CN101858977A - Indoor space positioning method and system based on dual infrared system - Google Patents
Indoor space positioning method and system based on dual infrared system Download PDFInfo
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Abstract
The invention belongs to the technical field of space positioning, in particular to indoor space positioning method and system based on a dual infrared system. The positioning method comprises reflection-type positioning and transmission-type positioning. Provided the ground is parallel to a ceiling and a signal source and a receiving end are jointly located on the ground, the method has the basic principle that distance difference information of two beams of signals is obtained by measuring phase difference between the two beams of different-frequency infrared signals transmitted to the ceiling by the signal source and then further reflected to the receiving end, and then is calculated with a formula to obtain the coordinates of the receiving end. The positioning system comprises a two-dimension planar positioning system and a three-dimension planar positioning system. Compared with outdoor positioning technologies of the traditional GPS (Global Positioning System) and the like, the invention has the advantages of low cost, high precision, capability of positioning without shift and the like, thereby having broad application prospect; and for example, the invention can be applied to the fields of intelligence robots, Internet of things and the like.
Description
Technical field
The invention belongs to the space orientation technique field, be specifically related to a kind of indoor space locating method and system.
Background technology
Space orientation technique has important use value.At present, be that the outdoor location technology of representative is civilian in navigation/location etc., military domain has obtained better application with GPS.But there are 4 shortcomings in this type of technology: one, and with high costs.Because existing global-positioning technology all depends on this expensive time set of atomic clock, therefore makes that this technical costs is too high, be unsuitable for low-cost among a small circle location.Two, can't position indoor.GPS is used radio signal, its signal to building penetration power such as cement a little less than, can't use indoor.Three, civilian precision is low excessively.With GPS is example, and its civilian precision is only up to about 2.95 meters.Four, hi-Fix need carry out in moving.At present with the satellite transmits temporal information, draw the mode of distance back calculating location, must depend on Doppler effect and carry out the difference location and could obtain degree of precision, so anchor point must be continuous mobile.
By the rolling of above-mentioned feelings as can be known, outdoor location technology can't be applicable to indoor, high precision, low-cost location.Therefore need a kind of indoor positioning technology of invention, to satisfy the location requirement in the enclosed environment.This technology is the basis of subsequent applications such as intelligent robot, Internet of Things.
Summary of the invention
The object of the present invention is to provide a kind of precision height, indoor space locating method and system that cost is low.
The interior space-location method that the present invention proposes, suppose that ground is parallel with ceiling, signal source and receiving end rest on the ground jointly, its ultimate principle is to be transmitted into ceiling, further to reflex to phase differential between the two bundle different frequency infrared signals of receiving end again by measuring by signal source, obtain the range difference information of two bundle signals, further calculate again, promptly obtain the coordinate of acceptance point by formula.This method comprises two kinds of reflective localization method and transmission-type localization methods.
According to " by different frequency signals phase difference measurement two reflection spots to the receiving end range difference; and obtain coordinate position after further calculating " basic ideas, interior space positioning system of the present invention is divided into two dimensional surface positioning system and three-dimensional planar positioning system, and is specific as follows:
Reflective location
The two dimensional surface location, system comprises: transmitter module 1, receiver module 2, calibration module 3, locating module 4;
Suppose ground and ceiling level, the signal launching site is positioned at ground.By transmitter module 1 transmit square waves modulation signal, after the ceiling reflection, be received termination and receive module 2 receptions.Further, judged whether to determine on the ceiling coordinate of launching site on reflection spot, the ground.If do not determine, then calibrate by calibration module 3 pairs of launching site, reflection spots; If determine, then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 4.
3 D positioning system comprises: transmitter module 1, receiver module 5, calibration module 3, locating module 6;
Suppose that ground is parallel with ceiling, the signal launching site is positioned at ground, the receiving end level.By transmitter module 1 transmit square waves modulation signal, after the ceiling reflection, be received termination and receive module 5 receptions.Further, judged whether to determine on the ceiling coordinate of launching site on reflection spot, the ground.If do not determine, then transfer to calibration module 3 pairs of launching site, reflection spots and calibrate; If determine, then transfer to locating module 6 and position according to range difference, launching site, reflection spot information butt joint receiving end.
The transmission-type location
The two dimensional surface location, system comprises: transmitter module 7, receiver module 2, locating module 4;
Suppose that ground is parallel with ceiling, the signal launching site is positioned at ceiling.By transmitter module 7 transmit square waves modulation signals, receive by receiving end receiver module 2.And then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 4.
3 D positioning system comprises: transmitter module 7, receiver module 5, locating module 6;
Suppose that ground is parallel with ceiling, the signal launching site is positioned at ceiling, receiving end (device) level.By transmitter module 7 transmit square waves modulation signals, after the ceiling reflection, be received termination and receive module 5 receptions.And then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 6.
Each module declaration is as follows:
Described transmitter module 1 comprises independently infrared signal emitter (1.2) of signal modulation module (1.1) and two, and the square-wave signal that the latter is responsible for being transmitted by signal modulation module (1.1) is transmitted in the air.Described signal modulation module (1.1), its function is to produce two square-wave signals that initial phase is identical, frequency is different, and to keep transmitting terminal signal initial phase to be all standard mutually, produce by phased manner and satisfy the infrared signal of such standard and be sent to infrared signal emitter (1.2). as shown in Figure 1, a, b are respectively the square-wave signal that signal modulation module (1.1) is produced.Described infrared signal emitter (1.2) as shown in Figure 2, be divided into two independently, identical transmitter unit, receive the square-wave signal a, the b that transmit by signal modulation module 11 respectively, and θ at an angle to each other between two unit, θ at an angle to each other between signal a, the b that guarantees to launch.
Described receiver module 2 comprises signal acquisition module (2.1) and signal resolution module (2.2) two parts.The initialize signal source that signal acquisition module (2.1) is obtained shown in signal c among Fig. 1, after institute's signal that obtains is handled via signal resolution module (2.2), obtains and signal a, a value that the b phase differential is corresponding.According to this value, can obtain the path length difference that two signals are passed by from the launching site to the receiving station.Described signal acquisition module (2.1), as shown in Figure 3.Its central point is the target scaling point, and (x y), is the receiver positive dirction with vectorial ba direction.Round dot a, b, c receive the composite signal that is transmitted by signal emission module 1 or signal emission module 7 respectively separately, and send signal resolution module (2.2) separately to.
Described signal resolution module (2.2), its function are by the processing to the c of composite signal shown in Fig. 1, obtain signal a, the b pairing parameter of phase differential when arriving acceptance point among Fig. 1.Its schematic diagram as shown in Figure 4, its circuit diagram is as shown in Figure 5.
In Fig. 5, A output is through the signal of reduction, and B exports the counting of path length difference.This counting is not direct path length difference, but corresponding one by one with path length difference, determines corresponding ratio in the specific implementation.
Described calibration module 3 comprises: initialization walking control module (3.1), range information feedback module (3.2), reflection spot coordinate Calculation module (3.3); Its function is to determine the coordinate position of launching site, reflection spot.Calibration must be carried out when receiver overlaps with transmitter.When using transmitter module 7, its launching site is positioned on the ceiling, the reflection spot when being equivalent to use transmitter module 1, therefore when using transmitter module 7, it is given that the launching site position can be thought, directly returns the launching site coordinate figure that places in advance, and it is got final product as two point coordinate on the ceiling.When using transmitter module 1, use, suppose that artificially its launching site coordinate is (0,0) or (0,0,0) according to the selection of receiver module 2 or receiver module 5.The course of work of calibration module 3 is: at receiver, when transmitter overlaps, make horizontal range information feedback module alignment launching site, control three segment distances that motor is passed by and is located along the same line by initialization walking control module (3.1), and this straight line is considered as the x axle, direct of travel is considered as x axle positive dirction.And return the occurrence of three segment distances by range information feedback module (3.2): d, 2d, 3d.Range information feedback module (3.2) as shown in Figure 6.Further, receive from accepting the range difference information that is positioned at diverse location in the process of walking that module 2 obtains by reflection spot coordinate Calculation module (3.3).After the range difference information that obtains to send here at four end points places of three sections line segments of passing by by the range information delivery module, after calculating by following equation, obtain the reflection spot position coordinates (x1, y1) with (x2, y2).Wherein, φ is an angle between two transmitter units in the transmitter module 1.
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l
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l
1a”
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l
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2+(0-y
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2
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l
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2＝(3d-x
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l
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2＝(3d-x
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2+(0-y
2)
2+h
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a”’＝l
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Described locating module 4, its function is that the signal phase difference letter that is transmitted by receiver module 2 is thought, believe that via distance Yu thinking modular converter (4.1) is converted to range difference information, and after further calculating via coordinate Calculation module (4.2), obtain central point position coordinates (x, y) and the angle theta of its positive dirction and x axle.Described range information modular converter (4.1), its function are that the phase information that will be transmitted by receiver module is converted to range difference information, relate to the particular hardware parameter.Described coordinate Calculation module (4.2), after obtaining range difference information, obtain after calculating by following equation current receiver target scaling point two-dimensional coordinate (x, y).Δ la wherein, Δ lb, Δ lc is the range differences of two signals from ceiling two reflection spots to receiving station a, b, c, l1a, l1b, l1c, l2a, l2b, l2c are the distances of two signals from ceiling two reflection spots to receiving station a, b, c, (x1, y1), (x2, y2) be ceiling reflection coordinate, h is a heights of ceilings.Equation is as follows:
l
1a 2＝(x
a-x
1)
2+(y
a-y
1)
2+h
2
l
2a 2＝(x
a-x
2)
2+(y
a-y
2)
2+h
2
Δl
a＝l
1a-l
2a
l
1b 2＝(x
b-x
1)
2+(y
b-y
1)
2+h
2
l
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b-x
2)
2+(y
b-y
2)
2+h
2
Δl
b＝l
1b-l
2b
l
1c 2＝(x
c-x
c)
2+(y
c-y
1)
2+h
2
l
2c 2＝(x
c-x
2)
2+(y
c-y
2)
2+h
2
Δl
c＝l
1c-l
2c
x
a＝x+d
a·cos(θ+θ
a)
y
a＝y+d
a·sin(θ+θ
a)
x
b＝x+d
b·cos(θ+θ
b)
y
b＝y+d
b·sin(θ+θ
b)
x
c＝x+d
c·cos(θ+θ
c)
y
c＝y+d
c·sin(θ+θ
c)
θ
a＝0
θ
b＝π
θ
c＝3π/4
Wherein range difference information is provided by receiver module 2 or receiver module 5, the reflection spot coordinate,
Heights of ceilings is a known quantity.Like this, just finally tried to achieve the accurate coordinates information of receiver.
Described receiver module 5 comprises signal acquisition module (5.1) and signal resolution module (5.2) two parts.The initialize signal source that signal acquisition module (5.1) is obtained after institute's signal that obtains is handled via signal resolution module (5.2), obtains and signal a, a value that the b phase differential is corresponding shown in signal c among Fig. 1.Via this value, can obtain the path length difference that two signals are passed by from the launching site to the receiving station.Described signal acquisition module (5.1), as shown in Figure 7.Its central point is the target scaling point, and (x, y h), are the receiver positive dirction with vectorial ba direction.Round dot a, b, c, d accept the composite signal that transmitted by signal emission module 1 or signal emission module 7 respectively separately, and send signal resolution module (5.2) separately to.Described signal resolution module and signal resolution module (2.2) are identical.
Described locating module 6, its function is with by accepting the signal phase difference information that module 5 transmits, be converted to range difference information via range information modular converter (6.1), and after further calculating via coordinate Calculation module (6.2), obtain the position coordinates (x of central point, y, h) and the angle theta of its positive dirction and surface level x axle.Described range information modular converter (6.1), its function are that the phase information that will be transmitted by receiver module is converted to range difference information, relate to the particular hardware parameter.Described coordinate Calculation module (6.2), obtain range difference information after, by following equation calculate current receiver target scaling point three-dimensional coordinate (x, y, z).Δ la wherein, Δ lb, Δ lc, Δ ld is the range differences of two signals from ceiling two reflection spots to receiving station a, b, c, d, and l1a, l1b, l1c, l1d, l2a, l2b, l2c, l2d are the distances of two signals from ceiling two reflection spots to receiving station a, b, c, d, (x1, y1), (x2 y2) is ceiling reflection coordinate, and h is a heights of ceilings.Equation is as follows: (annotating: must keep the reception level)
l
1a 2＝(x
a-x
1)
2+(y
a-y
1)
2+h
2
l
2a 2＝(x
a-x
2)
2+(y
a-y
2)
2+h
2
Δl
a＝l
1a-l
2a
l
1b 2＝(x
b-x
1)
2+(y
b-y
1)
2+h
2
l
2b 2＝(x
b-x
2)
2+(y
b-y
2)
2+h
2
Δl
b＝l
1b-l
2b
l
1c 2＝(x
c-x
1)
2+(y
c-y
1)
2+h
2
l
2c 2＝(x
c-x
2)
2+(y
c-y
2)
2+h
2
Δl
c＝l
1c-l
2c
l
1d 2＝(x
d-x
1)
2+(y
d-y
1)
2+h
2
l
2d 2＝(x
d-x
2)
2+(y
d-y
2)
2+h
2
Δl
d＝l
1d-l
2d
x
a＝x+d
a·cos(θ+θ
a)
y
a＝y+d
a·sin(θ+θ
a)
x
b＝x+d
b·cos(θ+θ
b)
y
b＝y+d
b·sin(θ+θ
b)
x
c＝x+d
c·cos(θ+θ
c)
y
c＝y+d
c·sin(θ+θ
c)
x
d＝x+d
d·cos(θ+θ
d)
y
d＝y+d
d·sin(θ+θ
d)
θ
a＝0
θ
b＝π
θ
c＝3π/4
θ
d＝π/2
Described transmitter module 7 comprises two independently infrared signal emitters (7.2), is responsible for being transmitted in the air by the square-wave signal that signal modulation module (7.1) are transmitted.Described signal modulation module (7.1), identical with signal modulation module (1.1).Described infrared signal emitter (7.2) as shown in Figure 8, be divided into two independently, identical transmitter unit, be embedded in respectively on the same degree of depth of ceiling, receive the square-wave signal a, the b that transmit by signal modulation module (7.1), and launch separately.Not fixedly requirement of position to two transmitter units.
The present invention has that cost is low, precision is high, need not move and advantage such as can locate, and has broad application prospects.In the Inteldectualization Indoors application project, all can obtain the support and the application of this technology as fields such as intelligent robot, Internet of Things.For example, intelligent robot need independently be got back to the charging place when electric weight is not enough under indoor environment, and at present, this problem is difficult to solve by technology such as GPS or image recognitions, and can address this problem by indoor positioning technology of the present invention.
Description of drawings
Fig. 1 is the diagram that transmits of two-dimentional system.
Fig. 2 is infrared signal emitter (a 1.2) diagram.
Fig. 3 is signal acquisition module (a 2.1) diagram.
Fig. 4 is the schematic diagram of signal resolution module (2.2).
Fig. 5 is signal resolution module (a 2.2) circuit diagram.(its essence is the simplification version of conventional red outside line stadimeter, promptly saved the input by source signal and obtained the method for phase differential after relatively, directly catch high level/low level counting with the RS stop.On this basis, can obtain the range difference of reflection spot to acceptance point).
Fig. 6 is range information feedback module (a 3.2) diagram.(this module is responsible for the distance of workbench on the detection level direction, receiver module 2 positive dirctions and barrier).
Fig. 7 is signal acquisition module (a 5.1) diagram.(infrared signal at 4 different some places of this module charge capture, and send module (5.2) to do further computing).
Fig. 8 is infrared signal emitter (a 7.2) diagram.(this module is responsible for two signals that module (1.1) produces are sent.This module needs to install in advance, just can define the coordinate of reflection spot as long as learn two spacings between emitter, needn't use module 3).
Fig. 9 illustrates for flow process of the present invention.
Figure 10 forms for each module of the present invention.
Embodiment
With the reflective example of orientating as of two dimension, the present invention is illustrated below, enable to understand the present invention better but not be used for limiting the scope of the invention.
Its principle of work can be divided into three parts:
First, (how obtaining the range difference of reflection spot to acceptance point) is respectively the square-wave signal of aKHz and bKHz by signal modulation module 1.1 modulating frequencies, and be that carrier is launched with the 820nm infrared ray by infrared signal emitter 1.2, two bundle signals are at an angle to each other, the directive ceiling, after carrying out primary event, divided composite signal to receive by three receiving stations of signal acquisition module 2.1 as independent signal with two bundle signals, and handle by signal resolution module 2.2 as an independent signal, the emissive source that can obtain two signals in transmitter place after the processing is to the pairing numerical value of the difference of the distance of the ripple of receiver.
Second, (how determining the reflection spot position) is when initialization, three segment distances of passing by and being located along the same line by initialization walking control module 3.1 controlling receiver, and draw the occurrence of distance by the range information feedback module, after further transferring to reflection spot coordinate Calculation module 3.3 and calculating, obtain following constant: the coordinate of two reflection spots on the height of ceiling, the ceiling (x1, y1) with (x2, y2)
The 3rd, (how determining the impact point coordinate) is after known reflection spot position, reflection spot arrive the range difference information of each acceptance point, at first the pairing numerical value of range difference is converted to range difference by range information modular converter 4.1, and then make coordinate Calculation module 4.2 be used reflection spot to calculate to information such as the range difference of each acceptance point, reflection spot positions, finally obtain coordinates of targets point the position (x, y) and the angle theta of receiver positive dirction ba and x axle.
Claims (7)
1. indoor space locating method based on two infrared systems, it is characterized in that, suppose that ground is parallel with ceiling, signal source and receiving end rest on the ground jointly, be transmitted into ceiling, further reflex to phase differential between the two bundle different frequency infrared signals of receiving end again by measuring by signal source, obtain the range difference information of two bundle signals, further calculate again, promptly obtain the coordinate of acceptance point by formula.
2. method according to claim 1 is characterized in that, is divided into two kinds of reflective localization method and transmission-type localization methods; Every kind of method is divided into two dimensional surface location and three-dimensional localization two classes again; Wherein:
(1) reflective location
A, two dimensional surface location, system comprises: transmitter module 1, receiver module 2, calibration module 3, locating module 4; Suppose ground and ceiling level, the signal launching site is positioned at ground, by transmitter module 1 transmit square waves modulation signal, after the ceiling reflection, is received termination and receives module 2 receptions; Further, judged whether to determine on the ceiling coordinate of launching site on reflection spot, the ground; If do not determine, then calibrate by calibration module 3 pairs of launching site, reflection spots; If determine, then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 4;
B, 3 D positioning system comprise: transmitter module 1, receiver module 5, calibration module 3, locating module 6; Suppose that ground is parallel with ceiling, the signal launching site is positioned at ground, the receiving end level; By transmitter module 1 transmit square waves modulation signal, after the ceiling reflection, be received termination and receive module 5 receptions; Further, judged whether to determine on the ceiling coordinate of launching site on reflection spot, the ground; If do not determine, then transfer to calibration module 3 pairs of launching site, reflection spots and calibrate; If determine, then transfer to locating module 6 and position according to range difference, launching site, reflection spot information butt joint receiving end;
(2) transmission-type location
A, two dimensional surface location, system comprises: transmitter module 7, receiver module 2, locating module 4; Suppose that ground is parallel with ceiling, the signal launching site is positioned at ceiling; By transmitter module 7 transmit square waves modulation signals, receive by receiving end receiver module 2; And then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 4;
B, 3 D positioning system comprise: transmitter module 7, receiver module 5, locating module 6; Suppose that ground is parallel with ceiling, the signal launching site is positioned at ceiling, the receiving end level; By transmitter module 7 transmit square waves modulation signals, after the ceiling reflection, be received termination and receive module 5 receptions; And then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 6.
3. the interior space positioning system based on two infrared systems is characterized in that, is divided into two kinds of reflective location and transmission-type location; Every kind is divided into two dimensional surface location and three-dimensional localization two classes again; Wherein:
(1) reflective location
A, two dimensional surface location, system comprises: transmitter module 1, receiver module 2, calibration module 3, locating module 4; Suppose ground and ceiling level, the signal launching site is positioned at ground, by transmitter module 1 transmit square waves modulation signal, after the ceiling reflection, is received termination and receives module 2 receptions; Further, judged whether to determine on the ceiling coordinate of launching site on reflection spot, the ground; If do not determine, then calibrate by calibration module 3 pairs of launching site, reflection spots; If determine, then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 4;
B, 3 D positioning system comprise: transmitter module 1, receiver module 5, calibration module 3, locating module 6; Suppose that ground is parallel with ceiling, the signal launching site is positioned at ground, the receiving end level; By transmitter module 1 transmit square waves modulation signal, after the ceiling reflection, be received termination and receive module 5 receptions; Further, judged whether to determine on the ceiling coordinate of launching site on reflection spot, the ground; If do not determine, then transfer to calibration module 3 pairs of launching site, reflection spots and calibrate; If determine, then transfer to locating module 6 and position according to range difference, launching site, reflection spot information butt joint receiving end;
(2) transmission-type location
A, two dimensional surface location, system comprises: transmitter module 7, receiver module 2, locating module 4; Suppose that ground is parallel with ceiling, the signal launching site is positioned at ceiling; By transmitter module 7 transmit square waves modulation signals, receive by receiving end receiver module 2; And then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 4;
B, 3 D positioning system comprise: transmitter module 7, receiver module 5, locating module 6; Suppose that ground is parallel with ceiling, the signal launching site is positioned at ceiling, the receiving end level; By transmitter module 7 transmit square waves modulation signals, after the ceiling reflection, be received termination and receive module 5 receptions; And then position according to range difference, launching site, reflection spot information butt joint receiving end by locating module 6.
4. the interior space positioning system based on two infrared systems according to claim 3 is characterized in that:
Described transmitter module (1) comprising: signal modulation module (1.1) and two are infrared signal emitter (1.2) independently, and the square-wave signal that the latter is responsible for being transmitted by signal modulation module (1.1) is transmitted in the air; Described signal modulation module (1.1), its function is to produce two square-wave signals that initial phase is identical, frequency is different, and be sent to infrared signal emitter (1.2), described infrared signal emitter (1.2) receives square-wave signal a, the b that is transmitted by signal modulation module (1.1), and is mutually the certain angle emission;
Described receiver module (2) comprises signal acquisition module (2.1) and signal resolution module (2.2) two parts; Signal acquisition module (2.1) is divided into three different points and obtains signal simultaneously, after handling via signal resolution module (2.2) separately, obtains the path length difference value corresponding that two signals are passed by from launching site to three receiving station;
Described calibration module (3), comprise: walking control module (3.1), range information feedback module (3.2) and reflection spot coordinate Calculation module (3.3), with transmitter module (7) when using simultaneously, directly return the launching site coordinate figure that places in advance as two point coordinate on the ceiling; With transmitter module (1) simultaneously, suppose that its launching site coordinate is (0,0) or (0,0,0), three segment distances of passing by and being located along the same line by initialization walking control module (3.1) control motor this moment, and return the value of three segment distances by range information feedback module (3.2), further by reflection spot coordinate Calculation module (3.3) calculate the reflection spot position coordinates (x1, y1) with (x2, y2);
Described locating module (4), comprise: range information modular converter (41) and coordinate Calculation module (4.2), its function is the signal phase difference information that will be transmitted by receiver module 2, be converted to range difference information by range information modular converter (41), and by coordinate Calculation module (4.2) calculate central point position coordinates (x, y) and the angle theta of its positive dirction and x axle;
Described receiver module (5) comprises signal acquisition module (5.1) and signal resolution module (5.2) two parts; Signal acquisition module (5.1) is divided into 4 different acceptance points and obtains signal respectively, after handling via signal parsing module (5.2) separately, obtains the path length difference value corresponding that two signals are passed by from launching site to four acceptance point;
Described locating module (6), comprise: range information modular converter (6.1) and coordinate Calculation module (6.2), its function is the signal phase difference information that transmits by receiver module (5), be converted to range difference information via range information modular converter (6.1), and via the position coordinates (x that obtains central point after coordinate Calculation module (6.2) calculating, y, h) and the angle theta of its positive dirction and surface level x axle;
Described transmitter module (7) comprises independently infrared signal emitter (7.2) of signal modulation module (7.1) and two; Two infrared signal emitters (7.2) independently are responsible for and will be transmitted in the air by the square-wave signal that signal modulation module (7.1) are transmitted; Described signal modulation module (7.1) is identical with signal modulation module (1.1); Described infrared signal emitter (7.2), be divided into two independently, identical transmitter unit, be embedded in respectively on the same degree of depth of ceiling, receive the square-wave signal a, the b that transmit by signal modulation module (7.1), and launch separately.
5. the interior space positioning system based on two infrared systems according to claim 4 is characterized in that:
Described reflection spot coordinate Calculation module (3.3) calculate the reflection spot position coordinates (x1, y1) with (x2, y2) formula is as follows: wherein, φ is an angle between two transmitter units in the transmitter module 1,
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1a 2＝(0-x
1)
2+(0-y
1)
2+h
2
l
2a 2＝(0-x
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2)
2+h
2
Δ
la”＝l
1a”-l
2a”
l
1a”’
2＝(3d-x
1)
2+(0-y
1)
2+h
2
l
2a”’
2＝(3d-x
2)
2+(0-y
2)
2+h
2
Δl
a”’＝l
1a”’-l
2a”’
6. the interior space positioning system based on two infrared systems according to claim 4 is characterized in that:
Described coordinate Calculation module (4.2), after obtaining range difference information, by obtaining the two-dimensional coordinate (x of current receiver target scaling point after the following equation calculating, y), Δ la wherein, Δ lb, Δ lc is the range differences of two signals from ceiling two reflection spots to receiving station a, b, c, l1a, l1b, l1c, l2a, l2b, l2c are the distances of two signals from ceiling two reflection spots to receiving station a, b, c, (x1, y1), (x2, y2) be ceiling reflection coordinate, h is a heights of ceilings, and equation is as follows:
l
1a 2＝(x
a-x
1)
2+(y
a-y
1)
2+h
2
l
2a 2＝(x
a-x
2)
2+(y
a-y
2)
2+h
2
Δl
a＝l1
a-l
2a
l
1b 2＝(x
b-x
1)
2+(y
b-y
1)
2+h
2
l
2b 2＝(x
b-x
2)
2+(y
b-y
2)
2+h
2
Al
b＝l
1b-l
2b
l
1c 2＝(x
c-x
c)
2+(y
c-y
1)
2+h
2
l
2c 2＝(x
c-x
2)
2+(y
c-y
2)
2+h
2
Δl
c＝l
1c-l
2c
x
a＝x+d
a·cos(θ+θ
a)
y
a＝y+d
a·sin(θ+θ
a)
x
b＝x+d
b·cos(θ+θ
b)
y
b＝y+d
b·sin(θ+θ
b)
x
c＝x+d
c·cos(θ+θ
c)
y
c＝y+d
c·sin(θ+θ
c)
θ
a＝0
θ
b＝π。
θ
c＝3π/4
7. the interior space positioning system based on two infrared systems according to claim 4 is characterized in that:
Described coordinate Calculation module (6.2), obtain range difference information after, by following equation calculate current receiver target scaling point three-dimensional coordinate (x, y, z); Δ la wherein, Δ lb, Δ lc, Δ ld is the range differences of two signals from ceiling two reflection spots to receiving station a, b, c, d, and l1a, l1b, l1c, l1d, l2a, l2b, l2c, l2d are the distances of two signals from ceiling two reflection spots to receiving station a, b, c, d, (x1, y1), (x2 y2) is ceiling reflection coordinate, and h is a heights of ceilings; Equation is as follows:
l
1a 2＝(x
a-x
1)
2+(y
a-y
1)
2+h
2
l
2a 2＝(x
a-x
2)
2+(y
a-y
2)
2+h
2
Δl
a＝l
1a-l
2a
l
1b 2＝(x
b-x
1)
2+(y
b-y
1)
2+h
2
l
2b 2＝(x
b-x
2)
2+(y
b-y
2)
2+h
2
Δl
b＝l
1b-l
2b
l
1c 2＝(x
c-x
1)
2+(y
c-y
1)
2+h
2
l
2c 2＝(x
c-x
2)
2+(y
c-y
2)
2+h
2
Δl
c＝l
1c-l
2c
l
1d 2＝(x
d-x
1)
2+(y
d-y
1)
2+h
2
l
2d 2＝(x
d-x
2)
2+(y
d-y
2)
2+h
2
Δl
d＝l
1d-l
2d。
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