CN104111445A - Ultrasonic-array auxiliary positioning method and system used for indoor navigation - Google Patents
Ultrasonic-array auxiliary positioning method and system used for indoor navigation Download PDFInfo
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- CN104111445A CN104111445A CN201410324167.3A CN201410324167A CN104111445A CN 104111445 A CN104111445 A CN 104111445A CN 201410324167 A CN201410324167 A CN 201410324167A CN 104111445 A CN104111445 A CN 104111445A
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- 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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The invention provides an ultrasonic-array auxiliary positioning method and system used for indoor navigation. The method includes the following steps: S01: through an inertial navigation system, obtaining position information of a positioned subject and map information of a quasi-rectangular environment so that four predictive distance values from the center of the positioned subject to four edges of the quasi-rectangular environment are obtained; S02: according to positions of ultrasonic sensors relative to the positioned subject, a heading direction of the positioned subject and ranging values of the ultrasonic sensors, calculating four actual measurement distance values form the center of the positioned subject to the four edges of the quasi-rectangular environment; S03: comparing the actual measurement distance values with the predicative distance values, calculating absolute values of difference values and according to the sizes of the absolute values of the difference values, setting different weights of the different actual measurement distance values; S04: according to the different weights, carrying out weighted average sum on the actual measurement distance values so that a final practical distance is obtained; S05: carrying out position update on the positioned subject according to the final practical distance.
Description
Technical field
The present invention relates to inertial navigation and indoor positioning airmanship, particularly a kind of ultrasonic array assisted location method and system for indoor navigation.
Background technology
In outdoor navigator fix technology, satellite navigation system, comprises that the triones navigation system of global position system GPS and China's independent research has all obtained application very widely, has greatly enriched people's life.But when being in indoor environment lower time, the gps signal that can receive or Big Dipper satellite signal are very faint, do not receive even at all, this just need to provide the new method of indoor navigation and location.
Current indoor navigation method is mainly divided into two kinds, and a kind of is the method for locating based on beacon, and another kind is the method based on inertia device location.Based on the method for beacon location, in current environment, first preset the fixing beacon in position of some, user is by obtaining self current position with the information interaction of these beacons, as RFID location, WIFI location etc.Based on the method for inertia device location, carry out direction of motion and the move distance of perceptual positioning target by the built-in accelerometer of equipment, gyroscope, magnetometer etc., progressively calculated target positions positions navigation.
Although the method precision based on beacon location is high, has following two defects:
(1). need in environment, to dispose in advance beacon, required cost is very high;
(2) if. disaster occurs, and beacon very likely can be destroyed, and the navigation of indoor positioning under this condition can not be carried out.
And method based on inertia device location do not need to set beacon, thereby cost is relatively low, and due to inertial sensor be arranged on can portable equipment in, there is independence, even if there is disaster or other emergency conditioies also can position and navigate.Although inertial navigation has above plurality of advantages, this air navigation aid also has the weak point of oneself, and its maximum shortcoming is that long-time navigation accuracy is lower.Because the error of inertia device can be accumulated, when after the regular hour, navigation positioning error can increase rapidly.
Summary of the invention
The technical problem to be solved in the present invention is how to make the positioning result of inertial navigation system more accurate, and navigation performance is better.
In order to solve this technical matters, the invention provides a kind of ultrasonic array assisted location method for indoor navigation, in order to aided inertial navigation system, location main body and some ultrasonic sensors of being located at main body periphery, described location are provided, the reverse extending line of the hyperacoustic direction of transmitting of some described ultrasonic sensors is all by the center of described location main body, described ultrasonic sensor, in order to measure the vertical line distance of ultrasound wave launching site to an edge of corresponding class rectangle environment, obtains distance measurement value;
The method comprises the steps:
S01: obtain the positional information of described location main body, the cartographic information of class rectangle environment by inertial navigation system, and then obtain the center of described location main body to four prediction distance values at four edges of class rectangle environment;
S02: calculate described four the measured distance values of main center to four edges of class rectangle environment of locating according to the position of described ultrasonic sensor relative positioning main body, the course of main body, location and the distance measurement value of ultrasonic sensor;
S03: measured distance value and prediction distance value are compared, calculate the absolute value of both differences, set the different weight of different measured distance values according to the size of the absolute value of this difference, wherein, the absolute value of difference is larger, and weight is less;
S04: according to different weights, measured distance value is weighted to average summation, obtains final actual range;
S05: location main body is carried out to the renewal of position according to final actual range.
Before described step S02, also comprise the process to described ultrasonic sensor screening, in this process, first calculate each described ultrasonic sensor with respect to class rectangle environmental map towards, then according to towards angle threshold filter out part ultrasonic sensor, the ultrasonic sensor not only just being filtered is implemented subsequent step.
In described step S03, also comprise the process to the screening of measured distance value, in this process, by the absolute value of measured distance value and prediction distance value difference value and a threshold value comparison, if be greater than this threshold value, this measured distance value is filtered out, only carry out weight setting with regard to the measured distance value not being filtered, and then implement subsequent step.
The present invention also provides a kind of ultrasonic array aided positioning system for indoor navigation, in order to aided inertial navigation system, comprise rough position acquisition module, cartographic information acquisition module, range prediction module, ultrasonic array range finder module, course acquisition module and Navigation module
Described rough position acquisition module, in order to obtain the positional information of location main body by described inertial navigation system;
Described cartographic information acquisition module, in order to obtain the cartographic information of location main body class rectangle of living in environment;
Described range prediction module, in order to according to locating the positional information of main body and the cartographic information compute location main body of its class rectangle environment of living in to the distance at four edges of class rectangle environment, obtains corresponding prediction distance value;
Described ultrasonic array range finder module, at least comprises some ultrasonic sensors that are installed in the main body of location, and described ultrasonic sensor, in order to measure the vertical line distance of ultrasound wave launching site to an edge of corresponding class rectangle environment, obtains distance measurement value; Some described ultrasonic sensors are distributed in the periphery of described location main body, and the reverse extending line that each described ultrasonic sensor is launched hyperacoustic direction is all by the center of described location main body.
Described course acquisition module, in order to obtain the working direction of location main body by described inertial navigation system; What use is the course information of exporting in inertial navigation system, is designated as heading.
Described Navigation module, in order to according to the working direction of described prediction distance value, distance measurement value and location main body, calculates the actual range of location main body to class rectangle environment four edges, and then realizes the position of location body position is upgraded.
Described Navigation module is when calculating location main body to the actual range of class rectangle environment four edges,
Described Navigation module is first in order to calculate described four the measured distance values of main center to four edges of class rectangle environment of locating according to the position of described ultrasonic sensor relative positioning main body, the course of main body, location and the distance measurement value of ultrasonic sensor;
Described Navigation module is again in order to compare measured distance value and prediction distance value, calculate the absolute value of both differences, set the different weight of different measured distance values according to the size of the absolute value of this difference, wherein, the absolute value of difference is larger, and weight is less;
Then, described Navigation module is weighted average summation according to different weights to measured distance value, obtains final actual range;
Finally, described Navigation module is carried out the renewal of position according to final actual range to location main body.
Before calculating described measured distance value, described Navigation module is also in order to implement the process of described ultrasonic sensor screening, in this process, first calculate each described ultrasonic sensor with respect to class rectangle environmental map towards, then according to towards angle threshold filter out part ultrasonic sensor, the ultrasonic sensor not only just being filtered is implemented subsequent step.
Before measured distance value is arranged to different weights, described Navigation module is also in order to implement the process to the screening of measured distance value, in this process, by the absolute value of measured distance value and prediction distance value difference value and a threshold value comparison, if be greater than this threshold value, this measured distance value is filtered out, only carry out weight setting with regard to the measured distance value not being filtered, and then implement subsequent step.
The present invention is on the basis of inertia device location, add ultrasonic array distance measuring equipment, ultrasonic sensor is located in the main body of location, thereby merge location navigation, solved cumulative errors problem, further, the present invention also effectively uses prediction distance value and measured distance value and integrates, finally make the positioning result of inertial navigation system more accurate, navigation performance is better.
Brief description of the drawings
Fig. 1 is the module diagram for the ultrasonic array aided positioning system of indoor navigation in one embodiment of the invention;
Fig. 2 locates main body range prediction schematic diagram in one embodiment of the invention;
Fig. 3 is that in one embodiment of the invention, ultrasonic array is uniformly distributed schematic diagram;
Fig. 4 is ultrasonic array non-uniform Distribution schematic diagram in another embodiment of the present invention;
Fig. 5 is ultrasonic sensor range finding schematic diagram in one embodiment of the invention;
Fig. 6 is the operational flowchart of Navigation module in one embodiment of the invention.
Embodiment
Below with reference to Fig. 1 to Fig. 6, ultrasonic array assisted location method and the system for indoor navigation provided by the invention is described in detail, it is the present invention's one optional embodiment, can think, those skilled in the art can modify and polish it in the scope that does not change the present invention's spirit and content.
The present embodiment provides a kind of ultrasonic array assisted location method for indoor navigation, in order to aided inertial navigation system, location main body and some ultrasonic sensors of being located at main body periphery, described location are provided, the reverse extending line of the hyperacoustic direction of transmitting of some described ultrasonic sensors is all by the center of described location main body, described ultrasonic sensor, in order to measure the vertical line distance of ultrasound wave launching site to an edge of corresponding class rectangle environment, obtains distance measurement value;
The method comprises the steps:
S01: obtain the positional information of described location main body, the cartographic information of class rectangle environment by inertial navigation system, and then obtain the center of described location main body to four prediction distance values at four edges of class rectangle environment;
S02: calculate described four the measured distance values of main center to four edges of class rectangle environment of locating according to the position of described ultrasonic sensor relative positioning main body, the course of main body, location and the distance measurement value of ultrasonic sensor;
S03: measured distance value and prediction distance value are compared, calculate the absolute value of both differences, set the different weight of different measured distance values according to the size of the absolute value of this difference, wherein, the absolute value of difference is larger, and weight is less;
S04: according to different weights, measured distance value is weighted to average summation, obtains final actual range;
S05: location main body is carried out to the renewal of position according to final actual range.
Before described step S02, also comprise the process to described ultrasonic sensor screening, in this process, first calculate each described ultrasonic sensor with respect to class rectangle environmental map towards, then according to towards angle threshold filter out part ultrasonic sensor, the ultrasonic sensor not only just being filtered is implemented subsequent step.
In described step S03, also comprise the process to the screening of measured distance value, in this process, by the absolute value of measured distance value and prediction distance value difference value and a threshold value comparison, if be greater than this threshold value, this measured distance value is filtered out, only carry out weight setting with regard to the measured distance value not being filtered, and then implement subsequent step.
The present embodiment also provides a kind of ultrasonic array aided positioning system for indoor navigation, in order to aided inertial navigation system, comprise rough position acquisition module, cartographic information acquisition module, range prediction module, ultrasonic array range finder module, course acquisition module and Navigation module, specifically, refer to Fig. 1, in the present embodiment, described rough position acquisition module, cartographic information acquisition module is all connected with range prediction module, described range prediction module, the actual range finder module of ultrasonic array, course acquisition module is all connected with Navigation module.
Described rough position acquisition module, in order to obtain the positional information of location main body by described inertial navigation system; What described rough position acquisition module used is the output information of inertial navigation system, and the positional information of the definite location main body of inertial navigation system can be expressed as (x, y) in two-dimensional map.
Described cartographic information acquisition module, in order to obtain the cartographic information of location main body class rectangle of living in environment; Described cartographic information acquisition module is for obtaining the cartographic information of location main body environment of living in, the specific environment the present invention is directed to is class rectangle environment, such as square room, and long straight corridor etc., cartographic information is the wide of such rectangle environment and long, is designated as wide and length.
Described range prediction module, in order to according to locating the positional information of main body and the cartographic information compute location main body of its class rectangle environment of living in to the distance at four edges of class rectangle environment, obtains corresponding prediction distance value; Particularly, refer to Fig. 2, be respectively right apart from d_right, upper apart from d_up, left apart from d_left, lower to d_down.Accordingly, have:
d_right＝wide-x
d_up＝long-y
d_left＝x
d_down＝y
Above module range prediction module, cartographic information acquisition module and rough position acquisition module can be in order to performing step S01: obtain the positional information of described location main body, the cartographic information of class rectangle environment by inertial navigation system, and then obtain the center of described location main body to four prediction distance values at four edges of class rectangle environment;
Described ultrasonic array range finder module, at least comprises some ultrasonic sensors that are installed in the main body of location, and described ultrasonic sensor, in order to measure the vertical line distance of ultrasound wave launching site to an edge of corresponding class rectangle environment, obtains distance measurement value;
Some described ultrasonic sensors are distributed in the periphery of described location main body, and the reverse extending line that each described ultrasonic sensor is launched hyperacoustic direction is all by the center of described location main body.
Refer to Fig. 3 and Fig. 4, ultrasonic array is distributed in main body periphery, location, the reverse extending line of ultrasound emission direction is by location main center, these sensors can be uniformly distributed, as shown in Figure 3, in other optional embodiments, also can non-uniform Distribution, as shown in Figure 4, quantity is not for limiting number, but their distributing position is known, locating in addition main body periphery and differ and be decided to be circle, can be other any shapes, if such as location main body is telecar, its peripheral possibility is rounded, may be also square.That is the number of ultrasonic sensor and position distribution can be arbitrarily completely.The distributing position of ultrasonic array can be with multiple binary array representations, i.e. (r
1, θ
1), (r
2, θ
2), (r
3, θ
3) ..., (r
n, θ
n), r
i(i=1～n) represent that ultrasonic sensor is to the distance of locating main center, θ
i(i=1～n, n is the number of all the sensors in ultrasonic array device) represents the angle of ultrasonic sensor front-right in principal body axes with respect to location, counterclockwise time, be on the occasion of.
Ultrasonic sensor is due to its low price, and precision is high and be widely used, and while using ultrasonic sensor in reality, major part is all that ultrasound wave is impinged perpendicularly on to body surface, is scaled distance obtains measuring distance by the flight time.In experimenting, we find out that, and in the time that hyperacoustic incident angle direction is in a less scope, the distance measuring is also vertical incidence distance, and ultrasonic sensor is to the bee-line of body surface.Now, under the condition of known cartographic information, we can utilize this vertical incidence distance to carry out position correction to the main body of needs location, obtain more accurate positioning result.When ultrasonic measurement, be to launch ultrasound wave in fan-shaped mode, incident angle that what the present embodiment was used is hour ultrasound wave launching site to the vertical line distance at an edge of rectangle environment.
Described course acquisition module, in order to obtain the working direction of location main body by described inertial navigation system; What described course acquisition module used is the course information of exporting in inertial navigation system, is designated as heading.As shown in Figure 5, wherein heading can remember the angle that does the front-right in course and map coordinates system, counterclockwise time, be on the occasion of, and the angle of the front-right of heading and location principal body axes is+90 °.
Described Navigation module, in order to according to the working direction of described prediction distance value, distance measurement value and location main body, calculates the actual range of location main body to class rectangle environment four edges, and then realizes the position of location body position is upgraded.
That is described Navigation module, by the information of fusion distance prediction module, the actual range finder module of ultrasonic array, course acquisition module, is upgraded the position of location main body, obtain more accurate location navigation result.Navigation module is the core of ultrasonic array assisted location method.In order to realize above-described step S2 to S5.
Described Navigation module is when calculating location main body to the actual range of class rectangle environment four edges,
Described Navigation module is first in order to calculate described four the measured distance values of main center to four edges of class rectangle environment of locating according to the position of described ultrasonic sensor relative positioning main body, the course of main body, location and the distance measurement value of ultrasonic sensor; Before calculating described measured distance value, described Navigation module is also in order to implement the process of described ultrasonic sensor screening, in this process, first calculate each described ultrasonic sensor with respect to class rectangle environmental map towards, then according to towards angle threshold filter out part ultrasonic sensor, the ultrasonic sensor not only just being filtered is implemented subsequent step.
Described Navigation module is again in order to compare measured distance value and prediction distance value, calculate the absolute value of both differences, set the different weight of different measured distance values according to the size of the absolute value of this difference, wherein, the absolute value of difference is larger, and weight is less; Before measured distance value is arranged to different weights, described Navigation module is also in order to implement the process to the screening of measured distance value, in this process, by the absolute value of measured distance value and prediction distance value difference value and a threshold value comparison, if be greater than this threshold value, this measured distance value is filtered out, only carry out weight setting with regard to the measured distance value not being filtered, and then implement subsequent step.
Then, described Navigation module is weighted average summation according to different weights to measured distance value, obtains final actual range;
Finally, described Navigation module is carried out the renewal of position according to final actual range to location main body.
Specifically, please refer to Fig. 5 and Fig. 6, the operating process of Navigation module can following steps realize:
Steps A: right-hand as reference direction taking map coordinates system, counterclockwise time, be on the occasion of, calculate each ultrasonic sensor and in map coordinates system, launch hyperacoustic direction, i.e. θ
1+ heading-90 °, θ
2+ heading-90 °, θ
3+ heading-90 ° ..., θ
n+ heading-90 °, and be converted within 0 °～360 ° by modulo operation.Because what only have that the ultrasound wave of incident angle within the scope of ± 20 degree obtain is vertical incidence distance, so screening retains the ultrasonic sensor information of incident angle within the scope of ± 20 °.For available ultrasonic sensor, its incident angle is 0 ° (360 °) ± 20 °, 90 ° ± 20 °, 180 ° ± 20 °, 270 ° ± 20 °, represents i.e. (r here with multiple three-number sets
1, β
1, d
1), (r
2, β
2, d
2), (r
3, β
3, d
3) ..., (r
n1, β
n1, d
n1), wherein n
1the number of the ultrasonic sensor after angle is filtered, r
i(i=1～n
1) represent that ultrasonic sensor is to the distance of locating main center, β
i(i=1～n1) represents that ultrasonic sensor is with respect to the angle of map coordinates system front-right, is on the occasion of, i.e. β counterclockwise
i=mod (θ
i+ heading-90 °, 360 °), d
i(i=1～n1) represents the initial ranging information of ultrasonic sensor;
Step B: screen in the array of ultrasonic sensors remaining in process steps A, the triplet information of calculating each ultrasonic sensor is converted to the information of location main body to four edges of class rectangle environment.Certainly, each ultrasonic sensor is only converted to one side of class rectangle environment.Particularly, refer to Fig. 5, suppose ultrasonic sensor i with respect to the incident direction in map coordinates system in ± 20 °, this ultrasonic sensor can corresponding location main body to the distance on the right of class rectangle environment, establishing its three-number set information is (r
i, β
i, d
i), utilize β
iobtain incident angle γ
i, suppose β here
i=10 °, γ
i=10 ° of (if β
i=95 °, γ
i=| 95-90| °=5 °, if β
i=165 °, γ
i=| 165-180| °=15 °), obtain incident angle γ
iafter, can calculate this measured distance value d
i'=r
i* cos (γ
i)+d
i;
Step C: relatively d
i' (i=1～n1) and corresponding 4 prediction distances right apart from d_right, upper apart from d_up, left apart from d_left, compare apart from one in d_down down.Particularly, the γ to provide in step B still
i=10 ° is example, d
i' will compare with d_right.If both have big difference, definitely value difference exceedes a threshold value, such as 20cm, has | d
i'-d_right|>20, gives up this d
i', otherwise retain this range information, and record and according to range finding from poor absolute value delta
i;
Step D: in the supersonic sounding information remaining, for right, upper, left, lower each edge, according to range difference Δ
i(i=1～n
2, n
2the number of the ultrasonic sensor after filtering apart from difference) give each Actual measurement distance certain weight w
iif, range difference Δ
iless weight is larger, otherwise weight is less.Circular is, taking right side edge as example, to suppose Δ
i(i=1～n_right, n_right is the number corresponding to right-hand all suitable sonac) is the difference corresponding to i right-hand Actual measurement distance, d
i' this d
i' weight be:
Here
represent the summation to j=1～n_right;
Step e: locate the weighted average distance of main body to class rectangle surrounding according to distance and weight calculation, particularly, for certain direction, as right-hand in map, computing method are:
Wherein, d
i' be in step B, calculate corresponding to right-hand Actual measurement distance of map, here
represent the summation to i=1～n_right;
Step F: utilize 4 weighted direction mean distances that step e is calculated to upgrade the position of location main body, although might not obtain the Actual measurement distance of 4 directions in the time of each renewal simultaneously, but be ultrasonic array due to what use, at least can obtain in most cases the distance of 1 to 2 direction, thereby can carry out position renewal and obtain more accurate position.
The present invention is on the basis of inertia device location, add ultrasonic array distance measuring equipment, ultrasonic sensor is located in the main body of location, thereby merge location navigation, solved cumulative errors problem, further, the present invention also effectively uses prediction distance value and measured distance value and integrates, finally make the positioning result of inertial navigation system more accurate, navigation performance is better.
Claims (8)
1. the ultrasonic array assisted location method for indoor navigation, in order to aided inertial navigation system, location main body and some ultrasonic sensors of being located at main body periphery, described location are provided, the reverse extending line of the hyperacoustic direction of transmitting of some described ultrasonic sensors is all by the center of described location main body, described ultrasonic sensor, in order to measure the vertical line distance of ultrasound wave launching site to an edge of corresponding class rectangle environment, obtains distance measurement value;
The method comprises the steps:
S01: obtain the positional information of described location main body, the cartographic information of class rectangle environment by inertial navigation system, and then obtain the center of described location main body to four prediction distance values at four edges of class rectangle environment;
S02: calculate described four the measured distance values of main center to four edges of class rectangle environment of locating according to the position of described ultrasonic sensor relative positioning main body, the course of main body, location and the distance measurement value of ultrasonic sensor;
S03: measured distance value and prediction distance value are compared, calculate the absolute value of both differences, set the different weight of different measured distance values according to the size of the absolute value of this difference, wherein, the absolute value of difference is larger, and weight is less;
S04: according to different weights, measured distance value is weighted to average summation, obtains final actual range;
S05: location main body is carried out to the renewal of position according to final actual range.
2. the ultrasonic array assisted location method for indoor navigation as claimed in claim 1, it is characterized in that: before described step S02, also comprise the process to described ultrasonic sensor screening, in this process, first calculate each described ultrasonic sensor with respect to class rectangle environmental map towards, then according to towards angle threshold filter out part ultrasonic sensor, the ultrasonic sensor not only just being filtered is implemented subsequent step.
3. the ultrasonic array assisted location method for indoor navigation as claimed in claim 1, it is characterized in that: in described step S03, also comprise the process to the screening of measured distance value, in this process, by the absolute value of measured distance value and prediction distance value difference value and a threshold value comparison, if be greater than this threshold value, this measured distance value is filtered out, only carry out weight setting with regard to the measured distance value not being filtered, and then implement subsequent step.
4. the ultrasonic array aided positioning system for indoor navigation, in order to aided inertial navigation system, comprise rough position acquisition module, cartographic information acquisition module, range prediction module, ultrasonic array range finder module, course acquisition module and Navigation module
Described rough position acquisition module, in order to obtain the positional information of location main body by described inertial navigation system;
Described cartographic information acquisition module, in order to obtain the cartographic information of location main body class rectangle of living in environment;
Described range prediction module, in order to according to locating the positional information of main body and the cartographic information compute location main body of its class rectangle environment of living in to the distance at four edges of class rectangle environment, obtains corresponding prediction distance value;
Described ultrasonic array range finder module, at least comprises some ultrasonic sensors that are installed in the main body of location, and described ultrasonic sensor, in order to measure the vertical line distance of ultrasound wave launching site to an edge of corresponding class rectangle environment, obtains distance measurement value;
Described course acquisition module, in order to obtain the working direction of location main body by described inertial navigation system;
Described Navigation module, in order to according to the working direction of described prediction distance value, distance measurement value and location main body, calculates the actual range of location main body to class rectangle environment four edges, and then realizes the position of location body position is upgraded.
5. the ultrasonic array aided positioning system positioning system for indoor navigation as claimed in claim 4, it is characterized in that: some described ultrasonic sensors are distributed in the periphery of described location main body, and the reverse extending line that each described ultrasonic sensor is launched hyperacoustic direction is all by the center of described location main body.
6. the ultrasonic array aided positioning system for indoor navigation as claimed in claim 4, is characterized in that: described Navigation module is when calculating location main body to the actual range of class rectangle environment four edges,
Described Navigation module is first in order to calculate described four the measured distance values of main center to four edges of class rectangle environment of locating according to the position of described ultrasonic sensor relative positioning main body, the course of main body, location and the distance measurement value of ultrasonic sensor;
Described Navigation module is again in order to compare measured distance value and prediction distance value, calculate the absolute value of both differences, set the different weight of different measured distance values according to the size of the absolute value of this difference, wherein, the absolute value of difference is larger, and weight is less;
Then, described Navigation module is weighted average summation according to different weights to measured distance value, obtains final actual range;
Finally, described Navigation module is carried out the renewal of position according to final actual range to location main body.
7. the ultrasonic array aided positioning system for indoor navigation as claimed in claim 6, it is characterized in that: before calculating described measured distance value, described Navigation module is also in order to implement the process of described ultrasonic sensor screening, in this process, first calculate each described ultrasonic sensor with respect to class rectangle environmental map towards, then according to towards angle threshold filter out part ultrasonic sensor, the ultrasonic sensor not only just being filtered is implemented subsequent step.
8. the ultrasonic array aided positioning system for indoor navigation as claimed in claim 6, it is characterized in that: before measured distance value is arranged to different weights, described Navigation module is also in order to implement the process to the screening of measured distance value, in this process, by the absolute value of measured distance value and prediction distance value difference value and a threshold value comparison, if be greater than this threshold value, this measured distance value is filtered out, only carry out weight setting with regard to the measured distance value not being filtered, and then implement subsequent step.
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| CN105050104A (en) * | 2015-08-03 | 2015-11-11 | 广东南方电信规划咨询设计院有限公司 | Terminal for testing LTE (Long Term Evolution) indoor wireless signal parameter distribution data |
| CN105120488A (en) * | 2015-08-03 | 2015-12-02 | 广东南方电信规划咨询设计院有限公司 | LTE indoor wireless signal parameter distribution data test system |
| CN105352505A (en) * | 2015-12-08 | 2016-02-24 | 北京健德乾坤导航系统科技有限责任公司 | Indoor unmanned aerial vehicle navigation method and unmanned aerial vehicle |
| CN105572673A (en) * | 2015-11-27 | 2016-05-11 | 北京像素软件科技股份有限公司 | Ultrasonic ranging method and device |
| CN106153043A (en) * | 2015-04-13 | 2016-11-23 | Tcl集团股份有限公司 | A kind of robot chamber inner position method and system based on infrared distance sensor |
| CN107063253A (en) * | 2016-12-22 | 2017-08-18 | 湖南天特智能科技有限公司 | Pass through map scene assisted location method |
| CN107148000A (en) * | 2017-05-15 | 2017-09-08 | 武汉星巡智能科技有限公司 | Unmanned vehicle indoor positioning data processing method and device |
| CN107167769A (en) * | 2017-05-15 | 2017-09-15 | 武汉星巡智能科技有限公司 | Unmanned vehicle indoor reception device searching method and device |
| CN107229034A (en) * | 2017-05-15 | 2017-10-03 | 武汉星巡智能科技有限公司 | Unmanned vehicle localization method and alignment system |
| CN107300704A (en) * | 2017-05-15 | 2017-10-27 | 武汉星巡智能科技有限公司 | Unmanned vehicle indoor orientation method and device |
| CN107547805A (en) * | 2016-06-23 | 2018-01-05 | 恩智浦有限公司 | Sensor device and method |
| CN107589425A (en) * | 2017-10-17 | 2018-01-16 | 广州极飞科技有限公司 | Ultrasonic ranging equipment and its detection of the backscatter signal method, apparatus and aircraft |
| CN108287339A (en) * | 2017-12-22 | 2018-07-17 | 北京凌宇智控科技有限公司 | Antidote and device, ultrasonic probe, ultrasonic receiver for ultrasonic ranging |
| CN109029449A (en) * | 2018-06-29 | 2018-12-18 | 英华达（上海）科技有限公司 | It looks for something method, device for searching article and system of looking for something |
| CN110307845A (en) * | 2018-03-27 | 2019-10-08 | 深圳市神州云海智能科技有限公司 | A kind of method and robot of robot localization |
| CN112698169A (en) * | 2021-01-11 | 2021-04-23 | 中国科学院声学研究所 | Corona discharge positioning method and device, electronic equipment and storage medium |
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| CN113768760A (en) * | 2021-09-08 | 2021-12-10 | 中国科学院深圳先进技术研究院 | Control method and system of walking aid and driving device |
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| CN106153043A (en) * | 2015-04-13 | 2016-11-23 | Tcl集团股份有限公司 | A kind of robot chamber inner position method and system based on infrared distance sensor |
| CN106153043B (en) * | 2015-04-13 | 2019-09-10 | Tcl集团股份有限公司 | A kind of robot indoor positioning method and system based on infrared distance sensor |
| CN105120488A (en) * | 2015-08-03 | 2015-12-02 | 广东南方电信规划咨询设计院有限公司 | LTE indoor wireless signal parameter distribution data test system |
| CN105050104A (en) * | 2015-08-03 | 2015-11-11 | 广东南方电信规划咨询设计院有限公司 | Terminal for testing LTE (Long Term Evolution) indoor wireless signal parameter distribution data |
| CN105572673A (en) * | 2015-11-27 | 2016-05-11 | 北京像素软件科技股份有限公司 | Ultrasonic ranging method and device |
| CN105572673B (en) * | 2015-11-27 | 2018-06-19 | 北京像素软件科技股份有限公司 | Ultrasonic ranging method and device |
| CN105352505A (en) * | 2015-12-08 | 2016-02-24 | 北京健德乾坤导航系统科技有限责任公司 | Indoor unmanned aerial vehicle navigation method and unmanned aerial vehicle |
| CN105352505B (en) * | 2015-12-08 | 2018-12-21 | 北京天龙智控科技有限公司 | Indoor Navigation of Pilotless Aircraft method and unmanned plane |
| CN107547805A (en) * | 2016-06-23 | 2018-01-05 | 恩智浦有限公司 | Sensor device and method |
| CN107063253A (en) * | 2016-12-22 | 2017-08-18 | 湖南天特智能科技有限公司 | Pass through map scene assisted location method |
| CN107300704B (en) * | 2017-05-15 | 2020-07-28 | 武汉星巡智能科技有限公司 | Indoor positioning method and device for unmanned aerial vehicle |
| CN107148000B (en) * | 2017-05-15 | 2019-07-05 | 武汉星巡智能科技有限公司 | Unmanned vehicle indoor positioning data processing method and device |
| CN107300704A (en) * | 2017-05-15 | 2017-10-27 | 武汉星巡智能科技有限公司 | Unmanned vehicle indoor orientation method and device |
| CN107148000A (en) * | 2017-05-15 | 2017-09-08 | 武汉星巡智能科技有限公司 | Unmanned vehicle indoor positioning data processing method and device |
| CN107167769A (en) * | 2017-05-15 | 2017-09-15 | 武汉星巡智能科技有限公司 | Unmanned vehicle indoor reception device searching method and device |
| CN107229034A (en) * | 2017-05-15 | 2017-10-03 | 武汉星巡智能科技有限公司 | Unmanned vehicle localization method and alignment system |
| CN107589425B (en) * | 2017-10-17 | 2019-11-26 | 广州极飞科技有限公司 | Ultrasonic distance measurement equipment and its detection of the backscatter signal method, apparatus and aircraft |
| CN107589425A (en) * | 2017-10-17 | 2018-01-16 | 广州极飞科技有限公司 | Ultrasonic ranging equipment and its detection of the backscatter signal method, apparatus and aircraft |
| CN108287339B (en) * | 2017-12-22 | 2020-07-24 | 北京凌宇智控科技有限公司 | Correction method and device for ultrasonic ranging and ultrasonic receiving device |
| CN108287339A (en) * | 2017-12-22 | 2018-07-17 | 北京凌宇智控科技有限公司 | Antidote and device, ultrasonic probe, ultrasonic receiver for ultrasonic ranging |
| US11500089B2 (en) | 2017-12-22 | 2022-11-15 | Nolo Co., Ltd. | Control method and device for ultrasonic receiving device |
| CN110307845A (en) * | 2018-03-27 | 2019-10-08 | 深圳市神州云海智能科技有限公司 | A kind of method and robot of robot localization |
| CN109029449A (en) * | 2018-06-29 | 2018-12-18 | 英华达（上海）科技有限公司 | It looks for something method, device for searching article and system of looking for something |
| CN109029449B (en) * | 2018-06-29 | 2020-09-29 | 英华达（上海）科技有限公司 | Object searching method, object searching device and object searching system |
| CN112887899A (en) * | 2021-01-06 | 2021-06-01 | 清华大学 | Positioning system and positioning method based on single base station soft position information |
| CN112887899B (en) * | 2021-01-06 | 2022-03-11 | 清华大学 | Positioning system and positioning method based on single base station soft position information |
| CN112698169A (en) * | 2021-01-11 | 2021-04-23 | 中国科学院声学研究所 | Corona discharge positioning method and device, electronic equipment and storage medium |
| CN112698169B (en) * | 2021-01-11 | 2022-02-01 | 中国科学院声学研究所 | Corona discharge positioning method and device, electronic equipment and storage medium |
| CN113768760A (en) * | 2021-09-08 | 2021-12-10 | 中国科学院深圳先进技术研究院 | Control method and system of walking aid and driving device |
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