CN104459624A - Ultrasonic indoor positioning method based on time modulation - Google Patents
Ultrasonic indoor positioning method based on time modulation Download PDFInfo
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- CN104459624A CN104459624A CN201410640891.7A CN201410640891A CN104459624A CN 104459624 A CN104459624 A CN 104459624A CN 201410640891 A CN201410640891 A CN 201410640891A CN 104459624 A CN104459624 A CN 104459624A
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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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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
Disclosed is an ultrasonic indoor positioning method based on time modulation. The method comprises the steps that three or more ultrasonic transmitting terminals are arranged at the indoor fixed position and numbered, the serial numbers are 1, 2, 3... n in sequence, and n is the number of the transmitting terminals; a reference station is arranged, and an ultrasonic receiving terminal is arranged at any position; the transmitting terminals are used for transmitting ultrasonic signals, the reference station is used for calibrating time signals of the transmitting terminals and the receiving terminal, and the receiving terminal is used for receiving the ultrasonic signals. By means of the method for transmitting time information and transmitting terminal IDs under the indoor environment through ultrasonic waves, an ultrasonic modulation method based on the direct sequence spread spectrum is included, so that the problems that an existing ultrasonic indoor positioning technology means is not accurate in transition time estimation and low in positioning refresh rate, and the recognition calculation amount of the transmitting terminals is large are solved.
Description
Technical field
The invention belongs to indoor positioning field, relate to a kind of ultrasonic wave modulation technology, particularly a kind of being applicable to utilizes ultrasound wave to carry out channel transmission data and carries out the method for target identification, location in room air medium.
Background technology
Traditional ultrasound locating method adopts the unidirectional direct distance-finding method of noncontact, transmitting-receiving separate design, the ultrasound wave directly received node reception that transmitting node is launched, and by communication signals lock in time such as infrared, RF radio frequencies, calculate target range according to TOA (time of arrival) or TDOA (time of arrival is poor), resolve three-dimensional coordinate.These class methods are by setting up communication mechanism, and the ultrasound wave at time-sharing send different time interval avoids the same frequency ultrasonic signal of different node to introduce multipath interference.But this type systematic needs the time reference of continuous synchronous all nodes, and take receiver system resource, real-time dynamic response is poor, and is easily disturbed.
Current localization by ultrasonic is after use spread spectrum, interference free performance improves greatly, preferably resolve and to be worked the multipath interference problem brought by multiple ultrasonic transducer simultaneously, employing FFT (Fast Fourier Transform (FFT)) envelope be correlated with quick time delay estimating algorithm based after, distance accuracy improves a lot.But due to related algorithm identification id (identify label number) in solution process, calculated amount is comparatively large, and need high speed micro-chip processor to process, real-time is under some influence.
The present invention is directed to above location technology dynamic responding speed low, the problems such as calculated amount is large, propose a kind of modulator approach for sonication chamber inner position, introduce direct sequence spread spectrum skill, ultrasound wave is utilized to communicate as carrier wave, the temporal information making ultrasonic system itself directly carry ultrasound wave delivery time carries out communication, complete can send signal towards destination node without the need to stand-by period synchronizing signal, substantially increase response time and the refresh rate of whole positioning system, and have good effect for anti-multi-access inference and anti-multipath jamming.
Summary of the invention
The object of the present invention is to provide a kind of method utilizing ultrasound wave transmission time information and launch terminal ID under indoor environment, comprise a kind of ultrasonic wave modulation method based on direct sequence spread spectrum, estimate inaccurate to solve the transit time in existing sonication chamber inner position technological means, location refresh rate is low, the problem that launch terminal identification calculated amount is large.
Technical solution of the present invention is as follows:
At indoor fixed position arrangement more than 3 ultrasound wave launch terminals, and be numbered, sequence number is followed successively by 1, and 2,3 ... n (n is launch terminal quantity), arrange a base station, a ultrasound wave receiving terminal is arranged in optional position; Launch terminal is for launching ultrasonic signal, and base station is for calibrating the time signal of launch terminal and receiving terminal, and receiving terminal is used for received ultrasonic signal; Its key step comprises:
1) base station is calibrated all ultrasound wave launch terminals and receiving terminal with certain hour interval T simultaneously, to ensure that time reference that launch terminal and receiving terminal have is within certain error;
2) launch terminal prepares to launch ultrasound wave, and the ID n of x time t1 and this terminal is carried out band spectrum modulation as data;
Wherein t represents the concrete time of x time, and n is numbering 1,2,3
3) launch terminal launches ultrasonic signal by ultrasonic transducer, and this signal contains 2) described in launch time information and No. ID, launch terminal;
4) ultrasound wave receiving terminal receives the ultrasonic signal of any one launch terminal, at once the record t2 local time of reception;
Wherein t2 represents the concrete time of the time of reception;
5) meanwhile, this receiving terminal, through despreading and demodulates information, recovers with 2) described in consistent launch terminal ID n and this launch terminal ultrasound wave delivery time t1
6) receiving terminal is according to 5) described in the launch terminal n that obtains determine the source position of this ultrasonic signal;
7) receiving terminal is according to 5) in the ultrasonic signal x time t1 and 4 that obtains) in record the t2 time of reception, according to formula
s＝v(t
1-t
2) (1)
Calculate the distance s of this receiving terminal to n launch terminal.
(1), in formula, s represents that ultrasound wave receiving terminal is to the distance of No. n, launch terminal transmitting this signal, and v represents ultrasonic propagation velocity, and t2 represents the ultrasound wave time of reception concrete time, and t1 represents the ultrasound wave x time concrete time;
8) as long as receiving terminal receives the useful signal of more than 3 launch terminals at any time, that can position and resolve.
Further, for such scheme step 2), 3), 4), 5), the present invention also comprises a kind of modulation technique, using ultrasound wave as carrier wave, propose a kind of method utilizing ultrasound wave self transmission temporal information and Termination ID, introduce direct sequence spread spectrum skill simultaneously, mainly comprise the following steps:
1) signal spread-spectrum process.Pseudo-random code is used to expand signal spectrum at launch terminal, temporal information and Termination ID number are modulated at pseudo-in the middle of sequence, raw data d (t) is multiplied with spreading code c (t) the composite signal g (t) after obtaining spread spectrum, and this sequence is loaded with temporal information and No. ID, launch terminal.
Wherein raw data d (t) represents the coding of ultrasound wave x time concrete time and Termination ID number, and c (t) represents pseudo-random sequence, and g (t) represents the composite signal after spread spectrum, and three is binary sequence.
2) modulates information process.Use composite signal g (t) modulated carrier signal fc, composite signal g (t) and frequency are f
cultrasonic carrier be multiplied, obtain modulation signal s (t), launch ultrasonic signal by launch terminal;
3) signal despreading process.When PN code (pseudo-random code) waveform of transmitting terminal and receiving end is completely the same, namely c (t) and c ' (t) have the identical cycle, symbol synchronization, and during phase coincidence, due to the autocorrelation performance that PN sequence is good, then have
c(t)·c′(t)＝1 (2)
C (t) represents the pseudo-random sequence of transmitting terminal, and c ' (t) represents the pseudo-random sequence of receiving end.
When receiving terminal ultrasonic transducer receives ultrasonic signal s ' (t) from launch terminal, PN pseudo-random code c ' (t) identical and synchronous with transmitting terminal produced with this locality is multiplied and obtains narrow band signal r
1' (t).
Wherein r
1' (t) represent the despread signal before filtering.
4) narrow-band filtering process.Despread signal r
1' (t), by narrow band filter, the noise of the non-ultrasonic frequency band of filtering, obtains narrow band signal r
2' (t).
Wherein r
2' (t) represent filtered despread signal.
5) information demodulation process.To 4) described in narrow band signal and 2) described in corresponding technology carry out information correlation demodulation, recover information.Adopt and 2) described in the identical carrier wave f of frequency
c' be multiplied, obtain signal h
1' (t);
Wherein h
1' (t) represent demodulates information signal out.
6) filtering detection process.Signal h
1' (t) by low-pass filter, obtain baseband signal h
2' (t).
Wherein h
2' (t) represent signal after filtering after demodulates information out.
7) data are recovered.Baseband signal h
2' (t), by sluggish sampling judgement, shaping recovers raw data d ' (t), obtain and 1) described in the temporal information of the consistent ultrasound wave delivery time of raw information and No. ID, launch terminal.
Wherein d ' (t) represents the raw data finally recovered, and comprises temporal information and this Termination ID number of the x time of launch terminal.
Beneficial effect of the present invention:
1 the present invention is owing to being transferred to intended recipient terminal using the terminal transmission ultrasound wave moment as one of data, launch terminal can send ultrasound wave at any time, wait-receiving mode terminal need not receive the time synchronizing signal of radio-frequency module, improve the dynamic responding speed of system, save receiving terminal processor resource.
2, the present invention is owing to being transferred to intended recipient terminal using No. ID, launch terminal as one of data, as long as receiving terminal demodulation recovery base-band information acquisition terminal unique ID number can distinguish the ultrasonic signal from multiple launch terminal.
3, the present invention introduces spread spectrum, and the multi-path jamming adopting the system of this method to cause for multi-access inference effect and the ultrasonic reflections of same frequency band has significant effect.
Accompanying drawing explanation
Fig. 1 is schematic flow sheet of the present invention;
Fig. 2 is transmitting terminal band spectrum modulation pattern block diagram of the present invention;
Fig. 3 is receiving end despread-and-demodulation pattern block diagram of the present invention;
Fig. 4 is transmitting terminal data of the present invention and receiving end demodulating data comparison of wave shape figure.
Embodiment
Be described in detail below in conjunction with the technical scheme of accompanying drawing to invention:
As shown in Figure 1, preferably, concrete positioning flow of the present invention is as follows:
1) all ultrasound wave launch terminals and receiving terminal are calibrated with certain hour interval T, to ensure that launch terminal and receiving terminal have identical time reference simultaneously.
2) the ID n of x time t1 and this terminal is carried out band spectrum modulation as data by launch terminal;
Wherein t1 represents the concrete time of x time, and n is numbering 1,2,3
3) launch terminal launches ultrasonic signal by ultrasonic transducer;
4) ultrasound wave receiving terminal receives the ultrasonic signal of any one launch terminal, and the moment of recording this Received signal strength is t2;
Wherein t2 represents the concrete time of the time of reception;
5) this receiving terminal is through despreading and demodulates information, recovers with 2) described in consistent launch terminal ID n and this launch terminal ultrasound wave delivery time t
6) receiving terminal is according to 5) described in the launch terminal n that obtains determine the source position of this ultrasonic signal;
7) receiving terminal is according to 5) in the ultrasonic signal x time t and 4 that obtains) in record the T time of reception, calculate the distance s of this receiving terminal to n launch terminal according to formula (1).
(1) in formula, s represents distance, and v represents ultrasonic propagation velocity, and T represents the ultrasound wave time of reception concrete time, and t represents the ultrasound wave x time concrete time,
8) as long as receiving terminal receives the useful signal of more than 3 launch terminals at any time, can position and resolve.
In order to there be better anti-jamming effectiveness, the present invention is while use debugging technique, and introduce direct sequence spread spectrum skill, preferably, for above-mentioned steps 2,3,4,5, modulation step of the present invention is as follows:
Refer to Fig. 2, it is used for the band spectrum modulation part of the modulator approach of sonication chamber inner position for the present invention, comprise 101 raw data, 102 band spectrum modulation, 103PN pseudo-random sequence, 104 modulates information, 105 frequencies are the carrier wave of 40kHz, 106 ultrasound wave transmitter modules.
Refer to Fig. 3, it is used for the despread-and-demodulation part of the modulator approach of sonication chamber inner position for the present invention, comprise 201 ultrasound wave receiving terminals, 202 coherently despreading, 203 local PN pseudo-random sequences (identical with 103PN pseudo-random sequence), 204 bandpass filter, 205 demodulates information, 20640kHz carrier wave, 207 low-pass filters, 208 sampling judging module, 209 raw data.
1) band spectrum modulation process 102.Preferably, raw data 101 is temporal information and No. ID, the launch terminal of ultrasound wave delivery time, and spread spectrum 102 adopts direct sequence spread spectrum mode, and modulation adopts the biphase-equilibrium modulation of suppressed carrier.PN pseudo-random sequence 103 uses m sequence.Raw data d (t) is multiplied with spreading code m sequence c (t) the composite signal g (t) after obtaining spread spectrum, and this sequence is loaded with temporal information and No. ID, launch terminal.
Wherein raw data d (t) represents the coding of ultrasound wave x time concrete time and Termination ID number, and c (t) represents m sequence, and g (t) represents the composite signal after spread spectrum, and three is binary sequence.
2) modulates information process 104.Composite signal g (t) is used to modulate 105 carrier signals, preferably, adopt BPSK (binary phase shift keying modulation) mode, 105 carrier frequencies are determined by the maximum resonant frequency of ultrasonic transducer, preferably, model is adopted to be TCT-40 ultrasonic transducer, its optimum transmitting frequency is 40kHz, carrier frequency selects 40kHz equally, composite signal g (t) and frequency are that the carrier wave 105 of 40kHz is multiplied, obtain modulation signal s (t), launch ultrasonic signal by launch terminal;
3) information despreading process 202.The TCT-40 ultrasonic transducer of receiving terminal 201 receives ultrasonic signal s ' (t) from launch terminal 101, PN pseudo-random code 203c ' (t) identical and synchronous with transmitting terminal produced with this locality is multiplied, when PN code (pseudo-random code) waveform of transmitting terminal and receiving end is completely the same, namely c (t) and c ' (t) have the identical cycle, symbol synchronization, and during phase coincidence, due to the autocorrelation performance that PN sequence is good, then obtain signal r
1' (t).
Wherein r
1' (t) represent the despread signal before filtering.
4) narrow-band filtering process 204.Despread signal r
1' (t), by narrow band filter 204, the noise of the non-ultrasonic frequency band of filtering, obtains narrow band signal r
2' (t).Preferably, this wave filter uses the fertile hereby second-order bandpass filter of Bart;
Wherein r
2' (t) represent filtered despread signal.
5) information demodulation process 205.Preferably, narrow band signal r
2' (t) with adopt coherent demodulation method, with 2) described in the frequency carrier wave 206 that is all 40kHz be multiplied, obtain signal h
1' (t);
Wherein h
1' (t) represent demodulates information signal out.
6) filtering detection process 207.Signal h
1' (t) be the low-pass filter of 40kHz by cutoff frequency, obtains baseband signal h
2' (t), preferably, this wave filter uses Bart to irrigate thatch 2 rank low-pass filter.
Wherein h
2' (t) represent signal after filtering after demodulates information out.
7) data 209 are recovered.Signal h
2' (t), by sluggish sampling judgement 208, shaping recovers raw data d ' (t), obtain and 1) described in the temporal information of the consistent ultrasound wave delivery time of raw information 101 and No. ID, launch terminal.
Wherein d ' (t) represents the raw data finally recovered, and comprises temporal information and this Termination ID number of the x time of launch terminal.
The present invention utilizes ultrasound wave to communicate as carrier wave, the temporal information making ultrasonic system itself directly carry ultrasound wave delivery time carries out communication, complete can send signal towards destination node without the need to stand-by period synchronizing signal, not only substantially increase response time and the refresh rate of whole positioning system, also a saving processor system resources, and have good effect for anti-multi-access inference and anti-multipath jamming.
The content be not described in detail in instructions of the present invention belongs to the known prior art of professional and technical personnel in the field.
Claims (2)
1., based on a ultrasound wave indoor orientation method for time-modulation, it is characterized in that:
(1) at indoor fixed position arrangement more than 3 ultrasound wave launch terminals, and be numbered, sequence number is followed successively by 1, and 2,3 ... n, n are launch terminal quantity, and arrange a base station, a ultrasound wave receiving terminal is arranged in optional position; Launch terminal is for launching ultrasonic signal, and base station is for calibrating the time signal of launch terminal and receiving terminal, and receiving terminal is used for received ultrasonic signal;
(2) described localization method step comprises:
1) base station is calibrated all ultrasound wave launch terminals and receiving terminal with certain hour interval T simultaneously, to ensure that time reference that launch terminal and receiving terminal have is within certain error;
2) launch terminal prepares to launch ultrasound wave, and the ID n of x time t1 and this terminal is carried out band spectrum modulation as data;
Wherein t represents the concrete time of x time, and n is numbering 1,2,3
3) launch terminal launches ultrasonic signal by ultrasonic transducer, and this signal contains 2) described in launch time information and No. ID, launch terminal;
4) ultrasound wave receiving terminal receives the ultrasonic signal of any one launch terminal, at once the record t2 local time of reception; Wherein t2 represents the concrete time of the time of reception;
5) meanwhile, this receiving terminal, through despreading and demodulates information, recovers with 2) described in consistent launch terminal ID n and this launch terminal ultrasound wave delivery time t1
6) receiving terminal is according to 5) described in the launch terminal n that obtains determine the source position of this ultrasonic signal;
7) receiving terminal is according to 5) in the ultrasonic signal x time t1 and 4 that obtains) in record the t2 time of reception, according to formula
s＝v(t
1-t
2) (1)
Calculate the distance s of this receiving terminal to n launch terminal;
In formula (1), s represents that ultrasound wave receiving terminal is to the distance of No. n, launch terminal transmitting this signal, and v represents ultrasonic propagation velocity, and t2 represents the ultrasound wave time of reception concrete time, and t1 represents the ultrasound wave x time concrete time;
8) as long as receiving terminal receives the useful signal of more than 3 launch terminals at any time, that can position and resolve.
2. a kind of ultrasound wave indoor orientation method based on time-modulation according to claim 1, it is characterized in that: above-mentioned steps 2), 3), 4), 5), comprise a kind of modulation technique, using ultrasound wave as carrier wave, propose a kind of method utilizing ultrasound wave self transmission temporal information and Termination ID, introduce direct sequence spread spectrum skill, concrete steps are as follows simultaneously:
A) signal spread-spectrum process uses pseudo-random code to expand signal spectrum at launch terminal, temporal information and Termination ID number are modulated at pseudo-in the middle of sequence, raw data d (t) is multiplied with spreading code c (t) the composite signal g (t) after obtaining spread spectrum, and this sequence is loaded with temporal information and No. ID, launch terminal;
Wherein raw data d (t) represents the coding of ultrasound wave x time concrete time and Termination ID number, and c (t) represents pseudo-random sequence, and g (t) represents the composite signal after spread spectrum, and three is binary sequence;
B) modulates information process uses composite signal g (t) modulated carrier signal f
c, composite signal g (t) and frequency are f
ccarrier multiplication, obtain modulation signal s (t), launch ultrasonic signal by launch terminal;
C) signal despreading process is when PN code (pseudo-random code) waveform of transmitting terminal and receiving end is completely the same, namely c (t) and c ' (t) have the identical cycle, symbol synchronization, and during phase coincidence, due to the autocorrelation performance that PN sequence is good, then have
c(t)·c′(t)＝1 (2)
C (t) represents the pseudo-random sequence of transmitting terminal, and c ' (t) represents the pseudo-random sequence of receiving end;
When receiving terminal ultrasonic transducer receives ultrasonic signal s ' (t) from launch terminal, PN pseudo-random code c ' (t) identical and synchronous with transmitting terminal produced with this locality is multiplied and obtains narrow band signal r
1' (t);
Wherein r
1' (t) represent the despread signal before filtering;
D) narrow-band filtering process despread signal r
1' (t), by narrow band filter, the noise of the non-ultrasonic frequency band of filtering, obtains narrow band signal r
2' (t);
Wherein r
2' (t) represent filtered despread signal;
E) information demodulation process is to D) described in narrow band signal and B) described in corresponding technology carry out information correlation demodulation, recover information; Adopt and B) described in the identical carrier wave f of frequency
c' be multiplied, obtain signal h
1' (t);
Wherein h
1' (t) represent demodulates information signal out;
F) filtering detection process signal h
1' (t) by low-pass filter, obtain baseband signal h
2' (t);
Wherein h
2' (t) represent signal after filtering after demodulates information out;
G) data base-band signal h is recovered
2' (t), by sluggish sampling judgement, shaping recovers raw data d ' (t), obtains and A) and described in the temporal information of the consistent ultrasound wave delivery time of raw information and No. ID, launch terminal;
Wherein d ' (t) represents the raw data finally recovered, and comprises temporal information and this Termination ID number of the x time of launch terminal.
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