CN103675821B - Positioning method of camera indoor positioning system based on ultrasonic sensor array - Google Patents
Positioning method of camera indoor positioning system based on ultrasonic sensor array Download PDFInfo
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- CN103675821B CN103675821B CN201210341566.1A CN201210341566A CN103675821B CN 103675821 B CN103675821 B CN 103675821B CN 201210341566 A CN201210341566 A CN 201210341566A CN 103675821 B CN103675821 B CN 103675821B
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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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 a positioning method of a camera indoor positioning system based on an ultrasonic sensor array. The positioning system comprises a pulse generating unit, a pulse power amplifying unit, an ultrasonic sending sensor array unit, an ultrasonic receiving sensor array unit, an MCU (Micro Controller Unit) processing unit and a camera which are sequentially connected, wherein the pulse generating unit is used for generating an exciting pulse, and the pulse power amplifying unit is used for amplifying the power of the exciting pulse; the ultrasonic sending sensor array unit is used for generating an ultrasonic signal under the action of the exciting pulse of which the power is amplified; the ultrasonic receiving sensor array unit is used for receiving the echo signal after the ultrasonic signal meets an obstacle and converting the echo signal to an analog electric signal; the MCU processing unit is used for carrying out digital signal processing on the electric signal and obtaining the most possible position information of a positioned target; the camera is used for receiving the position information in a wireless communication mode. The positioning system and the positioning method have the advantages that a system error which is brought by external environment disturbance can be compensated in a self-adaptive mode, the design is humanized, a beacon does not need to be worn when a person is positioned by the camera, background operation is not required, the difficulty of installation, wiring and layout is eliminated, and the application cost is lowered.
Description
Technical field
The present invention relates to ultrasonic wave location technology field, more particularly, to a kind of taking the photograph based on ultrasonic sensor array
The localization method of camera indoor locating system.
Background technology
It is with the development of mobile calculation technique, various under indoor environment to be increased based on locational requirement increasingly.At present,
Indoor positioning typically using transducing signals such as infrared ray, ultrasound wave, radio frequencies, is gone forward side by side by camera acquisition signal
Row Digital Image Processing so as to realize positioning.
Traditional video camera indoor locating system has in theory to be included to the related location model of distance：Receive signal
Angle positioning mode (AOA), the positioning mode time of advent (TOA), reaching time-difference positioning mode (TDOA), connect
Receive signal intensity positioning mode (RSSI)；With include apart from unrelated location algorithm：Based on Digital Image Processing,
Compare the similarities and differences of background image and positioning target image to lock positioning target, so as to realize algorithm for positioning etc.
Deng.
It is above-mentioned to the related video camera indoor locating system of distance, or even global position system GPS, inherently
The positioning based on mobile beacon, general design (as Active Badge systems, Cricket systems,
Constellation systems and Radar alignment systems) need to be covered with localizer beacon, registration on the ceiling
Degree is directly proportional to beacon density, and beacon density is higher, and the enforcement of engineering is more complicated, and wiring and installation will be stranded very much
Difficulty, for the extensive application of indoor positioning technologies generates negative effect.
In addition, when positioning is to seeming the situation of people, user must also be furnished with corresponding sensing equipment, so
For the movement and operation of people produce inconvenience.Based on the alignment system of Digital Image Processing, not only need to match somebody with somebody
The video camera of standby specialty, but also image information processing device is wanted, its indoor positioning algorithms and control mechanism are more multiple
It is miscellaneous, and application cost is very high, these deficiencies greatly limit the popularization and application of video camera indoor positioning.
The content of the invention
It is an object of the invention to provide a kind of video camera indoor locating system based on ultrasonic sensor array
Localization method, its humanization designing, location algorithm and control mechanism it is simpler, layout is easy for installation and is applied to
This is relatively low.
For solving above-mentioned technical problem, the present invention is adopted the following technical scheme that：
A kind of localization method of the video camera indoor locating system based on ultrasonic sensor array, the alignment system
Including the impulse generating unit for producing driving pulse being sequentially connected,
Be connected to the impulse generating unit, for putting to the pulse power that the driving pulse power is amplified
Big unit；
It is connected to the Pulse Power Magnification unit, surpasses for producing under the driving pulse effect after power amplification
The ultrasound wave of acoustic signals sends sensor array unit；
It is connected to the ultrasound wave to send sensor array unit, run into barrier for receiving the ultrasonic signal
Rear echo-signal and be converted into analog electrical signal ultrasound wave receive sensor array unit,
Be connected to the ultrasound wave receive sensor array unit, for carrying out at digital signal to the signal of telecommunication
Reason, obtains the MCU processing units of the positioning target position information of maximum likelihood；
It is connected to the MCU processing units, the video camera for receiving described information by communication；
The localization method is comprised the following steps：
Step S1：It is common by temperature and barrier geometry that the study of MCU processing units is presently in static environment
With the feature environment parameter for determining, all features of the detected environment of each field angle of record system, static ring is formed
Border parameter table；The MCU processing units study is positioned object and occurs in 33 segmentation center of housing estate successively
Dynamic environment parameter and positioning object during position does not appear in environment parameter during search coverage, forms 34
Open message bit pattern；
Step S2：Ultrasonic transmission/reception sensor array unit carries out the sampling of data to detecting environment, obtains current
Ambient parameter under sound environment, all features of the detected environment of each field angle of record system form dynamic ring
Border parameter table and current message bit pattern；
Step S3：In the case where the ambient parameter for being detected is stable, the MCU processing units are according to described
Dynamic environment parameter table is contrasted with static environment parameter table, and analysis obtains being positioned the introduced environment of object
Parameter, estimate its target location and can level of confidence, produce to position target first estimation；
Step S4：The MCU processing units carry out bitmap matching positioning according to the dynamic environment parameter table,
Estimate its target location and can level of confidence, produce to position target second estimation；
Step S5：The MCU processing units are estimated according to described first and the second weighted sum estimated, are calculated
Obtain optimization positioning result and which is locked, so as to complete positioning.
Further, in the above-mentioned localization method based on the video camera indoor locating system of ultrasonic sensor array,
The ultrasound wave is received and can also be set gradually between sensor array unit and MCU processing units：
For being filtered the bandpass filtering unit of noise reduction to analog electrical signal；
Frequency-selecting the frequency-selecting amplifying unit for amplifying are carried out for filtered signal；
The envelope detection unit that envelope detection produces envelope signal is carried out to the signal after amplification；And
Complete trailing edge trigger is produced for carrying out paraphase shaping to the envelope signal, and this is declined
The paraphase shaping unit of MCU processing units is sent to along trigger.
Further, in the above-mentioned localization method based on the video camera indoor locating system of ultrasonic sensor array,
The MCU processing units pass through RS485 communications location information to video camera, to realize to positioning target
Tracking.
Further, in the above-mentioned localization method based on the video camera indoor locating system of ultrasonic sensor array,
The ultrasound wave sends sensor array unit and is made up of the array in 180 degree plane 11 pairs of ultrasound probes.
Further, in the above-mentioned localization method based on the video camera indoor locating system of ultrasonic sensor array,
The MCU processing units are specifically included：
For the study subelement learnt to indoor static ambient parameter；
It is connected to the study subelement, the storing sub-units for storing positioning dynamic environment information；
Be connected to the storing sub-units, for the static environment parameter to being learnt with positioning dynamic environment information
Middle dynamic environment parameter is compared judgement, and multilevel iudge for obtaining the positioning target location of maximum likelihood is single
Unit.
Further, in the above-mentioned localization method based on the video camera indoor locating system of ultrasonic sensor array,
Step S1 is specifically included：
MCU processing units learn the matched curve relation of current ultrasonic transmission range and time, echo-signal
Time interval by matched curve Function Mapping be detecting obstacles thing to sensor distance.
Further, in the above-mentioned localization method based on the video camera indoor locating system of ultrasonic sensor array,
The ultrasound wave sends the array that sensor array unit is made up of 11 pairs of ultrasound probes in 180 degree plane, its
Monitor area is divided into into multiple cells, the multiple message bit patterns to each segmentation cell study to different characteristic.
Further, in the above-mentioned video camera indoor orientation method based on ultrasonic sensor array, the step
S4 is specifically included：
Ambient parameter when the MCU processing units detection target occurs, by the ambient parameter for detecting with institute
Bitmap information is matched, and finds a pattern of correlation maximum, so as to find the corresponding region of the pattern,
And determine the positioning can level of confidence.
Further, in the above-mentioned localization method based on the video camera indoor locating system of ultrasonic sensor array,
Step S5 also includes：If described first estimates to estimate discrete in tolerable threshold values with second, take
Both weighted sums, obtain optimization positioning result lock onto target；If it is described first estimate with second estimate from
Dissipate beyond threshold values, or it is opposite with positioning target, then return to step S3.
Localization method of the present invention based on the video camera indoor locating system of ultrasonic sensor array passes through ultrasound wave
Sensor array perceives environmental information, not only adaptive can compensate the systematic error that external environment disturbance brings,
And it is more humane with designing, beacon is not worn when video camera is positioned to people, does not limit the action of people, no
Consistency operation is needed, removes installation from, the difficulty of distributing saves application cost.
Description of the drawings
Fig. 1 is a kind of structural representation of the video camera indoor locating system based on ultrasonic sensor array of the present invention
Figure；
Fig. 2 is the distributed architecture figure of ultrasound wave transmission sensor array unit in Fig. 1；
Fig. 3 is the concrete structure schematic diagram of MCU processing units in Fig. 1；
Fig. 4 is a kind of localization method of the video camera indoor locating system based on ultrasonic sensor array of the present invention
Schematic flow sheet.
Specific embodiment
Describe a kind of video camera indoor positioning based on ultrasonic sensor array of the present invention below in conjunction with the accompanying drawings in detail
The preferred embodiment of system.
With the proposition of more human oriented designs, video camera indoor positioning of the present invention based on ultrasonic sensor array
System research both at home and abroad it is existing with regard to indoor locating system on the basis of, propose that one kind only needs to pass each transmitting-receiving
Sensor detection each monitoring field angle area information, by orientation angular dependence and its hits between array
According to possibility predication, estimation is positioned the polar programmable indoor locating system of object.
Fig. 1 is referred to, the present invention provides a kind of video camera indoor locating system based on ultrasonic sensor array
Localization method, the alignment system include impulse generating unit 100, the Pulse Power Magnification unit being sequentially connected
200th, ultrasound wave sends sensor array unit 300, ultrasound wave and receives sensor array unit 400, MCU process
Unit 500 and video camera 600, the impulse generating unit 100 are used for producing driving pulse, in the present embodiment
The driving pulse frequency is 40KHZ；The Pulse Power Magnification unit 200 is connected to the pulse generation list
First 100, for being amplified to the driving pulse power, the ultrasound wave sends sensor array unit 300
It is connected to the Pulse Power Magnification unit 200, surpasses for producing under the driving pulse effect after power amplification
Acoustic signals, the ultrasound wave receive sensor array unit 400 and are connected to the ultrasound wave transmission sensor array list
First 300, run into the echo-signal after barrier and be converted into analog telecommunications for receiving the ultrasonic signal
Number, the MCU processing units 500 be connected to the ultrasound wave receive sensor array unit 400, for right
The signal of telecommunication carries out Digital Signal Processing, obtains the positioning target position information of maximum likelihood and by the letter
Breath issues video camera 600 by communication (specially RS485).
The Digital Signal Processing includes that study to indoor static ambient parameter, positioning dynamic environment information are deposited
Storage, uses learnt static environment parameter to make comparisons, estimate and adjudicate with dynamic environment parameter in position fixing process,
Finally give the positioning target location of maximum likelihood.
Further, the ultrasound wave is received and may be used also between sensor array unit 400 and MCU processing units 500
Set gradually bandpass filtering unit 402, frequency-selecting amplifying unit 404, envelope detection unit 406 and paraphase shaping
Unit 408, the bandpass filtering unit 402 for being filtered noise reduction to analog electrical signal, put by the frequency-selecting
Big unit 404 carries out frequency-selecting for filtered signal and amplifies, and the envelope detection unit 406 is for putting
Signal after big carries out envelope detection and produces envelope signal, and the paraphase shaping unit 408 is for the envelope
Signal carries out paraphase shaping and produces complete trailing edge trigger, and the trailing edge trigger is sent to
MCU processing units 500；The MCU processing units 500 are arrived by RS485 communications location informations
Video camera 600, to realize the tracking to positioning target.
Fig. 2 is referred to, and the ultrasound wave sends sensor array unit 300 and 180 constituted by 11 pairs of ultrasound probes
Array in degree plane, (general field angle is 15 degree in each pair transmitting-receiving probe management respective sensor measuring region
To 30 degree), positioning target does not appear in positioning region, each to explore the environment that head detects respective region to transmitting-receiving
Parameter, it is due to the scrambling of detected environment, each that transmitting-receiving probe can be detected on the domain of respective official area under one's jurisdiction
Multiple ambient parameters, MCU processing units record preserve the intensity of detected echo-signal, come and go the time difference.
As long as corresponding selective frequency amplifier circuit obtains the matching frequency of 40K, the paraphase output of corresponding rear class is just produced
The low level trigger of life, for each pair receives and dispatches right, system recording learning each pair is received and dispatched to institute compass of competency
Environmental information.
The ultrasound wave sends sensor array unit 300, and ultrasound wave receives sensor array unit 400 to detect
External environment condition parameter, the gathered ambient parameter of each pair ultrasonic transmission/reception probe are real by MCU processing units 500
When capture.The simulated radar echo amount of each ultrasonic transmission/reception pair that the MCU processing units 500 are gathered
Between intensity and its two-way time differ from, analysis will be integrated into and focused on and polar as lock onto target is adjudicated
The theoretical foundation of maximal possibility estimation.
Whole space is divided into 11 search coverages by 11 pairs of ultrasound probes, for obtaining target location
Estimate A；Each region segmentation is 3 zonules, for obtaining the estimation B of target.System is ' 0 ' from numbering
Probe start to scan numbering always information gathered as a cycle by ' 10 ' probe, and record quiet
Under state environment under the area information of each search coverage and dynamic environment each segmentation cell parameter, form 34
Open message bit pattern.
For the sending and receiving sensor of a certain numbering, the environment learnt by which is dry with random due to the complexity of environment
Disturb, may learn to multiple environmental variables and save, random disturbances part is calculated by variance and can be removed,
And some storage variable saves that the characteristic parameter part of institute's search coverage has then been allocated.
When being positioned object and also not appearing in tracing area, the ambient parameter detected by sensor is with initial
During change, statistically, that is, the maximally related matching bitmap for finding is static environment to the learnt static environment for arriving
Under message bit pattern, video camera is still scheduled on home position.If being positioned object enters tracing area, work as people
Stand in position A, the ambient parameter detected by 3,4,5,6,7 sensor is with being recorded during initialization
Ambient parameter produces difference not of uniform size, illustrates that the quiet of the region, quilt have been broken in the appearance for being positioned object
The common factor central part of the search coverage for disturbing the peace just is probably the position of positioning target, by echo
The intensity of signal, gets over the time difference, interlaced area information, and it is numbering that system is judged as the approximate region of target quickly
For 4,5,6, the position maximum possible of people is substantially estimated in No. 5 regions, and determine putting for its estimated location
Confidence level A；At the same time, system takes current ambient parameter to make to compare with a large amount of bitmaps that above-mentioned steps are produced
Compared with finding a matching degree highest pattern, draw the estimated location to target, and determine which can confidence level water
Flat B.To estimating A, system estimates that B computes weighted, determine the maximum of probability event that target occurs, be
System calls presetting rule of conduct, allows camera horizon by VISCA generic video meeting camera agreements
Vertical head goes to the judgement azimuth for obtaining the zoom for adjusting movement parameter according to the polar coordinate of target location
And focus on, photographic head is clearly absorbed and be positioned the image information to picture.
Fig. 3 is referred to, the MCU processing units 500 are specifically included：
Study subelement 501, for the study to indoor static ambient parameter；Storing sub-units 502, its company
The study subelement 501 is connected to, for storing positioning dynamic environment information；Multilevel iudge subelement 503,
Be connected to the storing sub-units 502, for the static environment parameter to being learnt with positioning dynamic environment information
Middle dynamic environment parameter is compared judgement, obtains the positioning target location of maximum likelihood.
Fig. 4 is referred to, Fig. 4 is a kind of video camera indoor locating system based on ultrasonic sensor array of the present invention
Localization method schematic flow sheet, the method comprising the steps of：
Step S1：It is common by temperature and barrier geometry that the study of MCU processing units is presently in static environment
With the feature environment parameter for determining, all features of the detected environment of each field angle of record system, static ring is formed
Border parameter table；The MCU processing units study is positioned object and occurs in 33 segmentation center of housing estate successively
Dynamic environment parameter and positioning object during position does not appear in environment parameter during search coverage, forms 34
Open message bit pattern；
This step S1 is specifically included：MCU processing units learn the fitting of current ultrasonic transmission range and time
Curve linear relationship, the time interval of echo-signal by matched curve Function Mapping be detecting obstacles thing to sensor away from
From.
Alignment system be made up of the array in 180 degree plane 10 a pair of ultrasonic transmission/receptions probes, and each pair transmitting-receiving is popped one's head in
Respective sensor measuring region (general field angle is 15 degree to 30 degree) is managed, positioning target is not appeared in
Positioning region, it is each to explore the ambient parameter that head detects respective region to transmitting-receiving, it is irregular due to detected environment
Property, it is each that multiple ambient parameters, MCU processing units can be detected on the domain of respective official area under one's jurisdiction to transmitting-receiving probe
Record preserves the intensity of detected echo-signal, comes and goes the time difference.
Step S2：Ultrasonic transmission/reception sensor array unit carries out the sampling of data to detecting environment, obtains current
Ambient parameter under sound environment, all features of the detected environment of each field angle of record system form dynamic ring
Border parameter table and current message bit pattern；
Step S3：In the case where the ambient parameter for being detected is stable, the MCU processing units are according to described
Dynamic environment parameter table is contrasted with static environment parameter table, and analysis obtains being positioned the introduced environment of object
Parameter, estimate its target location and can level of confidence, produce to position target first estimation；
As long as positioning target occurs in the region sensed by sensor network, for alignment system, target
Appearance broken the quiet of environment, ambient parameter and step that alignment system is detected in the region that target occurs
The environment that S1 learns necessarily leads to more obvious difference, and in the non-existent region of target, alignment system
The result of scanning is with as learning under static environment.
For produce difference section region, sensor detection field angle geometrical relationship and it is each to transmitting-receiving probe
The result of the statistics of echo signal intensity, estimates the orientation of target；The time-parameters statistics introduced by positioning target
Value, obtains the distance of target and alignment system, so as to obtain polar coordinate estimation of the target relative to system, and really
It is fixed for the location estimation can confidence level.
Step S4：The MCU processing units carry out bitmap matching positioning according to the dynamic environment parameter table,
Estimate its target location and can level of confidence, produce to position target second estimation；
Ambient parameter when the MCU processing units detection target occurs under dynamic environment, by the ring for detecting
Border parameter is matched with the message bit pattern of step S2, finds a pattern of correlation maximum, so as to find
The corresponding region of the pattern, and determine the positioning can level of confidence.
Step S5：The MCU processing units are estimated according to described first and the second weighted sum estimated, are calculated
Obtain optimization positioning result and which is locked, so as to complete positioning.
If first estimation is discrete with the second estimation to take both weighted sums to tolerable a small range,
Obtain optimization positioning result lock onto target；If exceed threshold values, or it is opposite with positioning target, then return to step
Rapid S3.
Wherein, include after step S5：When target is left from original locked position, system enables threshold values
Calculate, only decision condition exceedes certain thresholding, system is just found again positioning target, returns to step S3,
The mechanism is not enabled otherwise, to ensure that tracking of the video camera to people will not be vacillating and staggering, it is indefinite to sway.
Wherein, also include between step S2 and step S3：
The first estimation produced by filtered dynamic environment parameter and institute's lock onto target position described in multilevel iudge
Side-play amount whether exceed pre-determined threshold, if so, then system update target, and begin look for again new balance；
If it is not, then system thinks that target is not also left, video camera still lives original orientation surely.
After more fresh target, judge whether current positional parameter is stable, if it is not, then system resampling environmental information,
And counting to gathering digital signal, and more fresh target.
Compared with the prior art, positioning of the present invention based on the video camera indoor locating system of ultrasonic sensor array
Method perceives environmental information by array of ultrasonic sensors, not only can adaptive compensation external environment disturbed belt
The systematic error for coming, and it is more humane with designing, beacon is not worn when video camera is positioned to people, is not limited
The action of people processed, is not required to consistency operation, removes installation from, and the difficulty of distributing saves application cost.
Here description of the invention and application are illustrative, are not wishing to limit the scope of the invention to above-mentioned reality
Apply in example.The deformation and change of embodiments disclosed herein is possible, for the common skill of those this areas
For art personnel, the replacement of embodiment and equivalent various parts are known.It should be clear to a person skilled in the art that
, without departing from the present invention spirit or essential characteristics in the case of, the present invention can in other forms, knot
Structure, arrangement, ratio, and with other components, material and part realizing.Without departing from the scope of the invention and
In the case of spirit, other deformations can be carried out to embodiments disclosed herein and is changed.
Claims (9)
1. a kind of localization method of the video camera indoor locating system based on ultrasonic sensor array, its feature exist
The impulse generating unit for producing driving pulse that includes being sequentially connected in, the alignment system,
Be connected to the impulse generating unit, for putting to the pulse power that the driving pulse power is amplified
Big unit；
It is connected to the Pulse Power Magnification unit, surpasses for producing under the driving pulse effect after power amplification
The ultrasound wave of acoustic signals sends sensor array unit；
It is connected to the ultrasound wave to send sensor array unit, run into barrier for receiving the ultrasonic signal
Rear echo-signal and be converted into analog electrical signal ultrasound wave receive sensor array unit,
Be connected to the ultrasound wave receive sensor array unit, for carrying out at digital signal to the signal of telecommunication
Reason, obtains the MCU processing units of the positioning target position information of maximum likelihood；
It is connected to the MCU processing units, the video camera for receiving described information by communication；
The localization method is comprised the following steps：
Step S1：It is common by temperature and barrier geometry that the study of MCU processing units is presently in static environment
With the feature environment parameter for determining, all features of the detected environment of each field angle of record system, static ring is formed
Border parameter table；The MCU processing units study is positioned object and occurs in 33 segmentation center of housing estate successively
Dynamic environment parameter and positioning object during position does not appear in environment parameter during search coverage, forms 34
Open message bit pattern；
Step S2：Ultrasonic transmission/reception sensor array unit carries out the sampling of data to detecting environment, obtains current
Ambient parameter under sound environment, all features of the detected environment of each field angle of record system form dynamic ring
Border parameter table and current message bit pattern；
Step S3：In the case where the ambient parameter for being detected is stable, the MCU processing units are according to described
Dynamic environment parameter table is contrasted with static environment parameter table, and analysis obtains being positioned the introduced environment of object
Parameter, estimate its target location and can level of confidence, produce to position target first estimation；
Step S4：The MCU processing units carry out bitmap matching positioning according to the dynamic environment parameter table,
Estimate its target location and can level of confidence, produce to position target second estimation；
Step S5：The MCU processing units are estimated according to described first and the second weighted sum estimated, are calculated
Obtain optimization positioning result and which is locked, so as to complete positioning.
2. the video camera indoor locating system based on ultrasonic sensor array according to claim 1 is determined
Position method, it is characterised in that the ultrasound wave receive between sensor array unit and MCU processing units also according to
Secondary setting：
For being filtered the bandpass filtering unit of noise reduction to analog electrical signal；
Frequency-selecting the frequency-selecting amplifying unit for amplifying are carried out for filtered signal；
The envelope detection unit that envelope detection produces envelope signal is carried out to the signal after amplification；And
Complete trailing edge trigger is produced for carrying out paraphase shaping to the envelope signal, and this is declined
The paraphase shaping unit of MCU processing units is sent to along trigger.
3. the video camera indoor locating system based on ultrasonic sensor array according to claim 2 is determined
Position method, it is characterised in that the MCU processing units are by RS485 communications location information to shooting
Machine, to realize the tracking to positioning target.
4. the video camera indoor locating system based on ultrasonic sensor array according to claim 2 is determined
Position method, it is characterised in that the ultrasound wave sends sensor array unit and constitutes 180 by 11 pairs of ultrasound probes
Array in degree plane.
5. the video camera indoor locating system based on ultrasonic sensor array according to claim 1 is determined
Position method, it is characterised in that the MCU processing units are specifically included：
For the study subelement learnt to indoor static ambient parameter；
It is connected to the study subelement, the storing sub-units for storing positioning dynamic environment information；
Be connected to the storing sub-units, for the static environment parameter to being learnt with positioning dynamic environment information
Middle dynamic environment parameter is compared judgement, and multilevel iudge for obtaining the positioning target location of maximum likelihood is single
Unit.
6. the video camera indoor locating system based on ultrasonic sensor array according to claim 1 is determined
Position method, it is characterised in that step S1 is specifically included：
MCU processing units learn the matched curve relation of current ultrasonic transmission range and time, echo-signal
Time interval by matched curve Function Mapping be detecting obstacles thing to sensor distance.
7. the video camera indoor locating system based on ultrasonic sensor array according to claim 1 is determined
Position method, it is characterised in that the ultrasound wave sends sensor array unit and constitutes 180 by 11 pairs of ultrasound probes
Array in degree plane, monitor area is divided into multiple cells by which, special to difference to each segmentation cell study
The multiple message bit patterns levied.
8. the video camera indoor locating system based on ultrasonic sensor array according to claim 7 is determined
Position method, it is characterised in that step S4 is specifically included：
Ambient parameter when the MCU processing units detection target occurs under dynamic environment, by the ring for detecting
Border parameter is matched with institute's bitmap information, finds a pattern of correlation maximum, so as to find the pattern
Corresponding region, and determine the positioning can level of confidence.
9. the video camera indoor locating system based on ultrasonic sensor array according to claim 7 is determined
Position method, it is characterised in that step S5 also includes：If described first estimates to estimate discrete arriving with second
In tolerable threshold values, then both weighted sums are taken, obtain optimization positioning result lock onto target；If described
First estimates to estimate discrete beyond threshold values with second, or opposite with positioning target, then return to step S3.
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| CN105911554A (en) * | 2016-06-06 | 2016-08-31 | 清华大学 | Target identification method based on ultrasonic sensor array |
| CN112673276B (en) * | 2018-09-06 | 2024-10-11 | 苹果公司 | Ultrasonic sensor |
| CN109991456A (en) * | 2018-11-27 | 2019-07-09 | 广东电网有限责任公司 | A kind of active electric magnetic disturbance stealing warning device |
| CN109543653B (en) * | 2018-12-12 | 2021-07-20 | 厦门博聪信息技术有限公司 | Video monitoring warning area setting method, system and device |
| CN115174858A (en) * | 2022-06-30 | 2022-10-11 | 浙江德清知路导航科技有限公司 | Audio and video integrated positioning monitoring system, monitoring method and monitoring equipment |
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