CN113311392B - Error compensation method for sound wave positioning under unsynchronized network - Google Patents
Error compensation method for sound wave positioning under unsynchronized network Download PDFInfo
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Classifications
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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
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Manufacturing & Machinery (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an error compensation method for sound wave positioning under an unsynchronized network, which comprises the following steps: a plurality of acoustic beacons with known coordinates are arranged on the top surface of the predetermined space: a is that 1 ……A N The method comprises the steps of carrying out a first treatment on the surface of the Below the acoustic beacon are arranged several receivers with known coordinates: b (B) 1 ……B M M is more than or equal to 1; acoustic wave beacon A 1 、A 2 、A 3 ……A N Starting and transmitting an acoustic wave signal; receiver B 1 ……B M Starting and receiving an acoustic wave signal; obtaining the average compensation time difference between the nth acoustic beacon and the first acoustic beacon
Description
Technical Field
The invention relates to an error compensation method for sound wave positioning under an unsynchronized network, and belongs to the technical field of positioning.
Background
Indoor positioning can be achieved through various technical means, including Bluetooth, wifi, vision, audio and the like which are well known. The sound wave positioning is realized by taking audio as an information carrier wave, the existing mobile phone structure is not required to be changed, hardware equipment is added, and the existing microphone and loudspeaker functions of the mobile phone are utilized to realize the receiving or sending of sound wave signals.
In the past, in order to realize the accurate positioning of indoor mobile equipment, an acoustic wave transmitting device is arranged on the top of an indoor space, and a circuit is arranged, and the acoustic wave transmitting device is controlled in a wired manner while the electric energy is provided for the acoustic wave transmitting device so as to operate acoustic wave signals; however, most buildings are decorated by laying the required lines and using ceiling panels for packaging, and in order to install the acoustic wave emitting device, additional lines are required to be erected, which is costly and causes damage to the decoration structure of the installation place.
The original sound wave transmitting device is provided with at least 3 sound wave transmitting units, the sound wave transmitting units are uniformly controlled and processed by a processor in the transmitting device, so that the sound wave transmitting device is large in size and troublesome to install, the sound wave transmitting units and an independent controller are integrated to form a single sound wave beacon with small size, a wireless communication and button battery mode is adopted to replace wired control, when the single sound wave beacon is arranged, a circuit is not required to be arranged, fixed installation can be realized by using a double-sided adhesive tape or a magnetic attraction mode, irreversible forward and upward directions cannot be caused to a decorative layer or other objects, meanwhile, the arrangement mode is more flexible, and the sound wave transmitting device is convenient for workers to use.
When the sound wave transmitting units are arranged in a wired connection mode, the communication network is in a synchronous state, a reference clock in the communication network provides reference time for all sound wave transmitting devices and is used for providing synchronous control signals, all sound wave transmitting units synchronously transmit sound waves, and accurate space coordinates of positioned equipment can be calculated by using a time of arrival (TOA) positioning method or a time difference of arrival (TDOA) positioning method; however, after the wireless acoustic beacons are used, on one hand, there is a time difference when each acoustic beacon is started, on the other hand, based on different independent controllers, there is a time difference when the acoustic emission is controlled, and the synchronization is difficult, so that when the receiving end equipment is positioned, an error is generated when a TDOA positioning method is adopted, and the positioning accuracy is greatly reduced due to error accumulation, and therefore, improvement is needed.
Disclosure of Invention
The invention aims to provide an error compensation method for acoustic wave positioning under an unsynchronized network, which solves the problem of the prior art that when a TDOA algorithm is adopted for acoustic wave positioning, the positioning accuracy is reduced due to unsynchronized acoustic wave beacons.
In order to achieve the above purpose, the invention adopts the following technical scheme: an error compensation method for sound wave positioning under an asynchronous network comprises the following steps:
a plurality of acoustic beacons with known coordinates are arranged on the top surface of the predetermined space: a is that 1 ……A N Wherein the number of acoustic beacons is not less than 4;
below the acoustic beacon are arranged several receivers with known coordinates: b (B) 1 ……B M ，M≥1；
Obtaining TDOA standard time difference of any two acoustic wave beacons according to known coordinates of the acoustic wave beacons and the receiver;
acoustic wave beacon A 1 、A 2 、A 3 ……A n Starting and transmitting an acoustic wave signal;
receiver B 1 ……B M Starting and receiving an acoustic wave signal;
obtaining the TDOA misalignment time difference of any two acoustic beacons from the received acoustic signals;
obtaining the average compensation time difference between the nth acoustic beacon and the first acoustic beacon
And correcting the acoustic wave beacon A according to the average compensation time difference, synchronizing the clock of the controller, transmitting positioning acoustic wave signals by at least 4 acoustic wave beacons, and calculating the coordinates of the equipment C by using a TDOA positioning method after the equipment C receives the acoustic wave positioning signals, or correcting the time difference in a TDOA algorithm according to the average compensation time difference after the equipment C receives the positioning acoustic wave signals transmitted by at least 4 acoustic wave beacons, so as to obtain the coordinates of the equipment C.
The further improved scheme in the technical scheme is as follows:
1. in the above scheme, the average compensation time difference
2. In the above scheme, μ=e 1 -E 2 ，E 1 For TDOA standard time difference matrix, E 2 A time difference matrix for TDOA misalignment;
wherein,wherein (1)>
3. In the above scheme, τ in the TDOA standard time difference matrix n,m ＝t n,m -t 1,m Wherein t is n,m For nth acoustic beaconThe time required for the direct acoustic signal to fly to the mth receiver.
4. In the above scheme, the time of the direct sound wave signal of the nth sound wave beacon flying to the mth receiver=the distance between the nth sound wave beacon and the mth receiver/the flying speed of the sound wave signal.
5. In the above scheme, the time T of misalignment in the TDOA misalignment time difference matrix n,m The method comprises the following steps:
by acoustic wave beacon A n Circularly transmitting a section of recording file, wherein the length of the single section of recording file is L, and the starting point of the recording file is L 0 The end point of the first section of recording file is L 1 The second section of recording file is L 2 And so on;
receiver B m After listening to the recording file at any one time, recording the listening point L x Wherein the sampling frequency of the receiver B is Fs;
calculated to obtainWherein L is 0 、L x And Fs is known data.
6. In the above scheme, the receiver B m Uploading the listened recording file to a background server, and calculating T by the background server n,m 。
7. In the above scheme, the device C to be located calculates the TDOA time difference and subtracts the average compensation time difference to obtain the corrected TDOA time difference.
8. In the above scheme, the acoustic wave signal is an ultrasonic wave signal.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. according to the error compensation method for acoustic wave positioning under the unsynchronized network, the TDOA standard time difference matrix and the TDOA uncorrected time difference matrix are established, and before the equipment C is positioned, the receiver B is arranged in advance, so that positioning errors caused by the fact that acoustic wave beacons are started to emit acoustic waves are unsynchronized are corrected, and positioning accuracy is improved.
2. The invention relates to an error compensation method for acoustic wave positioning under an unsynchronized network, which utilizes the known position coordinates to obtain accurate acoustic wave flight time and time difference between different acoustic wave beacons, then utilizes the listening delay of a sound recording file to measure the sum of starting delay and acoustic wave flight time to obtain uncalibrated flight time and time difference, thereby obtaining the compensation time difference of each acoustic wave beacon in a subtraction mode, and obtaining a calibration value for clock synchronization of the acoustic wave beacons after averaging, thereby avoiding positioning errors caused by starting unsynchronization.
3. According to the error compensation method for sound wave positioning under the unsynchronized network, the sound wave flight time is replaced by the circularly played sound recording file, the sound wave flight time with clock error is obtained, the test is convenient and quick, the precision is high, and the positioning efficiency is effectively improved.
4. According to the error compensation method for sound wave positioning under the unsynchronized network, the ultrasonic sound wave is used as the positioning sound wave, so that the ultrasonic wave cannot be heard by human ears and is harmless to human bodies, and the influence of noise on social life is avoided.
Detailed Description
Example 1: an error compensation method for sound wave positioning under an asynchronous network comprises the following steps:
a plurality of acoustic beacons with known coordinates are arranged on the top surface of the predetermined space: a is that 1 ……A N The number of the sound wave beacons is not less than 4, the sound wave beacons are wireless sound wave beacons, communication is achieved through low-frequency Bluetooth, and the sound wave signals are ultrasonic signals and cannot be heard by human ears, so that influence on social life is avoided;
for the arrangement of acoustic wave beacons, a predetermined space is completely covered according to the signal range of each acoustic wave beacon.
Placing a plurality of receivers with known coordinates on the ground below the acoustic beacon: b (B) 1 ……B M ，M≥1。
From the known acoustic wave beacons and the coordinates of the receivers, the time for the direct acoustic wave signal of the nth acoustic wave beacon to fly to the mth receiver=the distance between the nth acoustic wave beacon and the mth receiver/the flight speed of the acoustic wave signal can be calculated, wherein the distance can be calculated through the known coordinates, the flight speed of the acoustic wave in the air is a known parameter, and further, in order to improve the positioning accuracy, a thermometer can be additionally arranged, and the accurate acoustic wave flight speed can be determined according to the space temperature;
establishing a TDOA standard time difference matrix E 1 ，Wherein τ in the matrix n，m ＝t n，m -t 1，m Wherein t is n，m The direct sound wave signal of the nth sound wave beacon flies to the mth receiver; wherein each behavior is from the first receiver to the mth receiver to the time difference between any two of the acoustic beacons, in particular, the first column is the same acoustic beacon, and thus the values are all 0.
Acoustic wave beacon A 1 、A 2 、A 3 ……A n Starting, transmitting sound wave signals carrying sound recording files, wherein the sound recording files are transmitted in a circulating way, the length of a single section of sound recording file is L, and the starting point of the sound recording file is L 0 The end point of the first section of recording file is L 1 The second section of recording file is L 2 And so on.
Receiver B 1 ……B m Starting, receiving an acoustic wave signal, uploading the heard sound recording file to a background server, and recording the listening point of a receiver as L by the background server x And the sampling frequency of the receiver is Fs, wherein L 0 、L x And Fs are known data;
the server sequentially calculates the time from the starting to the sending and from the sending to the heard of each acoustic beacon from the receiver asThereby obtaining the time difference of any two acoustic wave beacons, and thus establishing a TDOA uncalibrated time difference matrix E 2 ，/>
Pass, μ=e 1 -E 2 The compensation time difference mu can be calculated, and because M receivers are provided, the average value is further taken, the precision is improved, and the average compensation time difference is improved 0->The average compensation time difference between the 2 nd acoustic beacon and the 1 st acoustic beacon is the start delay time of the 2 nd acoustic beacon compared with the 1 st acoustic beacon, and so on.
According to the average compensation time difference, the background server can calculate the starting delay value of other acoustic wave beacons relative to one acoustic wave beacon, so that all acoustic wave beacons can be corrected, and the controller clock is synchronized;
after synchronization is completed, at least 4 acoustic beacons transmit positioning acoustic signals, and after receiving the acoustic positioning signals, the equipment C calculates the coordinates of the equipment C by using a TDOA positioning method to realize real-time positioning.
Example 2: an error compensation method for sound wave positioning under an asynchronous network comprises the following steps:
a plurality of acoustic beacons with known coordinates are arranged on the top surface of the predetermined space: a is that 1 ……A N The number of the sound wave beacons is not less than 4, the sound wave beacons are wireless sound wave beacons, communication is achieved through low-frequency Bluetooth, and the sound wave signals are ultrasonic signals and cannot be heard by human ears, so that influence on social life is avoided;
for the arrangement of acoustic wave beacons, a predetermined space is completely covered according to the signal range of each acoustic wave beacon.
Placing a plurality of receivers with known coordinates on the ground below the acoustic beacon: b (B) 1 ……B M ，M≥1。
From the known acoustic wave beacons and the coordinates of the receivers, the time for the direct acoustic wave signal of the nth acoustic wave beacon to fly to the mth receiver=the distance between the nth acoustic wave beacon and the mth receiver/the flight speed of the acoustic wave signal can be calculated, wherein the distance can be calculated through the known coordinates, the flight speed of the acoustic wave in the air is a known parameter, and further, in order to improve the positioning accuracy, a thermometer can be additionally arranged, and the accurate acoustic wave flight speed can be determined according to the space temperature;
establishing a TDOA standard time difference matrix E 1 ，Wherein τ in the matrix n,m ＝t n,m -t 1,m Wherein t is n,m The direct sound wave signal of the nth sound wave beacon flies to the mth receiver; wherein each behavior is from the first receiver to the mth receiver to the time difference between any two of the acoustic beacons, in particular, the first column is the same acoustic beacon, and thus the values are all 0.
Acoustic wave beacon A 1 、A 2 、A 3 ……A N Starting, transmitting sound wave signals carrying sound recording files, wherein the sound recording files are transmitted in a circulating way, the length of a single section of sound recording file is L, and the starting point of the sound recording file is L 0 The end point of the first section of recording file is L 1 The second section of recording file is L 2 And so on.
Receiver B 1 ……B M Starting, receiving an acoustic wave signal, uploading the heard sound recording file to a background server, and recording the listening point of a receiver as L by the background server x And the sampling frequency of the receiver is Fs, wherein L 0 、L x And Fs are known data;
the server sequentially calculates the time from the starting to the sending of each acoustic beacon from the receiverThe time from transmission to listening is recorded asThereby obtaining the time difference of any two acoustic wave beacons, and thus establishing a TDOA uncalibrated time difference matrix E 2 ，/>
Pass, μ=e 1 -E 2 The compensation time difference mu can be calculated, and since the number of the receivers is m, the average value is further taken, the precision is improved, and the average compensation time difference is obtained 0->The average compensation time difference between the 2 nd acoustic beacon and the 1 st acoustic beacon is the start delay time of the 2 nd acoustic beacon compared with the 1 st acoustic beacon, and so on.
And at least 4 acoustic beacons transmit positioning acoustic signals, the equipment C receives the acoustic positioning signals and then calculates the coordinates of the equipment C by using a TDOA positioning method, in the calculating process, the TDOA time difference in the algorithm is subtracted by the corresponding average compensation time difference, the time difference is corrected, the coordinates of the equipment C are obtained, and the positioning is completed.
By adopting the scheme, the positioning error caused by the out-of-sync of the emitted sound wave started by the sound wave beacon is corrected by establishing the TDOA standard time difference matrix and the TDOA uncorrected time difference matrix and arranging the receiver B in advance before the positioning equipment C.
In addition, the accurate sound wave flight time and the time difference between different sound wave beacons are obtained by using the known position coordinates, the sum of the starting delay and the sound wave flight time is measured by using the listening delay of the recording file, the uncalibrated flight time and the uncalibrated time difference are obtained, the compensation time difference of each sound wave beacon is obtained in a subtraction mode, and after averaging, the calibrated value is obtained for the clock synchronization of the sound wave beacons, so that the positioning error caused by starting the unsynchronization is avoided, and meanwhile, the clock of the sound wave beacons can be not required to be synchronized, but when the TDOA algorithm is used by the positioning equipment C, the time difference between the corresponding sound wave beacons is supplemented, the calculated data is corrected, and the accurate positioning coordinates are obtained.
In addition, the method of replacing the sound wave flight time by using the circularly played sound recording file obtains the sound wave flight time with clock error, and the method is convenient and quick to test and high in precision, and effectively improves the positioning efficiency.
In addition, ultrasonic waves are used as positioning sound waves, the ultrasonic waves are not heard by human ears and are harmless to human bodies, and the influence of noise on social life is avoided.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (5)
1. The error compensation method for the sound wave positioning under the unsynchronized network is characterized by comprising the following steps:
a plurality of acoustic beacons with known coordinates are arranged on the top surface of the predetermined space: a is that 1 ……A N Wherein the number of acoustic beacons is not less than 4;
below the acoustic beacon are arranged several receivers with known coordinates: b (B) 1 ……B M ，M≥1；
Obtaining TDOA standard time difference of any two acoustic wave beacons according to known coordinates of the acoustic wave beacons and the receiver;
acoustic wave beacon A 1 、A 2 、A 3 ……A N Starting and transmitting an acoustic wave signal;
receiver B 1 ……B M Starting and connectingReceiving an acoustic wave signal;
obtaining the TDOA misalignment time difference of any two acoustic beacons from the received acoustic signals;
obtaining the average compensation time difference between the nth acoustic beacon and the first acoustic beaconj＝1……N；
Correcting the acoustic wave beacon A according to the average compensation time difference, synchronizing the clock of the controller, transmitting positioning acoustic wave signals by at least 4 acoustic wave beacons, and calculating the coordinate of the equipment C by using a TDOA positioning method after the equipment C receives the acoustic wave positioning signals, or correcting the time difference in a TDOA algorithm according to the average compensation time difference after the equipment C receives the positioning acoustic wave signals transmitted by at least 4 acoustic wave beacons to obtain the coordinate of the equipment C; the average compensation time differenceμ＝E 1 -E 2 ，E 1 For TDOA standard time difference matrix, E 2 A time difference matrix for TDOA misalignment;
wherein,wherein (1)>τ in the TDOA standard time difference matrix n,m ＝t n,m -t 1,m Wherein t is n,m The time required for the direct acoustic signal of the nth acoustic beacon to fly to the mth receiver; the time T of misalignment in the TDOA time difference matrix n,m The method comprises the following steps:
by acoustic wave beacon A n Circularly transmitting a section of recording file, wherein the length of the single section of recording file is L, and the starting point of the recording file is L 0 The end point of the first section of recording file is L 1 The second section of recording file is L 2 And so on;
receiver B m After listening to the recording file at any one time, recording the listening point L x Wherein the sampling frequency F of the receiver B S ；
Calculated to obtainWherein L is 0 、L x And F S Is known data.
2. The error compensation method for acoustic positioning under an unsynchronized network according to claim 1, wherein the time of flight of the direct acoustic signal of the nth acoustic beacon to the mth receiver = distance of the nth acoustic beacon from the mth receiver/acoustic signal flight speed.
3. The method for error compensation of acoustic positioning under unsynchronized network according to claim 1, wherein said receiver B m Uploading the listened recording file to a background server, and calculating T by the background server n， m 。
4. The method for compensating for error in acoustic positioning under unsynchronized network according to claim 1, wherein said device C calculates the TDOA time difference and subtracts the average compensating time difference to obtain the corrected TDOA time difference.
5. The method for error compensation of acoustic positioning under an unsynchronized network of claim 1, wherein said acoustic signal is an ultrasonic signal.
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| CN116593966B (en) * | 2023-07-17 | 2023-10-03 | 水利部交通运输部国家能源局南京水利科学研究院 | Real-time accurate acoustic wave positioning method for long-distance water conveyance tunnel |
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