CN104111445B - 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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- CN104111445B CN104111445B CN201410324167.3A CN201410324167A CN104111445B CN 104111445 B CN104111445 B CN 104111445B CN 201410324167 A CN201410324167 A CN 201410324167A CN 104111445 B CN104111445 B CN 104111445B
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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
-
- 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
-
- 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
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 to a kind of ultrasound wave for indoor navigation
Array assisted location method and system.
Background technology
In outdoor navigator fix technology, satellite navigation system, including global positioning system gps and China's independent research
The triones navigation system application that all has been obtained for widely, be greatly enriched the life of people.However, work as being in room
When under interior environment, the gps signal that can receive or Big Dipper satellite signal are very faint, or even do not receive at all, this
It is accomplished by providing the new method of indoor navigation and positioning.
Current indoor navigation method is broadly divided into two kinds, and a kind of is the method being positioned based on beacon, and another kind is to be based on
The method of inertia device positioning.Based on the method for beacon positioning, in current environment, first preset a number of position fix
Beacon, user obtains itself current position by the information exchange with these beacons, such as rfid positioning, wifi positioning
Deng.Based on the method for inertia device positioning, perceptual positioning mesh is come by the built-in accelerometer of equipment, gyroscope, magnetometer etc.
The target direction of motion and move distance, step by step calculation target location carries out location navigation.
Although based on the method high precision of beacon positioning, having following two defects:
(1). need to dispose in the environment in advance beacon, required cost is very high；
(2) if. occur disaster, beacon very likely can be destroyed so that should under the conditions of indoor positioning navigate can not enter
OK.
And the method based on inertia device positioning is it is not necessary to set beacon, thus advantage of lower cost, and because inertia passes
Sensor is arranged on can have autonomy in portable equipment, though there is disaster or other emergencies also can carry out positioning and
Navigation.Although inertial navigation has many advantages, such as above, this air navigation aid also has a weak point of oneself, the lacking of its maximum
Point is that long-time navigation accuracy is relatively low.Because the error of inertia device can be accumulated, when, after the regular hour, navigation is fixed
Position error can increase rapidly.
Content of the invention
The technical problem to be solved in the present invention be how to make inertial navigation system positioning result more accurate, navigation performance
More preferably.
In order to solve this technical problem, the invention provides a kind of ultrasonic array auxiliary positioning for indoor navigation
Method, in order to aided inertial navigation system, there is provided positioning body and some ultrasound wave located at described positioning body periphery pass
Sensor, the reverse extending line in the direction of transmitting ultrasound wave of some described ultrasonic sensors is all by described positioning body
The heart, described ultrasonic sensor, in order to measure ultrasonic emitting point to the vertical line distance of corresponding class rectangle environment a line edge, obtains
To distance measurement value；
The method comprises the steps:
S01: the positional information of described positioning body, the cartographic information of class rectangle environment are obtained by inertial navigation system,
And then obtain four Prediction distance values at the center of described positioning body to four edges of class rectangle environment；
S02: passed according to the position of described ultrasonic sensor relative localization main body, the course of positioning body and ultrasound wave
The distance measurement value of sensor calculates described positioning body center to four measured distance values at four edges of class rectangle environment；
S03: measured distance value is compared with Prediction distance value, calculates the absolute value of both differences, according to this difference
The size of absolute value set the different weight of different measured distance values, wherein, the absolute value of difference is bigger, and weight is less；
S04: according to different weights, measured distance value is weighted averagely suing for peace, obtains final actual range；
S05: according to final actual range, positioning body is carried out with the renewal of position.
Before described step s02, also include the process to the screening of described ultrasonic sensor, in this process, first count
Calculate the direction that each described ultrasonic sensor is with respect to class rectangle environmental map, then filtered out according to the angle threshold of direction
Portion of ultrasonic sound wave sensor, subsequent step implemented by the ultrasonic sensor only just not filtered.
In described step s03, also include the process to the screening of measured distance value, in this process, by measured distance value
Comparing with a threshold value with the absolute value of Prediction distance value difference value, if being more than this threshold value, this measured distance value being filtered out, only
Measured distance value with regard to not being filtered carries out weight setting, and then implements subsequent step.
Present invention also offers a kind of ultrasonic array aided positioning system for indoor navigation, lead in order to supplementary inertial
Boat system, including 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 positioning body by described inertial navigation system；
Described cartographic information acquisition module, in order to obtain the cartographic information of class rectangle environment residing for positioning body；
Described range prediction module, in order to the map letter of the positional information according to positioning body and class rectangle environment residing for it
Breath calculates positioning body to the distance at four edges of class rectangle environment, obtains corresponding Prediction distance value；
Described ultrasonic array range finder module, at least includes some ultrasonic sensors being installed on positioning body, institute
State ultrasonic sensor in order to measure ultrasonic emitting point to the vertical line distance of corresponding class rectangle environment a line edge, found range
Value；Some described ultrasonic sensors are distributed in the periphery of described positioning body, and each described ultrasonic sensor transmitting is super
The reverse extending line in the direction of sound wave is all by the center of described positioning body.
Described course acquisition module, in order to obtain the direction of advance of positioning body by described inertial navigation system；Use
Be in inertial navigation system output course information, be designated as heading.
Described Navigation module, in order to the direction of advance according to described Prediction distance value, distance measurement value and positioning body, counts
Calculate and obtain positioning body to the actual range of class rectangle environment four edges, and then realize the location updating to positioning body position.
Described Navigation module for be calculated positioning body to class rectangle environment four edges actual range when,
Described Navigation module is first in order to according to the position of described ultrasonic sensor relative localization main body, positioning body
Course and the distance measurement value of ultrasonic sensor calculate described positioning body center to the four of four edges of class rectangle environment
Individual measured distance value；
Described Navigation module in order to be compared measured distance value with Prediction distance value, calculates both differences again
Absolute value, the size of the absolute value according to this difference sets the different weight of different measured distance values, wherein, difference absolute
Value is bigger, and weight is less；
Then, described Navigation module is weighted averagely suing for peace to measured distance value according to different weights, obtains
Final actual range；
Finally, described Navigation module carries out the renewal of position according to final actual range to positioning body.
Before being calculated described measured distance value, described Navigation module is also in order to implement described supersonic sensing
The process of device screening, in this process, first calculates the direction that each described ultrasonic sensor is with respect to class rectangle environmental map,
Then portion of ultrasonic sound wave sensor is filtered out according to the angle threshold of direction, after the ultrasonic sensor only just not filtered is implemented
Continuous step.
Before the weight different to the setting of measured distance value, described Navigation module is also in order to implement to measured distance
The process of value screening, in this process, measured distance value is compared with a threshold value with the absolute value of Prediction distance value difference value, if
More than this threshold value, then this measured distance value is filtered out, only the measured distance value with regard to not being filtered carries out weight setting, and then
Implement subsequent step.
The present invention, on the basis of inertia device positioning, adds ultrasonic array range unit, ultrasonic sensor is set
On positioning body, thus carrying out merging location navigation, solve the problems, such as cumulative error, further, the present invention also will predict
Distance value and measured distance value are effectively used and integration, finally make the positioning result of inertial navigation system more accurate, navigation
Performance is more preferable.
Brief description
Fig. 1 is that the module of the ultrasonic array aided positioning system being used for indoor navigation in one embodiment of the invention is illustrated
Figure；
Fig. 2 is positioning 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.
Specific embodiment
Below with reference to Fig. 1 to Fig. 6 to the ultrasonic array assisted location method provided by the present invention for indoor navigation
It is described in detail with system, it is the present invention one optional embodiment it is believed that those skilled in the art is not changing
Become and it can be modified in the range of present invention spirit and content and polish.
Present embodiments provide a kind of ultrasonic array assisted location method for indoor navigation, lead in order to supplementary inertial
Boat system, there is provided positioning body and some ultrasonic sensors located at described positioning body periphery, some described ultrasound wave
The reverse extending line in the direction of transmitting ultrasound wave of sensor is all by the center of described positioning body, described ultrasonic sensor
In order to measure ultrasonic emitting point to the vertical line distance of corresponding class rectangle environment a line edge, obtain distance measurement value；
The method comprises the steps:
S01: the positional information of described positioning body, the cartographic information of class rectangle environment are obtained by inertial navigation system,
And then obtain four Prediction distance values at the center of described positioning body to four edges of class rectangle environment；
S02: passed according to the position of described ultrasonic sensor relative localization main body, the course of positioning body and ultrasound wave
The distance measurement value of sensor calculates described positioning body center to four measured distance values at four edges of class rectangle environment；
S03: measured distance value is compared with Prediction distance value, calculates the absolute value of both differences, according to this difference
The size of absolute value set the different weight of different measured distance values, wherein, the absolute value of difference is bigger, and weight is less；
S04: according to different weights, measured distance value is weighted averagely suing for peace, obtains final actual range；
S05: according to final actual range, positioning body is carried out with the renewal of position.
Before described step s02, also include the process to the screening of described ultrasonic sensor, in this process, first count
Calculate the direction that each described ultrasonic sensor is with respect to class rectangle environmental map, then filtered out according to the angle threshold of direction
Portion of ultrasonic sound wave sensor, subsequent step implemented by the ultrasonic sensor only just not filtered.
In described step s03, also include the process to the screening of measured distance value, in this process, by measured distance value
Comparing with a threshold value with the absolute value of Prediction distance value difference value, if being more than this threshold value, this measured distance value being filtered out, only
Measured distance value with regard to not being filtered carries out weight setting, and then implements subsequent step.
The present embodiment additionally provides a kind of ultrasonic array aided positioning system for indoor navigation, in order to supplementary inertial
Navigation system, including rough position acquisition module, cartographic information acquisition module, range prediction module, ultrasonic array range finding mould
Block, course acquisition module and Navigation module, specifically, refer to Fig. 1, and in the present embodiment, described rough position obtains
Module, cartographic information acquisition module are all connected with range prediction module, the actual range finding of described range prediction module, ultrasonic array
Module, course acquisition module are all connected with Navigation module.
Described rough position acquisition module, in order to obtain the positional information of positioning body by described inertial navigation system；
Described rough position acquisition module uses the output information of inertial navigation system, the positioning master that is, inertial navigation system determines
The positional information of body, is represented by (x, y) in two-dimensional map.
Described cartographic information acquisition module, in order to obtain the cartographic information of class rectangle environment residing for positioning body；Describedly
Figure data obtaining module is used for obtaining the cartographic information of positioning body local environment, and the specific environment that the present invention is directed to is class rectangle
Environment, such as square room, long straight corridor etc., cartographic information is width and the length of such rectangle environment, be designated as wide and
length.
Described range prediction module, in order to the map letter of the positional information according to positioning body and class rectangle environment residing for it
Breath calculates positioning body to the distance at four edges of class rectangle environment, obtains corresponding Prediction distance value；Specifically, refer to figure
2, respectively right apart from d_right, on apart from d_up, left apart from d_left, lower apart from 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 may be used to realize step
Rapid s01: the positional information of described positioning body, the cartographic information of class rectangle environment are obtained by inertial navigation system, and then
To described positioning body center to four edges of class rectangle environment four Prediction distance values；
Described ultrasonic array range finder module, at least includes some ultrasonic sensors being installed on positioning body, institute
State ultrasonic sensor in order to measure ultrasonic emitting point to the vertical line distance of corresponding class rectangle environment a line edge, found range
Value；
Some described ultrasonic sensors are distributed in the periphery of described positioning body, and each described ultrasonic sensor is sent out
The reverse extending line in direction penetrating ultrasound wave is all by the center of described positioning body.
Refer to Fig. 3 and Fig. 4, ultrasonic array is distributed in positioning body periphery, the reverse extending line in ultrasound emission direction
By positioning body center, these sensors can be uniformly distributed, as shown in figure 3, in other alternative-embodiments, also can be non-equal
Even distribution, as shown in figure 4, quantity is not limit number, but their distributing position is known, and in addition positioning body periphery is not
One is set to circle, can be other any shapes, if than positioning body be telecar, its periphery may rounded it is also possible to
For square.That is, the number of ultrasonic sensor and position distribution can be arbitrary completely.The distributing position of ultrasonic array
Can use multiple binary array representations, i.e. (r1,θ1), (r2,θ2), (r3,θ3) ..., (rn,θn), ri(i=1～n) represents ultrasound wave
Sensor is to the distance at positioning body center, θi(i=1～n, n are the numbers of all the sensors in ultrasonic array device) table
Show the angle that ultrasonic sensor is with respect to the front-right in positioning body coordinate system, when counterclockwise be on the occasion of.
Ultrasonic sensor due to its low price, high precision and be widely used, in practice using ultrasound wave
During sensor, major part is all that ultrasound wave is impinged perpendicularly on body surface, by the flight time be scaled distance obtain measurement away from
From.In experimenting, we find out that, when the incident angular direction of ultrasound wave is in a less scope, measures the distance obtaining
It is vertical incidence distance, that is, ultrasonic sensor is to the beeline of body surface.Now, under conditions of known cartographic information
We can carry out position correction using this vertical incidence distance to the main body needing positioning, obtains more accurate positioning knot
Really.It is that ultrasound wave is launched with sector format during ultrasonic measurement, used by the present embodiment is ultrasonic emitting when angle of incidence is less
Point is to the vertical line distance of rectangle environment a line edge.
Described course acquisition module, in order to obtain the direction of advance of positioning body by described inertial navigation system；Described
Course acquisition module uses the course information of output in inertial navigation system, is designated as heading.As shown in figure 5, wherein
Heading can be denoted as the angle of the front-right in course and map coordinates system, when counterclockwise be on the occasion of, and heading with fixed
The angle of the front-right of position principal body axes is+90 °.
Described Navigation module, in order to the direction of advance according to described Prediction distance value, distance measurement value and positioning body, counts
Calculate and obtain positioning body to the actual range of class rectangle environment four edges, and then realize the location updating to positioning body position.
That is, described Navigation module passes through fusion distance prediction module, the actual range finder module of ultrasonic array, course
The information of acquisition module, is updated to the position of positioning body, obtains more accurate location navigation result.Navigation mould
Block is the core of ultrasonic array assisted location method.In order to realize procedure described above s2 to s5.
Described Navigation module for be calculated positioning body to class rectangle environment four edges actual range when,
Described Navigation module is first in order to according to the position of described ultrasonic sensor relative localization main body, positioning body
Course and the distance measurement value of ultrasonic sensor calculate described positioning body center to the four of four edges of class rectangle environment
Individual measured distance value；Before being calculated described measured distance value, described Navigation module is also described ultrasonic in order to implement
The process of wave sensor screening, in this process, first calculates each described ultrasonic sensor with respect to class rectangle environmental map
Direction, then portion of ultrasonic sound wave sensor, the supersonic sensing only just not filtered are filtered out according to the angle threshold of direction
Subsequent step implemented by device.
Described Navigation module in order to be compared measured distance value with Prediction distance value, calculates both differences again
Absolute value, the size of the absolute value according to this difference sets the different weight of different measured distance values, wherein, difference absolute
Value is bigger, and weight is less；Before the weight different to the setting of measured distance value, described Navigation module is also right in order to implement
The process of measured distance value screening, in this process, by the absolute value of measured distance value and Prediction distance value difference value and a threshold
Value compares, if being more than this threshold value, this measured distance value is filtered out, only the measured distance value with regard to not being filtered carries out weight
Set, and then implement subsequent step.
Then, described Navigation module is weighted averagely suing for peace to measured distance value according to different weights, obtains
Final actual range；
Finally, described Navigation module carries out the renewal of position according to final actual range to positioning body.
Specifically, refer to Fig. 5 and Fig. 6, the operating process of Navigation module can be realized with following steps:
Step a: with map coordinates system right as reference direction, be on the occasion of calculating each ultrasonic sensor when counterclockwise
The direction of ultrasound wave, i.e. θ is launched in map coordinates system1+ heading-90 °, θ2+ heading-90 °, θ3+heading-
90 ° ..., θn+ heading-90 °, and be converted within 0 °～360 ° by modulo operation.Because only that angle of incidence is at ± 20 degree
In the range of ultrasound wave obtains is vertical incidence distance, so screening retains ultrasound wave in the range of ± 20 ° for the angle of incidence and passes
Sensor information.I.e. for available ultrasonic sensor, its angle of incidence is ± 20 ° of 0 ° (360 °), 90 ° ± 20 °, 180 ° ± 20 °,
270 ° ± 20 °, represented with multiple three-number sets here, i.e. (r1,β1,d1), (r2,β2,d2), (r3,β3,d3) ..., (rn1,βn1,
dn1), wherein n1It is the number of the ultrasonic sensor after angle filters, ri(i=1～n1) represent ultrasonic sensor to positioning
The distance of main center, βi(i=1～n1) represents the angle that ultrasonic sensor is with respect to map coordinates system front-right, inverse time
Pin is on the occasion of i.e. βi=mod (θi+ heading-90 °, 360 °), di(i=1～n1) represents the initial ranging of ultrasonic sensor
Information；
Step b: in the array of ultrasonic sensors that the screening of step a remains, calculate each supersonic sensing
The triplet information of device is converted to positioning body to the information at four edges of class rectangle environment.Certainly, each supersonic sensing
Device is only converted to one side of class rectangle environment.Specifically, refer to Fig. 5 it is assumed that ultrasonic sensor i is with respect in map reference
Incident direction in system in ± 20 °, then this ultrasonic sensor can correspond to positioning body to the right of class rectangle environment away from
From if its three-number set information is (ri,βi,di), using βiObtain angle of incidence γiIt is assumed here that βi=10 °, then γi=10 °
If (βi=95 °, then γi=| 95-90 | °=5 °, if βi=165 °, then γi=| 165-180 | °=15 °), obtain angle of incidence γi
Afterwards, this measured distance value d can be calculatedi'=ri*cos(γi)+di；
Step c: compare di' (i=1～n1) and corresponding 4 Prediction distances right apart from d_right, on apart from d_up, left
Apart from d_left, lower it is compared apart from one of d_down.Specifically, the still γ to be given in step biAs a example=10 °,
di' will be compared with d_right.If both have big difference, that is, absolute difference, more than a threshold value, such as 20cm, has |
di'-d_right | > 20, then give up this di', otherwise retain this range information, and record and according to range finding from poor absolute value δi；
Step d: in the supersonic sounding information remaining, for right, upper, left, under each edge, according to range difference
δi(i=1～n2,n2It is the number of the ultrasonic sensor after distance difference filters) give each Actual measurement apart from certain
Weight wiIf, range difference δiMore little then weight is bigger, otherwise weight is less.Circular is, taking right side edge as a example, false
If δi(i=1～n_right, n_right correspond to the number of all suitable sonac of right) corresponds to
The difference of i-th Actual measurement distance of right, di' then this di' weight be:
HereRepresent and j=1～n_right is sued for peace；
Step e: according to the weighted average distance of distance and weight calculation positioning body to class rectangle surrounding, specifically, right
In certain direction, such as map right, computational methods are:
Wherein, di' it is the Actual measurement distance corresponding to map right being calculated in step b, hereRepresent to i=1
～n_right sues for peace；
Step f: the position of positioning body is carried out more using 4 weighted direction average distances that step e is calculated
Newly although the Actual measurement distance in 4 directions might not be obtained in each renewal simultaneously, but ultrasonic due to using
Ripple array, at least can obtain the distance in 1 to 2 directions in most cases, obtain more such that it is able to carry out location updating
Plus accurate position.
The present invention, on the basis of inertia device positioning, adds ultrasonic array range unit, ultrasonic sensor is set
On positioning body, thus carrying out merging location navigation, solve the problems, such as cumulative error, further, the present invention also will predict
Distance value and measured distance value are effectively used and integration, finally make the positioning result of inertial navigation system more accurate, navigation
Performance is more preferable.
Claims (8)
1. a kind of ultrasonic array assisted location method for indoor navigation, in order to aided inertial navigation system, there is provided fixed
Position main body and some ultrasonic sensors located at described positioning body periphery, the transmitting of some described ultrasonic sensors is ultrasonic
The reverse extending line in the direction of ripple all by the center of described positioning body, send out in order to measure ultrasound wave by described ultrasonic sensor
Exit point, to the vertical line distance of corresponding class rectangle environment a line edge, obtains distance measurement value；
The method comprises the steps:
S01: the positional information of described positioning body, the cartographic information of class rectangle environment are obtained by inertial navigation system, and then
Obtain four Prediction distance values at the center of described positioning body to four edges of class rectangle environment；
S02: according to the position of described ultrasonic sensor relative localization main body, the course of positioning body and ultrasonic sensor
Distance measurement value calculate described positioning body center to four edges of class rectangle environment four measured distance values；
S03: measured distance value is compared with Prediction distance value, calculates the absolute value of both differences, exhausted according to this difference
The different weight of different measured distance values is set to the size of value, wherein, the absolute value of difference is bigger, and weight is less；
S04: according to different weights, measured distance value is weighted averagely suing for peace, obtains final actual range；
S05: according to final actual range, positioning body is carried out with the renewal of position.
2. be used for as claimed in claim 1 the ultrasonic array assisted location method of indoor navigation it is characterised in that: described
Before step s02, also include the process to the screening of described ultrasonic sensor, in this process, first calculate each described ultrasonic
Wave sensor, with respect to the direction of class rectangle environmental map, then filters out portion of ultrasonic sound wave sensing according to the angle threshold of direction
Device, subsequent step implemented by the ultrasonic sensor only just not filtered.
3. be used for as claimed in claim 1 the ultrasonic array assisted location method of indoor navigation it is characterised in that: described
In step s03, also include the process to the screening of measured distance value, in this process, by measured distance value and Prediction distance value difference
The absolute value of value is compared with a threshold value, if being more than this threshold value, this measured distance value being filtered out, is not only just filtered
Measured distance value carries out weight setting, and then implements subsequent step.
4. a kind of ultrasonic array aided positioning system for indoor navigation, in order to aided inertial navigation system, including 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 positioning body by described inertial navigation system；
Described cartographic information acquisition module, in order to obtain the cartographic information of class rectangle environment residing for positioning body；
Described range prediction module, in order to the cartographic information meter of the positional information according to positioning body and class rectangle environment residing for it
Calculate positioning body to the distance at four edges of class rectangle environment, obtain corresponding Prediction distance value；
Described ultrasonic array range finder module, at least includes some ultrasonic sensors being installed on positioning body, described super
Sonic sensor, in order to measure ultrasonic emitting point to the vertical line distance of corresponding class rectangle environment a line edge, obtains distance measurement value；
Described course acquisition module, in order to obtain the direction of advance of positioning body by described inertial navigation system；
Described Navigation module, in order to the direction of advance according to described Prediction distance value, distance measurement value and positioning body, calculates
To positioning body to the actual range of class rectangle environment four edges, and then realize the location updating to positioning body position.
5. be used for as claimed in claim 4 the ultrasonic array aided positioning system of indoor navigation it is characterised in that: Ruo Gansuo
State the periphery that ultrasonic sensor is distributed in described positioning body, and the direction of ultrasound wave launched by each described ultrasonic sensor
Reverse extending line all by the center of described positioning body.
6. be used for as claimed in claim 4 the ultrasonic array aided positioning system of indoor navigation it is characterised in that: described lead
Boat filtration module for be calculated positioning body to class rectangle environment four edges actual range when,
Described Navigation module is first in order to the boat according to the position of described ultrasonic sensor relative localization main body, positioning body
To and ultrasonic sensor distance measurement value calculate described positioning body center to four edges of class rectangle environment four realities
Survey distance value；
Described Navigation module in order to be compared measured distance value with Prediction distance value, calculates the absolute of both differences again
Value, the size of the absolute value according to this difference sets the different weight of different measured distance values, and wherein, the absolute value of difference is got over
Greatly, weight is less；
Then, described Navigation module is weighted averagely suing for peace to measured distance value according to different weights, obtains final
Actual range；
Finally, described Navigation module carries out the renewal of position according to final actual range to positioning body.
7. be used for as claimed in claim 6 the ultrasonic array aided positioning system of indoor navigation it is characterised in that: calculating
Before obtaining described measured distance value, described Navigation module also in order to implement the process of described ultrasonic sensor screening,
In this process, first calculate the direction that each described ultrasonic sensor is with respect to class rectangle environmental map, then according to direction
Angle threshold filter out portion of ultrasonic sound wave sensor, subsequent step implemented by the ultrasonic sensor that only just do not filtered.
8. be used for as claimed in claim 6 the ultrasonic array aided positioning system of indoor navigation it is characterised in that: to reality
Before surveying the distance value different weights of setting, described Navigation module also in order to implement the process to the screening of measured distance value,
In this process, measured distance value is compared with a threshold value with the absolute value of Prediction distance value difference value, if being more than this threshold value,
This measured distance value is filtered out, only the measured distance value with regard to not being filtered carries out weight setting, and then implement subsequent step.
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| 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 |
| 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 |
| 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 |
| US9734703B1 (en) * | 2016-06-23 | 2017-08-15 | Nxp B.V. | Sensor apparatuses and methods |
| 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 |
| 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 |
| 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 |
| CN107229034B (en) * | 2017-05-15 | 2020-07-07 | 武汉星巡智能科技有限公司 | Unmanned aerial vehicle positioning method and positioning system |
| 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 |
| 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 |
| US11500089B2 (en) | 2017-12-22 | 2022-11-15 | Nolo Co., Ltd. | Control method and device for ultrasonic receiving device |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN113768760B (en) * | 2021-09-08 | 2022-12-20 | 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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| US9243918B2 (en) * | 2011-12-22 | 2016-01-26 | AppLabz, LLC | Systems, methods, and apparatus for providing indoor navigation using magnetic sensors |
| CN102645667A (en) * | 2012-04-24 | 2012-08-22 | 上海交通大学 | Energy optimization navigation unit based on combined navigation |
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