CN110426676A - A kind of positioning system based on ultrasound and localization method - Google Patents
A kind of positioning system based on ultrasound and localization method Download PDFInfo
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- CN110426676A CN110426676A CN201910699606.1A CN201910699606A CN110426676A CN 110426676 A CN110426676 A CN 110426676A CN 201910699606 A CN201910699606 A CN 201910699606A CN 110426676 A CN110426676 A CN 110426676A
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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
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of positioning systems based on ultrasound, including ultrasonic wave transmitting module, mobile receiving module and processing module, the ultrasonic wave transmitting module includes ultrasonic wave transmitting probe, emit logging modle and transmitting signal transmission module, the ultrasonic wave transmitting probe is for emitting ultrasonic signal, the transmitting logging modle is used to record the time of ultrasonic wave generation, the time remote transmission that the ultrasonic wave that the transmitting signal transmission module is used to record occurs is to processing module, the mobile receiving module includes ultrasonic wave receiving transducer, it receives logging modle and receives signal transmission module.The present invention only needs one group of target device and one group of reference device, position of the target device with respect to reference device is measured by mobile reference device, the position of target device is determined with this, compared with prior art, structure is simpler, the quantity for reducing reference device in system effectively reduces positioning cost, is easy to use.
Description
Technical field
The present invention relates to ultrasonic waves to position correlative technology field, specially a kind of positioning system based on ultrasound and positioning
Method.
Background technique
In open outdoor environment, global positioning system has been able to provide point-device location information, with outdoor ring
The case where border is compared, and indoor environment wants complicated more, the structure of building, interior layout, there are many more artificial limitation factor etc.
The accuracy of indoor positioning can be had an impact, using existing positioning system, such as GPS positioning system, due to GPS signal
The construction material in room can not be penetrated and be difficult to use in indoor environment, when resulting in the need for positioning indoor mobile target,
It is difficult to get accurate location information, it is therefore desirable to be positioned using ultrasonic wave.
Existing ultrasonic positioning system and its localization method need multiple reference devices in implementation process, so as to cause
The quantity of reference device is more in system, increases positioning cost, and in implementation process, only takes one group of measured value mostly, holds
Easily there is biggish error, needs to improve.
Summary of the invention
The purpose of the present invention is to provide a kind of positioning system based on ultrasound and localization methods, to solve above-mentioned background
The existing ultrasonic positioning system and its localization method mentioned in technology need multiple reference devices in implementation process, thus
Cause the quantity of reference device in system more, increase positioning cost, and in implementation process, only takes one group of measurement mostly
The problem of being worth, being easy to appear biggish error.
To achieve the above object, the invention provides the following technical scheme: a kind of positioning system based on ultrasound, including it is super
Sound wave transmitting module, mobile receiving module and processing module, the ultrasonic wave transmitting module include ultrasonic wave transmitting probe, transmitting
Logging modle and transmitting signal transmission module, the ultrasonic wave transmitting probe is for emitting ultrasonic signal, the transmitting record
Module is used to record the time of ultrasonic wave generation, the time that the ultrasonic wave that the transmitting signal transmission module is used to record occurs
To processing module, the mobile receiving module includes ultrasonic wave receiving transducer, receives logging modle and receive signal remote transmission
Transmission module, the ultrasonic wave receiving transducer are used for received ultrasonic signal, and the reception logging modle is for recording ultrasonic wave
The received time, the reception signal transmission module is used to that the received time tranfer of ultrasonic wave will to be recorded to processing module, described
Processing module includes obtaining module, the first computing module, memory module and the second computing module, and the acquisition module is for obtaining
Target device and the repeated ultrasonic wave transmission time between the reference device of different location, first computing module are used for
The distance between target device and the reference device of different location are calculated, thus according to calculated distance and each position
The position coordinates of reference device obtain the position coordinates of target device, and the memory module repeatedly obtains target device for storing
Position coordinates, second computing module for the position coordinates of the multiple groups target device stored in memory module are carried out it is flat
Mean value computation, to obtain the position coordinates of target device.
Preferably, the ultrasonic wave transmitting probe and ultrasonic wave receiving transducer are one group, the ultrasonic wave receiving transducer
The position for receiving ultrasonic wave every time converts.
Preferably, the ultrasonic wave transmitting module is located on target device, and the mobile receiving module is located at reference device
On.
A kind of localization method based on ultrasound, includes the following steps:
Step 1: being placed on fixed position for reference device, and record its coordinate, while being sent out using the ultrasonic wave on target device
Module transmitting ultrasonic wave is penetrated, receives ultrasonic wave using mobile receiving module, and receiving time is recorded as T1；
Reference device: being moved up a distance and fixation by step 2 on horizontal position, and records its coordinate, then again
Emit ultrasonic wave using the ultrasonic wave transmitting module on target device, receives ultrasonic wave using mobile receiving module, and will receive
Time is recorded as T2；
Step 3: resetting to step 1 position for reference device, and moves a distance to side on this basis and consolidate
It is fixed, while its coordinate is recorded, then emit ultrasonic wave using the ultrasonic wave transmitting module on target device again, utilizes movement
Receiving module receives ultrasonic wave, and receiving time is recorded as T3；
Step 4: resetting to step 1 position for reference device, and moves a distance simultaneously to the other side on this basis
It is fixed fixed, while its coordinate is recorded, then emit ultrasonic wave using the ultrasonic wave transmitting module on target device again, utilizes shifting
Dynamic receiving module receives ultrasonic wave, and receiving time is recorded as T4；
Step 5: processing module by the first computing module calculate between target device and the reference device of different location away from
From to obtain multiple positions of target device according to the position coordinates of calculated distance and each reference by location equipment
Then coordinate carries out average value meter by position coordinates of second computing module to the multiple groups target device stored in memory module
It calculates, to obtain the position coordinates of target device.
The present invention provides a kind of positioning system based on ultrasound and localization method, have it is following the utility model has the advantages that
The present invention only needs one group of target device and one group of reference device, and the opposite ginseng of target device is measured by mobile reference device
The position of equipment is examined, the position of target device is determined with this, compared with prior art, structure is simpler, reduces in system and joins
The quantity for examining equipment effectively reduces positioning cost, is easy to use, and by calculating the coordinate value of multiple groups target device, and passes through
Second computing module is calculated, and positioning accuracy can be increased, and is easy to use.
Detailed description of the invention
Fig. 1 is integral module structural schematic diagram of the invention；
Fig. 2 is ultrasonic wave transmitting module structural schematic diagram of the invention；
Fig. 3 is ultrasonic wave receiving module structural schematic diagram of the invention；
Fig. 4 is schematic diagram of processing module structure of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
As shown in Figs 1-4, the present invention provides a kind of technical solution: a kind of positioning system based on ultrasound, including ultrasound
Wave transmitting module, mobile receiving module and processing module, the ultrasonic wave transmitting module include ultrasonic wave transmitting probe, transmitting note
Module and transmitting signal transmission module are recorded, the ultrasonic wave transmitting probe records mould for emitting ultrasonic signal, the transmitting
Block is used to record the time of ultrasonic wave generation, and the time that the ultrasonic wave that the transmitting signal transmission module is used to record occurs is remote
Journey is transferred to processing module, and the mobile receiving module includes ultrasonic wave receiving transducer, receives logging modle and receive signal biography
Defeated module, the ultrasonic wave receiving transducer are used for received ultrasonic signal, and the reception logging modle connects for recording ultrasonic wave
The time of receipts, the reception signal transmission module will be for that will record the received time tranfer of ultrasonic wave to processing module, the place
Managing module includes obtaining module, the first computing module, memory module and the second computing module, and the acquisition module is for obtaining mesh
Marking device and the repeated ultrasonic wave transmission time between the reference device of different location, first computing module is based on
The distance between target device and the reference device of different location are calculated, to join according to calculated distance and each position
The position coordinates for examining equipment obtain the position coordinates of target device, and the memory module, which is used to store, repeatedly obtains target device
Position coordinates, second computing module is for being averaged to the position coordinates of the multiple groups target device stored in memory module
Value calculates, to obtain the position coordinates of target device.
Preferably, the ultrasonic wave transmitting probe and ultrasonic wave receiving transducer are one group, the ultrasonic wave receiving transducer
The position for receiving ultrasonic wave every time converts.
Preferably, the ultrasonic wave transmitting module is located on target device, and the mobile receiving module is located at reference device
On.
A kind of localization method based on ultrasound, includes the following steps:
Step 1: being placed on fixed position for reference device, and record its coordinate, while being sent out using the ultrasonic wave on target device
Module transmitting ultrasonic wave is penetrated, receives ultrasonic wave using mobile receiving module, and receiving time is recorded as T1；
Reference device: being moved up a distance and fixation by step 2 on horizontal position, and records its coordinate, then again
Emit ultrasonic wave using the ultrasonic wave transmitting module on target device, receives ultrasonic wave using mobile receiving module, and will receive
Time is recorded as T2；
Step 3: resetting to step 1 position for reference device, and moves a distance to side on this basis and consolidate
It is fixed, while its coordinate is recorded, then emit ultrasonic wave using the ultrasonic wave transmitting module on target device again, utilizes movement
Receiving module receives ultrasonic wave, and receiving time is recorded as T3；
Step 4: resetting to step 1 position for reference device, and moves a distance simultaneously to the other side on this basis
It is fixed fixed, while its coordinate is recorded, then emit ultrasonic wave using the ultrasonic wave transmitting module on target device again, utilizes shifting
Dynamic receiving module receives ultrasonic wave, and receiving time is recorded as T4；
Step 5: processing module by the first computing module calculate between target device and the reference device of different location away from
From to obtain multiple positions of target device according to the position coordinates of calculated distance and each reference by location equipment
Then coordinate carries out average value meter by position coordinates of second computing module to the multiple groups target device stored in memory module
It calculates, to obtain the position coordinates of target device.
The present invention can measure mesh by mobile reference device by one group of target device of setting and one group of reference device
Marking device determines the position of target device with this with respect to the position of reference device, and compared with prior art, structure is simpler, subtracts
The quantity for having lacked reference device in system effectively reduces positioning cost, is easy to use, by the seat for calculating multiple groups target device
Scale value, and calculated by the second computing module, positioning accuracy can be increased, be easy to use.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of positioning system based on ultrasound, which is characterized in that including ultrasonic wave transmitting module, mobile receiving module and place
Module is managed, the ultrasonic wave transmitting module includes ultrasonic wave transmitting probe, transmitting logging modle and transmitting signal transmission module, institute
It states ultrasonic wave transmitting probe and is used to record the time of ultrasonic wave generation for emitting ultrasonic signal, the transmitting logging modle,
To processing module, the movement connects the time remote transmission that the ultrasonic wave that the transmitting signal transmission module is used to record occurs
It receives module to include ultrasonic wave receiving transducer, receive logging modle and receive signal transmission module, the ultrasonic wave receiving transducer is used
In received ultrasonic signal, the reception logging modle transmits mould for recording ultrasonic wave received time, the reception signal
For block for that will record the received time tranfer of ultrasonic wave to processing module, the processing module includes obtaining module, the first calculating
Module, memory module and the second computing module, the module that obtains are used to obtain target device and the reference for being located at different location
Repeated ultrasonic wave transmission time between equipment, first computing module are used to calculate the reference of target device and different location
The distance between equipment is set to obtain target according to the position coordinates of calculated distance and each reference by location equipment
Standby position coordinates, the memory module are used to store the position coordinates for repeatedly obtaining target device, second computing module
Mean value calculation is carried out for the position coordinates to the multiple groups target device stored in memory module, to obtain target device
Position coordinates.
2. a kind of positioning system based on ultrasound according to claim 1, which is characterized in that the ultrasonic wave transmitting is visited
Head and ultrasonic wave receiving transducer are one group, and the position that the ultrasonic wave receiving transducer receives ultrasonic wave every time converts..
3. a kind of positioning system based on ultrasound according to claim 1, which is characterized in that the ultrasonic wave emits mould
Block is located on target device, and the mobile receiving module is located on reference device.
4. a kind of localization method based on ultrasound, which comprises the steps of:
Step 1: being placed on fixed position for reference device, and record its coordinate, while being sent out using the ultrasonic wave on target device
Module transmitting ultrasonic wave is penetrated, receives ultrasonic wave using mobile receiving module, and receiving time is recorded as T1；
Reference device: being moved up a distance and fixation by step 2 on horizontal position, and records its coordinate, then again
Emit ultrasonic wave using the ultrasonic wave transmitting module on target device, receives ultrasonic wave using mobile receiving module, and will receive
Time is recorded as T2；
Step 3: resetting to step 1 position for reference device, and moves a distance to side on this basis and consolidate
It is fixed, while its coordinate is recorded, then emit ultrasonic wave using the ultrasonic wave transmitting module on target device again, utilizes movement
Receiving module receives ultrasonic wave, and receiving time is recorded as T3；
Step 4: resetting to step 1 position for reference device, and moves a distance simultaneously to the other side on this basis
It is fixed fixed, while its coordinate is recorded, then emit ultrasonic wave using the ultrasonic wave transmitting module on target device again, utilizes shifting
Dynamic receiving module receives ultrasonic wave, and receiving time is recorded as T4；
Step 5: processing module by the first computing module calculate between target device and the reference device of different location away from
From to obtain multiple positions of target device according to the position coordinates of calculated distance and each reference by location equipment
Then coordinate carries out average value meter by position coordinates of second computing module to the multiple groups target device stored in memory module
It calculates, to obtain the position coordinates of target device.
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| CN201910699606.1A CN110426676B (en) | 2019-07-31 | 2019-07-31 | Positioning system and positioning method based on ultrasonic waves |
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| CN201910699606.1A CN110426676B (en) | 2019-07-31 | 2019-07-31 | Positioning system and positioning method based on ultrasonic waves |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658878A (en) * | 2020-06-15 | 2020-09-15 | 宁波市成大机械研究所 | Automatic following infusion support and side following method |
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