transducer 4 for (x1,y1)；The other three ultrasound
The coordinate of ripple receiving transducer 4 is also obtained using same computational methods, and four point superpositions, the central point of mobile device is located at four
The center of point, the accurate location of mobile device is can obtain with this.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (7)
1. the indoor locating system based on ultrasonic wave, including the beaconing nodes on ceiling and the shifting on mobile device
Dynamic node, it is characterised in that the quantity of the beaconing nodes is at least one, and each beaconing nodes are by ultrasonic wave transmitting probe S1
With ultrasonic wave transmitting probe S2 compositions, each mobile node includes at least three ultrasonic wave receiving transducers, and the ultrasonic wave is received
Probe is connected with receiving control system, wherein：
Ultrasonic wave transmitting probe S1：Using time T as the cycle, constant duration repeat its transmission ultrasonic signal is given in a cycle
Ultrasonic wave receiving transducer；
Ultrasonic wave transmitting probe S2：Using time T as the cycle, constant duration repeat its transmission ultrasonic signal is given in a cycle
Ultrasonic wave receiving transducer；
Ultrasonic wave receiving transducer：The ultrasonic wave letter of ultrasonic wave transmitting probe S1 and ultrasonic wave transmitting probe S2 transmittings is received successively
Number, and give reception control system by ultrasound signal transmission；
Receive control system：The ultrasonic signal of ultrasonic wave receiving transducer transmission is received, and is handled.
2. the indoor locating system according to claim 1 based on ultrasonic wave, it is characterised in that ultrasonic wave transmitting probe S1
It is 6~8cm with the distance between ultrasonic wave transmitting probe S2.
3. the indoor locating system according to claim 1 based on ultrasonic wave, it is characterised in that when each mobile node by
During three ultrasonic wave receiving transducer compositions, three ultrasonic wave receiving transducers surround a triangle receiving array.
4. the indoor locating system according to claim 1 based on ultrasonic wave, it is characterised in that when each mobile node by
During four ultrasonic wave receiving transducers composition, four ultrasonic wave receiving transducers are generally aligned in the same plane, and relative two in four probes
The line of the line of the individual probe probe relative with two other is mutually perpendicular to.
5. the indoor locating system according to claim 1 based on ultrasonic wave, it is characterised in that the reception control system
Interior memory uses FIFO memory, and the FIFO memory is used for the data for storing the reception of ultrasonic wave receiving transducer, works as number
After having expired according to storage, most initial data are override automatically.
6. the localization method of the indoor locating system based on ultrasonic wave, it is characterised in that comprise the following steps：
A：Two ultrasonic wave transmitting probes in one beaconing nodes of setting are respectively S1 and S2, with ultrasonic wave transmitting probe S1 and
S2 base-line extension is y-axis, in same level, using the normal direction of base-line extension as x-axis, with where x-axis, y-axis
The vertical line in face is z-axis, and the joining of x, y, z axle sets up a three-dimensional system of coordinate for center of circle O；
B：The beaconing nodes are using time interval T as the cycle, repeat its transmission ultrasonic signal, adjacent ultrasonic twice in a cycle
The interval time of ripple signal transmitting is equal；
C：The mobile node receives the ultrasonic signal of beaconing nodes transmitting, obtains three ultrasonic signals in a cycle T
Arrival time, respectively t11、t12、t13, define τ1=t12-t11, τ2=t13-t12, further according to Δ τ=τ1-τ2=dscosθ/c
Calculate the horizontal angle θ of mobile node；
In above formula, dsFor the spacing of two ultrasonic wave transmitting probes in a beaconing nodes, c is the velocity of sound；
D：It is theoretical according to array df, beaconing nodes are measured to the angle of pitch of mobile nodeHorizontal angle ψ, obtains movement with this and sets
Standby attitude angle ψ-θ；Further according to the angle of pitchAnd beaconing nodes pass through to the vertical height h of mobile nodeMeter
Calculation obtains the projected length l of mobile node apart from beaconing nodes in the horizontal plane；
E：S1 and S2 coordinates are (x in known three-dimensional system of coordinate beaconing nodes0,y0), further according to equations x1=x0+ lcos θ, y1
=y0+ lsin θ, which are calculated, obtains the coordinate of mobile node for (x1,y1), the position of mobile device is obtained with this.
7. the localization method of the indoor locating system according to claim 6 based on ultrasonic wave, it is characterised in that the step
In rapid B, the ultrasonic signal transmitting in a cycle specifically includes following steps：
B1：Ultrasonic wave transmitting probe S1 is in T11Moment and T21Moment launches ultrasonic signal respectively, and sets T11With T21Between moment
It is τ every the time；
B2：When apart from T21During time at intervals τ durations, the ultrasonic wave transmitting probe S2 is in T31Moment launches ultrasonic signal.
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| CN108387871A (en) * | 2018-01-30 | 2018-08-10 | 吉林大学 | A kind of ultrasonic three-dimensional positioning system and localization method for realizing that six degree of freedom measures |
| CN108535695A (en) * | 2018-04-13 | 2018-09-14 | 西安电子科技大学 | Mobile platform positioning device and method based on ultrasound |
| CN109855575A (en) * | 2019-01-23 | 2019-06-07 | 深圳慧安康科技有限公司 | Intelligent apparatus, indoor human body 3-D positioning method and wisdom family implementation method |
| CN110703196A (en) * | 2019-10-16 | 2020-01-17 | 沈阳建筑大学 | Environment contour reconstruction method based on three-position measurement of ultrasonic sensor |
| CN111751786A (en) * | 2020-07-01 | 2020-10-09 | 北京小米移动软件有限公司 | Acoustic wave measuring method, acoustic wave measuring apparatus, acoustic wave measuring device, and storage medium |
| CN116125382A (en) * | 2023-01-14 | 2023-05-16 | 北京国安广传网络科技有限公司 | Positioning device and method for health management robot |
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