CN105093181A - Ultrasonic three-dimensional positioning system and positioning method thereof - Google Patents

Abstract

An ultrasonic three-dimensional positioning system comprises at least one transmitting module, at least one receiving module and an upper computer, wherein the transmitting module comprises a first microcontroller, a first power supply module, a first clock module, a first communication module, a synchronous signal transceiver module and at least three ultrasonic transmitting modules. The ultrasonic transmitting modules are arranged at positions which are noncollinear, wherein the coordinates of the positions are known. The receiving module comprises a second microcontroller, a second power supply module, a second clock module, a second communication module, a synchronous signal receiving module and at least one ultrasonic receiving module. The transmitting module and the receiving module are in time synchronous signal connection through the synchronous signal transceiver module and the synchronous signal receiving module. The second communication module is in communication connection with the upper computer. Compared with existing positioning technology, the ultrasonic three-dimensional positioning system is advantageous in that the ultrasonic three-dimensional positioning system can provide accurate three-dimensional position information for a plurality of targets in a certain spatial area.

Description

Ultrasound wave 3 D positioning system and localization method thereof

Technical field

The present invention relates to space positioning apparatus, espespecially a kind of ultrasound wave 3 D positioning system and localization method thereof.

Background technology

At present, (such as indoor) location technology mainly three kinds among a small circle: 1. radiolocation, having (RFID technique also can be classified as this type of) of each frequency range, its principle is that the intensity by measuring radio signal determines position, system complex, positioning precision not high (meter level); 2. vision location, the image of the terrestrial reference that this method mainly arrives based on camera acquisition, method of geometry is adopted to determine position, its defect is mainly camera requirement higher (needing to demarcate), higher (needing to carry out image procossing) is required to computing power, once terrestrial reference departs from the visual field of video camera, cannot locate, thus this kind of system cost is high, power consumption large, complex structure; 3. ultrasound wave location, this side's ratio juris is mainly tested by measuring ultrasound wave from multiple launching site to the delivery time of acceptance point, calculate the distance between multiple launching site to acceptance point, then the method for geometry is utilized to obtain the position of acceptance point, the structure of this type systematic is simple, cost is low, positioning precision higher (centimetre-sized), is applied in Indoor Robot location.At present, ultrasound wave three-dimensional localization mainly adopts the position of mode to transmitter of a transmitter and multiple receiver to position, and can not carry out three-dimensional localization to multiple target simultaneously.

Summary of the invention

For solving the problem, the invention provides a kind of can in certain area of space, for multiple target provides the ultrasound wave 3 D positioning system of comparatively accurate three-dimensional positional information.

For realizing above-mentioned order, the technical solution used in the present invention is: a kind of ultrasound wave 3 D positioning system, comprise at least one transmitter module, at least one receiver module, host computer, wherein said transmitter module comprises the first microcontroller, the first supply module, the first clock module, first communication module, synchronizing signal transmitting and receiving module, at least three ultrasound wave transmitter modules, it is known and on position not between conllinear that described ultrasound wave transmitter module is arranged on coordinate; Described first clock module, first communication module, synchronizing signal transmitting and receiving module, ultrasound wave transmitter module are connected with the first microcontroller respectively; Described receiver module comprises the second microcontroller, the second supply module, second clock module, second communication module, synchronous signal receiver module, at least one ultrasound wave receiver module; Described second supply module, second clock module, second communication module, synchronous signal receiver module, ultrasound wave receiver module are connected with the second microcontroller respectively; Described transmitter module and receiver module carry out time synchronizing signal by synchronizing signal transmitting and receiving module and synchronous signal receiver module and are connected, and described second communication module and host computer communicate to connect.

Particularly, described ultrasound wave transmitter module comprises ultrasonic drive circuit and ultrasound wave transmitting probe, and the input end of described ultrasonic drive circuit is connected with the first microcontroller, and the output terminal of ultrasonic drive circuit is connected with ultrasound wave transmitting probe; Described ultrasound wave receiver module comprises ultrasound wave receiving transducer and ultrasonic signal modulate circuit, the input end of described ultrasonic signal modulate circuit and ultrasound wave receiving transducer, and the output terminal of ultrasonic signal modulate circuit is connected with the second microcontroller.

Particularly, described receiver module also comprises temperature and moisture and atmospheric pressure measurement module, and described humiture is connected with host computer or the second microcontroller with atmospheric pressure measurement module, comprises temperature sensor, humidity sensor, baroceptor.

Particularly, described time synchronizing signal adopts light signal, wired electric signal or radio signal.

For achieving the above object, the invention provides a kind of localization method of the 3 D positioning system of ultrasound wave as claimed in claim 1, comprise the following steps:

A. more than at least three ultrasound wave transmitter modules in transmitter module are arranged on coordinate known and on position that is not conllinear;

B. in transmitter module, the first microprocessor controls synchronizing signal transmitting and receiving module transmitting time synchronizing signal, then control ultrasound wave transmitter module and launch ultrasonic signal in turn with known interval;

C. in receiver module, send to the second microcontroller by the time synchronizing signal in synchronous signal receiver module receiving step b, send to the second microcontroller by the ultrasonic signal at least one ultrasound wave receiver module receiving step b;

D. the second microcontroller record to receive in step c after time synchronizing signal, start the moment of each ultrasonic signal that ultrasound wave receiver module receives in recording step c, and the locus calculating ultrasound wave receiver module is processed to the moment of each ultrasonic signal that ultrasound wave receiver module receives, then issue host computer by second communication module;

E. step a-d is repeated.

Particularly, ultrasound wave transmitter module comprises ultrasonic drive circuit and ultrasound wave transmitting probe, and the first microprocessor controls ultrasonic drive circuit generates ultrasonic signal and amplifies, and is launched by ultrasound wave transmitting probe; Ultrasound wave receiver module comprises ultrasound wave receiving transducer and ultrasonic signal modulate circuit, and the ultrasonic signal received is sent to the second microcontroller by ultrasound wave receiving transducer after the amplification of ultrasonic signal modulate circuit, filtering, shaping.

Particularly, also comprise temperature and moisture and atmospheric pressure measurement module, described temperature and moisture is connected with the second logical microcontroller with atmospheric pressure measurement module, comprise temperature sensor, humidity sensor, baroceptor, wherein temperature sensor, humidity sensor, acquisition atmospheric temperature collected respectively by baroceptor, humidity and pressure values also send to the second microcontroller, second microcontroller is in conjunction with described atmospheric temperature, the locus numerical value of the ultrasound wave receiver module drawn in humidity and pressure values and steps d carries out reprocessing, draw the locus of ultrasound wave receiver module further, host computer is sent to again by second communication module.

For achieving the above object, the invention provides a kind of localization method of ultrasound wave 3 D positioning system, it is characterized in that, comprise the following steps:

A. more than at least three ultrasound wave transmitter modules in transmitter module are arranged on coordinate known and on position that is not conllinear;

B. in transmitter module, the first microprocessor controls synchronizing signal transmitting and receiving module transmitting time synchronizing signal, then control ultrasound wave transmitter module and launch ultrasonic signal in turn with known interval;

C. in receiver module, send to the second microcontroller by the time synchronizing signal in synchronous signal receiver module receiving step b, send to the second microcontroller by the ultrasonic signal at least one ultrasound wave receiver module receiving step b;

D. the second microcontroller record receives in step c after time synchronizing signal, starts the moment of each ultrasonic signal that ultrasound wave receiver module receives in recording step c, and issues host computer by second communication module;

E. host computer processes the locus calculating ultrasound wave receiver module to the numerical value in steps d;

F. step a-e is repeated.

Particularly, also comprise temperature and moisture and atmospheric pressure measurement module, described temperature and moisture is connected with host computer with atmospheric pressure measurement module, comprise temperature sensor, humidity sensor, baroceptor, wherein temperature sensor, humidity sensor, baroceptor are collected respectively and are obtained atmospheric temperature, humidity and pressure values and send to host computer, host computer carries out reprocessing in conjunction with the locus numerical value of the ultrasound wave receiver module drawn in described atmospheric temperature, humidity, pressure values and step e, draws the locus of ultrasound wave receiver module further.

Because the delay of time synchronizing signal is much smaller than the delay of ultrasonic signal, thus ultrasound wave receiver module can be calculated receive hyperacoustic time delay that ultrasound wave transmitter module sends, thus the distance calculated between ultrasound wave receiver module and ultrasound wave transmitter module, the locus of ultrasound wave receiver module is then calculated according to triangle polyester fibre method;

Beneficial effect of the present invention is:

1. Multi-target position: can simultaneously position multiple target, owing to adopting the mode of receiving end location, transmitter module only provides time synchronized and ultrasound wave reference signal, receiver module and ultrasound wave receiver module quantity number transmitting terminal is not affected.

2. positioning precision is high: adopt the mode positioning precision described in native system to reach below 1cm.

3. cost is low: cost of the present invention is far below the cost of the 3 D positioning system based on radio or vision technique.

Accompanying drawing explanation

Fig. 1 is module frame chart of the present invention;

Fig. 2 is ultrasound wave launching and receiving modular structure block diagram;

Fig. 3 is positioning principle figure of the present invention;

Fig. 4 is location of the present invention sequential chart.

Drawing reference numeral illustrates: 1-transmitter module; 10-first microcontroller; 11-first supply module; 12-first clock module; 13-first communication module; 14-synchronizing signal transmitting and receiving module; 15-ultrasound wave transmitter module; 151-ultrasonic drive circuit; 152-ultrasound wave transmitting probe; 2-receiver module; 20-second microcontroller; 21-second supply module; 22-second clock module; 23-second communication module; 24-synchronous signal receiver module; 25-ultrasound wave receiver module; 251-ultrasound wave receiving transducer; 252-ultrasonic signal modulate circuit; 26-temperature and moisture and atmospheric pressure measurement module; 3-host computer.

Embodiment

Below by specific embodiment, the invention will be further described.

Refer to shown in Fig. 1-4, the present invention, about a kind of ultrasound wave 3 D positioning system, comprises transmitter module 1, receiver module 2, host computer 3,

Described transmitter module 1 comprises the one the first microcontroller 10, the first supply module 11, the first clock modules 12, first communication module 13, synchronizing signal transmitting and receiving module 14, four ultrasound wave transmitter modules 15, it is known and on position not between conllinear that described ultrasound wave transmitter module 15 is arranged on coordinate; Described first clock module 12, first communication module 13, synchronizing signal transmitting and receiving module 14, ultrasound wave transmitter module 15 are connected with the first microcontroller 10 respectively, and described first power supply mould 11 pieces is powered for transmitter module 1;

Described receiver module 2 comprises the second microcontroller 20, second supply module 21, second clock module 22, second communication module 23, synchronous signal receiver module 24, four ultrasound wave receiver modules 25; Described second clock module 22, second communication module 23, synchronous signal receiver module 24, ultrasound wave receiver module 25 are connected with the second microcontroller 20 respectively, and described second supply module 21 is powered for receiver module 2;

Described transmitter module 1 and receiver module 2 carry out time synchronizing signal by synchronizing signal transmitting and receiving module 14 with synchronous signal receiver module 24 and are connected, described second communication module 23 communicates to connect with host computer 3, wherein time synchronizing signal adopts infrared signal, ultrasound wave transmitter module 15 comprises ultrasonic drive circuit 151 and ultrasound wave transmitting probe 152, first microcontroller 10 controls ultrasonic drive circuit 151 and generates ultrasonic signal and amplify, launched by ultrasound wave transmitting probe 152, ultrasound wave receiver module 25 is made up of ultrasound wave receiving transducer 251 and ultrasonic signal modulate circuit 252, ultrasonic signal modulate circuit 252 is used for amplifying the signal that ultrasound wave receiving transducer 251 receives, filtering, shaping.

With reference to Fig. 3, four ultrasound wave transmitter modules 15 are arranged on respectively space ABCD tetra-point, ABCD 4 not conllinear.The first microcontroller 10 in transmitter module 1 is according to the sequential shown in Fig. 4, in T0 moment control synchronization signal transmitting and receiving module 14 transmitting time synchronizing signal, control ultrasound wave transmitter module 15 in the T1 moment and launch ultrasonic signal at A point, control ultrasound wave transmitter module 15 in the T2 moment and launch ultrasonic signal at B point, control ultrasound wave transmitter module 15 in the T3 moment and launch ultrasonic signal at C point, control ultrasound wave transmitter module 15 in the T4 moment and launch ultrasonic signal at D point.

For receiver module 2, after synchronous signal receiver module 25 receives infrared time synchronizing signal, sent into the second microcontroller 20, second microcontroller 20 resets internal counter and starts counting, after each ultrasound wave receiver module 25 receives ultrasonic signal, this signal is sent into the count value that the second microcontroller 20, second microcontroller 20 record receives this signal hour counter.

When after the signal receiving the 4th ultrasound wave transmitter module transmission, second microcontroller 20 by record receive each ultrasonic signal time moment (count value of counter) be sent to host computer 3 (native system adopts transmission of wireless signals data) by second communication module 23, then transmitter module 1 and receiver module 2 start next transmission and reception circulation automatically.

Host computer 3 adopts the position of following algorithm to each ultrasound wave receiver module 25 to calculate after receiving data.

In Fig. 3, A, B, C, D 4, the position that ultrasound wave transmitter module 15, E, F is ultrasound wave receiver module 25 is installed.Set up coordinate system according to the mode of such as figure, the coordinate of A, B, C, D, E point is respectively (X _a, Y _a, Z _a) (X _b, Y _b, Z _b) (X _c, Y _c, Z _c) (X _d, Y _d, Z _d) (X _e, Y _e, Z _e).From A, B, C, D 4 successively with time interval t ₀sending a width is t ₁(t ₀>10t ₁) ultrasonic pulse, suppose that THE VELOCITY OF SOUND IN AIR is that v, E point receives the hyperacoustic moment sent from A, B, C, D at 4 and is respectively T ₁₁, T ₂₂, T ₃₃, T ₄₄, then there is following relation:

$\begin{array}{c}{T}_{11}-T_1=\frac{\stackrel{\‾}{AE}}{v}=\frac{\sqrt{{(X_E-X_A)}^2+{(Y_E-Y_A)}^2+{(Z_E-Z_A)}^2}}{v}\\ T_{22}-T_2=\frac{\stackrel{\‾}{BE}}{v}=\frac{\sqrt{{(X_E-X_B)}^2+{(Y_E-Y_B)}^2+{(Z_E-Z_B)}^2}}{v}\\ T_{33}-T_3=\frac{\stackrel{\‾}{CE}}{v}=\frac{\sqrt{{(X_E-X_C)}^2+{(Y_E-Y_C)}^2+{(Z_E-Z_C)}^2}}{v}\\ T_{44}-T_4=\frac{\stackrel{\‾}{DE}}{v}=\frac{\sqrt{{(X_E-X_D)}^2+{(Y_E-Y_D)}^2+{(Z_E-Z_D)}^2}}{v}\end{array}---\left(1\right)$

Formula (1) abbreviation is obtained:

${\left(\right(T_{11}-T_1\left)v\right)}^2=X_E^2-2X_E{X}_A+X_A^2+Y_E^2-2Y_E{Y}_A+Y_A^2+Z_E^2-2Z_E{Z}_A+Z_A^2---\left(2\right)$

${\left(\right(T_{22}-T_2\left)v\right)}^2=X_E^2-2X_E{X}_B+X_B^2+Y_E^2-2Y_E{Y}_B+Y_B^2+Z_E^2-2Z_E{Z}_B+Z_B^2---\left(3\right)$

${\left(\right(T_{33}-T_3\left)v\right)}^2=X_E^2-2X_E{X}_C+X_C^2+Y_E^2-2Y_E{Y}_C+Y_C^2+Z_E^2-2Z_E{Z}_C+Z_C^2---\left(4\right)$

${\left(\right(T_{44}-T_4\left)v\right)}^2=X_E^2-2X_E{X}_D+X_D^2+Y_E^2-2Y_E{Y}_D+Y_D^2+Z_E^2-2Z_E{Z}_D+Z_D^2---\left(5\right)$

By by (2-5) any 3 can solve (X _e, Y _e, Z _e), provide wherein a kind of computing method below.With (2)-(3), (2)-(4), (3)-(4):

$\begin{array}{c}{\left(\right(T_{11}-T_1\left)v\right)}^2-{\left(\right(T_{22}-T_2\left)v\right)}^2\\ =2(X_B-X_A)X_E+2(Y_B-Y_A)Y_E+2(Z_B-Z_A)Z_E\\ +X_A^2-X_B^2+Y_A^2-Y_B^2+Z_A^2-Z_B^2\end{array}---\left(6\right)$

$\begin{array}{c}{\left(\right(T_{11}-T_1\left)v\right)}^2-{\left(\right(T_{33}-T_3\left)v\right)}^2\\ =2(X_C-X_A)X_E+2(Y_C-Y_A)Y_E+2(Z_C-Z_A)Z_E\\ +X_A^2-X_C^2+Y_A^2-Y_C^2+Z_A^2-Z_C^2\end{array}---\left(7\right)$

$\begin{array}{c}{\left(\right(T_{22}-T_2\left)v\right)}^2-{\left(\right(T_{33}-T_3\left)v\right)}^2\\ =2(X_C-X_B)X_E+2(Y_C-Y_B)Y_E+2(Z_C-Z_B)Z_E\\ +X_B^2-X_C^2+Y_B^2-Y_C^2+Z_B^2-Z_C^2\end{array}---\left(8\right)$

(6) (7) (8) are expressed as matrix form:

$\begin{array}{c}\left[\begin{array}{ccc}2(X_B-X_A)& 2(Y_B-Y_A)& 2(Z_B-Z_A)\\ 2(X_C-X_A)& 2(Y_C-Y_A)& 2(Z_C-Z_A)\\ 2(X_C-X_B)& 2(Y_C-Y_B)& 2(Z_C-Z_B)\end{array}\right]\left[\begin{array}{c}{X}_E\\ Y_E\\ Z_X\end{array}\right]\\ =\left[\begin{array}{c}{\left(\right(T_{11}-T_1\left)v\right)}^2-{\left(\right(T_{22}-T_2\left)v\right)}^2-(X_A^2-X_B^2+Y_A^2-Y_B^2+Z_A^2-Z_B^2)\\ {\left(\right(T_{11}-T_1\left)v\right)}^2-{\left(\right(T_{33}-T_3\left)v\right)}^2-(X_A^2-X_C^2+Y_A^2-Y_C^2+Z_A^2-Z_C^2)\\ {\left(\right(T_{22}-T_2\left)v\right)}^2-{\left(\right(T_{33}-T_3\left)v\right)}^2-(X_B^2-X_C^2+Y_B^2-Y_C^2+Z_B^2-Z_C^2)\end{array}\right]\end{array}---\left(9\right)$

If

$M=\left[\begin{array}{ccc}2(X_B-X_A)& 2(Y_B-Y_A)& 2(Z_B-Z_A)\\ 2(X_C-X_A)& 2(Y_C-Y_A)& 2(Z_C-Z_A)\\ 2(X_C-X_B)& 2(Y_C-Y_B)& 2(Z_C-Z_B)\end{array}\right]---\left(10\right)$

$\left[\begin{array}{c}a\\ b\\ c\end{array}\right]=\left[\begin{array}{c}{\left(\right(T_{11}-T_1\left)v\right)}^2-{\left(\right(T_{22}-T_2\left)v\right)}^2-(X_A^2-X_B^2+Y_A^2-Y_B^2+Z_A^2-Z_B^2)\\ {\left(\right(T_{11}-T_1\left)v\right)}^2-{\left(\right(T_{33}-T_3\left)v\right)}^2-(X_A^2-X_C^2+Y_A^2-Y_C^2+Z_A^2-Z_C^2)\\ {\left(\right(T_{22}-T_2\left)v\right)}^2-{\left(\right(T_{33}-T_3\left)v\right)}^2-(X_B^2-X_C^2+Y_B^2-Y_C^2+Z_B^2-Z_C^2)\end{array}\right]---\left(11\right)$

Then have

$\left[\begin{array}{c}{X}_E\\ Y_E\\ Z_E\end{array}\right]=\left[\begin{array}{c}\frac{a}{\det \left(M\right)}\\ \frac{b}{\det \left(M\right)}\\ \frac{c}{\det \left(M\right)}\end{array}\right]---\left(12\right)$

Like this, ultrasound wave receiver module 25 coordinate in three dimensions has just been calculated.Use the same method and can solve the three-dimensional coordinate of other ultrasound wave receiver modules 25.

Because the velocity of sound in air is change, the velocity of sound and atmospheric temperature, between humidity and pressure, there is certain relation, therefore, in order to obtain the velocity of sound more accurately, native system also comprises temperature and moisture and atmospheric pressure measurement module 24, temperature and moisture is connected with the second microcontroller 20 or host computer 3 with atmospheric pressure measurement module 24, humiture is adopted to be connected with the second microcontroller 20 with atmospheric pressure measurement module 24 in the present embodiment, when settling accounts in position, obtain current atmospheric temperature, humidity and pressure values by this module, substitute into following formulae discovery and go out the velocity of sound more accurately.

$v=331.45\sqrt{(1+\frac{t}{273.15})(1+\frac{0.3192eH}{P})}---\left(13\right)$

Wherein t is the Celsius temperature measured, and P is atmospheric pressure, and e is the saturated vapor pressure (by acquisition of tabling look-up) of water vapor under measuring tempeature t, and H is relative humidity.

Then this velocity of sound to be brought in formula (12) thus to calculate position more accurately.

Above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that the common engineering technical personnel in this area make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.

Claims (10)

1. a ultrasound wave 3 D positioning system, is characterized in that, comprises at least one transmitter module, at least one receiver module, host computer, wherein

Described transmitter module comprises the first microcontroller, the first supply module, the first clock module, first communication module, synchronizing signal transmitting and receiving module, at least three ultrasound wave transmitter modules, it is known and on position not between conllinear that described ultrasound wave transmitter module is arranged on coordinate; Described first clock module, first communication module, synchronizing signal transmitting and receiving module, ultrasound wave transmitter module are connected with the first microcontroller respectively, and described first supply module is that transmitter module is powered;

Described receiver module comprises the second microcontroller, the second supply module, second clock module, second communication module, synchronous signal receiver module, at least one ultrasound wave receiver module; Described second supply module, second clock module, second communication module, synchronous signal receiver module, ultrasound wave receiver module are connected with the second microcontroller respectively, and described second supply module is that receiver module is powered;

Described transmitter module and receiver module carry out time synchronizing signal by synchronizing signal transmitting and receiving module and synchronous signal receiver module and are connected, and described second communication module and host computer communicate to connect.

2. ultrasound wave 3 D positioning system according to claim 1, it is characterized in that, described ultrasound wave transmitter module comprises ultrasonic drive circuit and ultrasound wave transmitting probe, the input end of described ultrasonic drive circuit is connected with the first microcontroller, and the output terminal of ultrasonic drive circuit is connected with ultrasound wave transmitting probe; Described ultrasound wave receiver module comprises ultrasound wave receiving transducer and ultrasonic signal modulate circuit, the input end of described ultrasonic signal modulate circuit and ultrasound wave receiving transducer, and the output terminal of ultrasonic signal modulate circuit is connected with the second microcontroller.

3. ultrasound wave 3 D positioning system according to claim 1, it is characterized in that, also comprise temperature and moisture and atmospheric pressure measurement module, described humiture is connected with the second microcontroller with atmospheric pressure measurement module, comprises temperature sensor, humidity sensor, baroceptor.

4. ultrasound wave 3 D positioning system according to claim 1, it is characterized in that, also comprise temperature and moisture and atmospheric pressure measurement module, described humiture is connected with host computer with atmospheric pressure measurement module, comprises temperature sensor, humidity sensor, baroceptor.

5. ultrasound wave 3 D positioning system according to claim 1, is characterized in that, described time synchronizing signal adopts light signal, wired electric signal or radio signal.

6. a localization method for ultrasound wave 3 D positioning system as claimed in claim 1, is characterized in that, comprise the following steps:

A. more than at least three ultrasound wave transmitter modules in transmitter module are arranged on coordinate known and on position that is not conllinear;

B. in transmitter module, the first microprocessor controls synchronizing signal transmitting and receiving module transmitting time synchronizing signal, then control ultrasound wave transmitter module and launch ultrasonic signal in turn with known interval;

C. in receiver module, send to the second microcontroller by the time synchronizing signal in synchronous signal receiver module receiving step b, send to the second microcontroller by the ultrasonic signal at least one ultrasound wave receiver module receiving step b;

D. the second microcontroller record to receive in step c after time synchronizing signal, start the moment of each ultrasonic signal that ultrasound wave receiver module receives in recording step c, and the locus calculating ultrasound wave receiver module is processed to the moment of each ultrasonic signal that ultrasound wave receiver module receives, then issue host computer by second communication module;

E. step a-d is repeated.

7. the localization method of ultrasound wave 3 D positioning system according to claim 6, it is characterized in that, ultrasound wave transmitter module comprises ultrasonic drive circuit and ultrasound wave transmitting probe, first microprocessor controls ultrasonic drive circuit generates ultrasonic signal and amplifies, and is launched by ultrasound wave transmitting probe; Ultrasound wave receiver module comprises ultrasound wave receiving transducer and ultrasonic signal modulate circuit, and the ultrasonic signal received is sent to the second microcontroller by ultrasound wave receiving transducer after the amplification of ultrasonic signal modulate circuit, filtering, shaping.

8. the localization method of ultrasound wave 3 D positioning system according to claim 6, it is characterized in that, also comprise temperature and moisture and atmospheric pressure measurement module, described temperature and moisture is connected with the second logical microcontroller with atmospheric pressure measurement module, comprise temperature sensor, humidity sensor, baroceptor, wherein temperature sensor, humidity sensor, acquisition atmospheric temperature collected respectively by baroceptor, humidity and pressure values also send to the second microcontroller, second microcontroller is in conjunction with described atmospheric temperature, the locus numerical value of the ultrasound wave receiver module drawn in humidity and pressure values and steps d carries out reprocessing, draw the locus of ultrasound wave receiver module further, host computer is sent to again by second communication module.

9. a localization method for ultrasound wave 3 D positioning system as claimed in claim 1, is characterized in that, comprise the following steps:

A. more than at least three ultrasound wave transmitter modules in transmitter module are arranged on coordinate known and on position that is not conllinear;

B. in transmitter module, the first microprocessor controls synchronizing signal transmitting and receiving module transmitting time synchronizing signal, then control ultrasound wave transmitter module and launch ultrasonic signal in turn with known interval;

C. in receiver module, send to the second microcontroller by the time synchronizing signal in synchronous signal receiver module receiving step b, send to the second microcontroller by the ultrasonic signal at least one ultrasound wave receiver module receiving step b;

D. the second microcontroller record receives in step c after time synchronizing signal, starts the moment of each ultrasonic signal that ultrasound wave receiver module receives in recording step c, and issues host computer by second communication module;

E. host computer processes the locus calculating ultrasound wave receiver module to the numerical value in steps d;

F. step a-e is repeated.

10. the localization method of ultrasound wave 3 D positioning system according to claim 9, it is characterized in that, also comprise temperature and moisture and atmospheric pressure measurement module, described temperature and moisture is connected with host computer with atmospheric pressure measurement module, comprise temperature sensor, humidity sensor, baroceptor, wherein temperature sensor, humidity sensor, acquisition atmospheric temperature collected respectively by baroceptor, humidity and pressure values also send to host computer, host computer is in conjunction with described atmospheric temperature, humidity, the locus numerical value of the ultrasound wave receiver module drawn in pressure values and step e carries out reprocessing, draw the locus of ultrasound wave receiver module further.