CN105116378A - Wireless and ultrasonic composite location system and location method for wireless and ultrasonic composite location system - Google Patents

Wireless and ultrasonic composite location system and location method for wireless and ultrasonic composite location system Download PDF

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Publication number
CN105116378A
CN105116378A CN201510637959.0A CN201510637959A CN105116378A CN 105116378 A CN105116378 A CN 105116378A CN 201510637959 A CN201510637959 A CN 201510637959A CN 105116378 A CN105116378 A CN 105116378A
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module
ultrasound wave
signal
ultrasonic
beacon module
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CN105116378B (en
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戴晓洪
戴苗苗
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Changsha Kaishanfu Intelligent Technology Co Ltd
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Changsha Kaishanfu Intelligent Technology Co Ltd
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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
    • G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • 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
    • G01S5/183—Emergency, distress or locator beacons
    • 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
    • G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides a wireless and ultrasonic composite location system and a location method for the wireless and ultrasonic composite location system, wherein the wireless and ultrasonic composite location system comprises a plurality of beacon modules with fixed positions, at least one mobile location module and an electronic location platform; each of the beacon modules comprises a first wireless receiving and sending module, an ultrasonic transmitting module and a first intelligent processing module; the mobile location module is arranged on a mobile object, and comprises a second wireless receiving and sending module, an ultrasonic receiving array, an array processing module and a central processer; the electronic location platform is used for building an electronic map and sending the electronic map to the mobile location module, and is also used for coordinating the synchronization of the beacon modules and the mobile location module. The invention also comprises the location method for the wireless and ultrasonic composite location system. By adopting the system and the method, the problems of multipath effect and none-line-of-sight are solved, the measurement precision is improved, and the theoretical precision of less than 0.1mm can be reached.

Description

A kind of wireless, ultrasound wave compound positioning system and localization method thereof
Technical field
The present invention relates to location and navigation technology field, particularly a kind of wireless, ultrasound wave compound positioning system and localization method thereof.
Background technology
Indoor are that mankind's activity is the most intensive, produce maximally related occasion with human lives.Indoor positioning can be considered that location technology and people contact an ingredient the most closely, its important potential application existed, and has attracted large quantifier elimination and concern in recent years.Indoor owing to there being the obstacles such as a large amount of body of wall, screen to exist, multipath effect is serious, and field strength distribution inequality even has blind area to exist.The switch etc. of the frequent movement of personnel, electronic equipment and door and window also brings a large amount of random to Signal transmissions, immesurable interference and fluctuation.Therefore the location technology for complex indoor environment is the difficult point studied always, the hot issue that Ye Shi academia pays close attention to always.
Indoor positioning technologies adopts short-distance wireless location technology mostly, comprises WLAN, RFID, bluetooth, UWB etc.But all there is the problem of low precision and can not be used for robot localization in them in general.The positioning system of current these technology of employing, the highest nominal can reach 10cm, and this precision is also the ultimate precision using wireless location technology to reach substantially.
Mainly there is following defect in existing ultrasound wave location technology: the decay of (1) ultrasonic transmission process obviously; (2) ultrasound wave affects by multipath effect and non-line-of-sight propagation.These shortcomings cause these present technology substantially can only be used for unmanned and that environment is more empty place.
Summary of the invention
The object of the invention is to overcome the above-mentioned deficiency of prior art and provide a kind of positioning precision high, wireless, the ultrasound wave compound positioning system that cost is low and localization method thereof.
Technical scheme of the present invention is:
The one of the present invention is wireless, ultrasound wave compound positioning system, comprises the beacon module of several fixed positions, at least one mobile position-fixed module and electronic location platform;
Described beacon module comprises:
First radio receiving transmitting module, for getting in touch with mobile position-fixed module and/or electronic location platform wirelessly, transmitting-receiving instruction and synchronizing signal;
Ultrasound wave transmitter module, for sending the ultrasonic signal addressed;
First intelligent processing module, for the treatment of the instruction received and storage ultrasound wave coding, the arrangement of process synchronous sequence;
Described mobile position-fixed module is installed on moving body, comprising:
Second radio receiving transmitting module, gets in touch with beacon module and electronic location platform for being responsible for, transmitting/receiving wireless synchronizing signal, and receives the scheduling made ultrasonic signal to be received;
Ultrasound wave receiving array, for receiving the ultrasonic signal from different angles;
Second intelligent processing module, comprises ARRAY PROCESSING module and central processing unit;
Described ARRAY PROCESSING module is used for the ultrasonic signal received to amplify, and the power according to its signal carries out gain control automatically, the ultrasound wave simulating signal intensity of output is kept relative stability, and converts the simulating signal received to digital signal;
Described central processing unit for the treatment of the instruction received, module each several part logical relation, make the ultrasound data information that synchronous sequence arrangement, recognition coding, storage and analysis receive, and ultrasound data is put into computing unit together together with the electronic chart that electronic location platform sends carry out computing, obtain position coordinate data;
Described electronic location platform for building electronic chart, and sends electronic chart to mobile position-fixed module, wirelessly passes to the scheduling that mobile position-fixed module carries out moving body; Synchronous also for coordinated beacon module and mobile position-fixed module, receives the position coordinate data uploaded from each mobile position-fixed module.
Further, described ARRAY PROCESSING module comprises pre-amplifying module and A/D modular converter;
Described pre-amplifying module is used for the ultrasonic signal received to amplify, and the power according to its signal carries out gain control automatically, and the ultrasound wave simulating signal intensity of output is kept relative stability;
Described A/D modular converter is used for the ultrasound wave simulating signal in detection time section convert digital signal to continuously and store; The ultrasonic signal amplitude arrived by central processing unit scanning collection, processes this group ultrasound data; Super according to what receive
The average amplitude of sound wave pulse group, calculates the threshold value for judging; The point reaching judgment threshold then thinks that the ultrasonic signal of current test arrives starting point, otherwise thinks noise signal.
Further, described moving body is robot or intelligent vehicle.
Further, described electronic location platform comprises:
Carry the computing machine of electronic chart, for sending electronic chart to mobile position-fixed module;
3rd radio receiving transmitting module, for transmitting electronic chart, and sending positioning synchronous signal, the sequential of coordinated beacon module and mobile position-fixed module, receiving the position coordinate data that each mobile position-fixed module is uploaded;
Display, for showing electronic chart.
Further, described first radio receiving transmitting module and the second radio receiving transmitting module are WIFI module, bluetooth communication or ZigBee communication module.
Further, described ultrasonic transmission/reception array is the integrated array with at least four ultrasonic sensing units, or by least four independently ultrasonic sensor disperse array; Described pre-amplifying module is corresponding with the quantity of ultrasonic sensing unit with the number of channels of A/D modular converter.
A kind of localization method according to above-mentioned wireless, ultrasound wave compound positioning system of the present invention, comprises the following steps:
(1) the origin coordinates data of being walked according to moving body by mobile position-fixed module, in conjunction with the coordinate that the movement locus that edge behind location is default may reach, calculate at least two beacon module cooked up each coordinate place that may reach and need, sequentially call the beacon module of needs respectively, sent wireless signal by the beacon module of calling and respond; After the beacon module of calling all is responded, mobile position-fixed module launches wireless application positioning signal to beacon module successively, receive the beacon module of application positioning signal, launch wireless synchronization signal according to test sequence arrangement to mobile position-fixed module, make beacon module and mobile position-fixed module coordinate synchronism detection;
(2) encoded ultrasonic signal is launched respectively to main survey module chronologically by beacon module again, the mobile position-fixed module simultaneously receiving synchronizing signal starts data acquisition time window T, real-time data collection also stores successively, according to the sequential of the ultrasonic signal received, marking the time received respectively is T 1, T 2.。。,, T i, wherein, i is identical with the quantity of called beacon module; Then process calculates the ultrasonic signal data segment that receives of each time period, identify that it is encoded, if receive the ultrasonic signal of many group same-codes, only get the one group of ultrasound wave coded signal arrived at first, reject all the other clutters, then time of the starting T of this group ultrasound wave coded signal finding each time period to arrive at first as calculated 1', T 2' .。。，，T i’；
(3) the distance z between ultrasound wave receiving array and each beacon module is calculated ifor z i=T i' × c, wherein, c is ultrasonic signal velocity of propagation at normal temperatures, and revises the velocity of propagation c of ultrasonic signal;
(4) the distance L of ultrasound wave receiving array theoretical center and each beacon module is calculated iand the dextrorotation angle γ of beacon module and ultrasound wave receiving array theoretical center i; Wherein, ultrasound wave receiving array theoretical center refers to the geometric center point of ultrasound wave receiving array; Dextrorotation angle refers to the angle that the distance straight line between this beacon module and ultrasound wave receiving array theoretical center along the axis of ultrasound wave receiving array theoretical center to right rotation is;
(5) ultrasonic signal of two-way or three tunnel beacon module straight lines arrival ultrasound wave receiving arraies is selected out by mobile position-fixed module, and carry out computing in conjunction with built-in electronic chart, namely receive and dispatch the distance between ultrasound wave receiving array theoretical center and this two-way or three tunnel beacon module calculated according to step (4) respectively, and calculate two-dimensional coordinate data or the three-dimensional coordinate data of the position of robot in conjunction with the stationary coordinate of this two-way or three tunnel beacon module;
(6) two-dimensional coordinate data of gained or three-dimensional coordinate data are wirelessly transmitted to electronic location platform, generate the positional information of robot.
Further, in step (2), described real-time data collection comprises: will at T 1,t 2.。。,t ithe ultrasonic signal received respectively in moment carries out gain control automatically according to the power of its signal, the ultrasonic amplitude dynamic range of stable output; Again this ultrasound wave simulating signal is converted to digital signal and stores.
Further, in step (2), the ultrasonic signal data segment that described process calculating each time period receives comprises: the ultrasonic digital signal after process conversion, calculate judgment threshold, if the amplitude of the ultrasonic signal collected reaches judgment threshold, think that current demand signal is ultrasonic signal, otherwise think noise signal.
Further, in step (2), the described one group of ultrasound wave coded signal arrived at first is the signal that the ultrasonic signal straight line launched arrives ultrasound wave receiving array; What all the other arrived below is considered as clutter, comprises the signal that multipath effect, non-line-of-sight propagation and ultrasonic reflections produce.
Further, in step (1), also comprise: when moving body departs from default movement locus, still can realize location automatically according to the beacon module in other movement locus be located near moving body.
Further, in step (1), also comprise: located to the application of electronic location platform by mobile position-fixed module, whether the beacon module of being called by electronic location platform inquiry mobile position-fixed module is taken by other moving body, if take, action again after then notice mobile position-fixed module needs interval sometime, after arriving interval time, has continued assignment test below.
Further, in step (4), specifically comprise: whether hyperacoustic coding that the different ultrasonic sensing units detecting ultrasound wave receiving array receive is identical, if identical, the ultrasonic signal that the beacon module of selecting out this coding is launched arrives the shortest two paths of signals of ultrasonic sensing elementary time, and in conjunction with the fixed position of corresponding two ultrasonic sensing units and fixed angle, calculate the distance of ultrasound wave receiving array theoretical center and beacon module and the dextrorotation angle of this beacon module and ultrasound wave receiving array theoretical center; The distance of described ultrasound wave receiving array theoretical center and beacon module is obtained by following formula,
Wherein,
In formula, z i1 , z i2 for receiving the air line distance of hyperacoustic two ultrasonic sensing unit of same coding and beacon module, and z i2 < z i1 , rfor ultrasonic sensing unit and the air line distance of ultrasound wave receiving array theoretical center, sbe the air line distance between two ultrasonic sensing units, afor straight line z i1 with straight line sbetween angle, bfor with z i1 corresponding ultrasonic sensing unit arrives straight line R and the straight line of ultrasound wave receiving array theoretical center sbetween angle, wherein, angle band straight line sbe ultrasound wave receiving array fixed measure.
The dextrorotation angle of described beacon module and ultrasound wave receiving array theoretical center is obtained by following formula,
In formula, for with z i2 the dextrorotation angle of corresponding ultrasonic sensing unit, dextrorotation angle for ultrasound wave receiving array fixed measure.
Further, in step (3), the modification method of the velocity of propagation c of described ultrasonic signal is:
A. choose two required beacon module, calculate the absolute distance between them according to their stationary coordinate;
B. any one in ultrasound wave effective coverage range is local, under fixing acquiescence sonic conditions, calculate relative distance and the angle of ultrasound wave receiving array theoretical center and two beacon module, and then calculate the relative distance between two beacon module;
C. using the percentage error of the absolute distance between two beacon module and relative distance as compensation, calculate real velocity of sound.
The present invention compared with prior art has following features:
(1) ultrasonic signal received is carried out automatic growth control according to the power of its signal, the dynamic range of stable output, and convert digital signal to, calculate judgment threshold, judge that current demand signal is ultrasonic signal or noise signal according to judgment threshold, thus realize ultrasound examination, solve the attenuation problem of ultrasonic signal in transmitting procedure;
(2) select ultrasound wave receiving array to replace single ultrasonic sensor, from all directions received ultrasonic signal, positioning precision can be improved;
(3) phase differential in ultrasonic array between ultrasonic sensing unit and signal intensity is utilized, differentiate the ultrasound wave of different approaches, the ultrasound wave that cut-off line arrives, like this can solving multipath effect and non-line-of-sight propagation problem, the interference of filtering environmental sound wave, shorten the test duration, greatly improve distance accuracy and reliability;
(4) whether the ultrasound wave using coding ultrasound wave mode can be convenient to determine to receive is that the beacon module needed sends, simultaneously by the theoretical code comparison with emissive source, judge that bundle ultrasound wave that the beacon module whether this group ultrasound wave needs sends, can accurately determine hyperacoustic starting point and emission angle, improve the accuracy of range finding;
(5) ultrasound wave receiving array received ultrasonic signal is utilized, through data processing, position and the direction of robot is judged according to the phase relation of the ultrasonic signal between ultrasound wave receiving array and beacon module, and be sent to electronic location platform together with electronic chart, realize path planning and the location of robot;
(6) ultrasonic signal of more than 2 beacon module gathered is utilized, to calculate between absolute distance between beacon module and relative distance percentage error as compensation, and then calculate the accurate velocity of sound under current environmental condition, accurate rate is high, cost is low, calculates simple;
(7) design standards of conventional precision is: positioning error 1cm, improves a precision quantitative levels than existing best wireless indoor positioning system; The design standards of medium accuracy is: positioning error 1mm, the theoretical precision <0.1mm that the present invention can reach.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention;
Fig. 2 is the calculation diagram of embodiment of the present invention robot place three-dimensional coordinate;
Fig. 3 is the distance calculation diagram of embodiment of the present invention ultrasound wave receiving array theoretical center and beacon module;
Fig. 4 is the angle calculation sketch of embodiment of the present invention ultrasound wave receiving array theoretical center and beacon module;
Fig. 5 is embodiment of the present invention velocity of sound corrected Calculation sketch.
Embodiment
Below in conjunction with the drawings and specific embodiments, detailed construction of the present invention is further described.
A kind of wireless, ultrasound wave compound positioning system, comprises multiple beacon module, at least one mobile position-fixed module and electronic location platform.Mobile position-fixed module can be arranged on (as robot, intelligent vehicle etc.) on a moving body, and the present embodiment is described with the artificial example of machine.Mei Tai robot carries a mobile position-fixed module.The position of beacon module must be fixing, thus obtains fixed position coordinate, multiple beacon module its can be installed on (position of placement does not have specific requirement) on wall or on other fixed object, concrete quantity determines according to the space size of position undetermined; The position coordinates that the movement locus preset according to Robot may reach, calculates at least two beacon module cooked up each coordinate place that may reach and need.
Particularly, beacon module comprises the first intelligent processing module and the first radio receiving transmitting module be connected with the first intelligent processing module respectively and ultrasound wave transmitter module.
First radio receiving transmitting module is used for getting in touch with the mobile position-fixed module needing to locate and/or electronic location platform wirelessly, transmitting-receiving instruction and synchronizing signal; First radio receiving transmitting module can adopt the mixed-media network modules mixed-media meeting various wireless communication agreement, such as WIFI module, ZigBee module, bluetooth communication etc.Preferably, the first radio receiving transmitting module adopts wireless serial communication module.
Ultrasound wave transmitter module, for sending the ultrasonic signal addressed; Because beacon module each in multiple beacon module gives unique encodings, so that by recognition coding, mobile position-fixed module judges whether the ultrasound wave received is that called beacon module sends.
First intelligent processing module is for the treatment of the instruction received and store ultrasound wave coding, the arrangement of process synchronous sequence.
Particularly, mobile position-fixed module comprises the second intelligent processing module and the second radio receiving transmitting module be connected with the second intelligent processing module respectively and ultrasound wave receiving array.
Second radio receiving transmitting module, gets in touch with beacon module and electronic location platform for being responsible for, the sequential of transmitting/receiving wireless synchronizing signal and ultrasonic signal; Preferably, the second radio receiving transmitting module adopts wireless serial communication module.
Ultrasound wave receiving array, for receiving the ultrasonic signal of the different angles sent from beacon module; Ultrasonic transmission/reception array is the integrated ring array with multiple ultrasonic sensing unit, be all integrated on one piece of circuit board, and position relationship is fixed, and is convenient to calculate, and simplifies procedures.This array not only can test ultrasound wave time of arrival, also can test the angle of ultrasound wave emissive source.In addition also by the comparison of the theoretical code with emissive source, can confirm whether this ultrasound wave coding is that the beacon module needed sends, and also can accurately determine hyperacoustic starting point, can solve the interference problem of ambient sound waves.
Second intelligent processing module, for the treatment of the instruction received, module each several part logical relation, make the ultrasound data information that synchronous sequence arrangement, recognition coding, storage and analysis receive, and ultrasound data is put into computing unit together together with the electronic chart that electronic location platform sends carry out computing, obtain position coordinate data.Second intelligent processing module comprises ultrasonic array processing module and central processing unit, ultrasonic array processing module comprises pre-amplifying module and A/D modular converter, ultrasonic array connects the input end of pre-amplifying module, the output terminal of pre-amplifying module connects the analog input end of A/D modular converter, and the digital output end of A/D modular converter connects central processing unit; Central processing unit is also connected with the second radio receiving transmitting module.Pre-amplifying module is identical with the quantity of ultrasonic sensing unit with the number of channels of A/D modular converter, namely the ultrasonic signal that each ultrasonic sensing unit receives all is processed by respective pre-amplifying module and A/D modular converter, finally inputs to central processing unit and carries out focusing on calculating.
The pre-amplifying module of the present embodiment have employed the amplifier of band AGC function, and AGC is automatic growth control.When the signal that ultrasound wave receiving array receives is more weak, AGC amplifier can increase signal amplification factor automatically, weak signal amplitude is strengthened.When the signal that ultrasound wave receiving array receives is stronger, AGC amplifier can reduce signal amplification factor automatically, and to realize, no matter signal is stronger or more weak, and the output signal of pre-amplifying module all keeps relative stability.
A/D modular converter is used for converting the ultrasound wave simulating signal in detection time section to digital signal continuously (when the ultrasonic signal of needs does not arrive, ultrasonic amplitude is close to zero, during arrival, ultrasonic amplitude will in scope of design), and stored in RAM, become a data group; The ultrasonic signal amplitude arrived by central processing unit scanning collection, and process this group ultrasound data; According to the average amplitude of the ultrasonic pulse group received, calculate judgment threshold.The present embodiment, by multiple peak-peak ultrasonic signals of the ultrasonic digital signal after conversion, gets its mean value, then using the value of the proper ratio of this mean value as decision threshold.
The ultrasonic signal amplitude that scanning collection arrives, the point reaching judgment threshold then thinks that the ultrasonic signal of current test arrives starting point, otherwise thinks noise signal.Thus realize ultrasound examination, solve the attenuation problem of ultrasonic signal in transmitting procedure.
Particularly, electronic location platform for building electronic chart, and sends electronic chart to mobile position-fixed module, according to moving target or the path planning generation navigation information of robot, wirelessly passes to the scheduling that mobile position-fixed module carries out robot; Synchronous also for coordinated beacon module and mobile position-fixed module, receives the position coordinate data uploaded from each mobile position-fixed module and shows.Electronic location platform comprises:
Carrying the computing machine of electronic chart, for building electronic chart, and sending electronic chart, as required dispatch robot to mobile position-fixed module, plan and the motion path of calculating robot; Path planning can make robot ambulation route the shortest, thus shortens the travel time of robot, increases work efficiency;
3rd radio receiving transmitting module, for the sequential of coordinated beacon module and mobile position-fixed module, receives the position coordinates signal that each mobile position-fixed module is uploaded;
Electronic chart computing module, for the path planning provided according to the computing machine carrying electronic chart, generates the navigation information of robot; Navigation information comprises the walking path (comprise straight line, turn round), position coordinates location etc. of robot;
Display, for the navigation information of display device people, comprises motion path and the position of robot.
Wherein, the built-in electronic chart of mobile position-fixed module is sent by the 3rd radio receiving transmitting module by electronic location platform, and accept transmitting-receiving by the second radio receiving transmitting module of mobile position-fixed module.
According to the localization method of above-mentioned wireless, ultrasound wave compound positioning system, comprise the following steps:
(1) the origin coordinates data of being walked according to moving body by mobile position-fixed module, in conjunction with the coordinate that the movement locus that edge behind location is default may reach, calculate at least two beacon module cooked up each coordinate place that may reach and need, sequentially call the beacon module of needs respectively, sent wireless signal by the beacon module of calling and respond; After the beacon module of calling all is responded, mobile position-fixed module launches wireless application positioning signal to beacon module successively, receive the beacon module of application positioning signal, launch wireless synchronization signal according to test sequence arrangement to mobile position-fixed module, make beacon module and mobile position-fixed module coordinate synchronism detection;
Concrete, reserve at the movement locus subscript preset the position coordinates point that robot may reach, when Robot movement locus arrives certain coordinate points, sequentially call at least two beacon module from this coordinate points angle the best; Because each beacon module has certain coverage, by the beacon module position at each coordinate place that may reach of reasonable arrangement, make robot can both have the alternate covering of beacon module in the overall range of motion allowed.Wherein, two beacon module can determine the two-dimensional coordinate of robot, and three beacon module can determine the three-dimensional coordinate of robot, can determine the quantity of beacon module according to the type of electronic chart (plane electronics map and electronic three-dimensional map).Launched wireless synchronization signal according to test sequence arrangement to mobile position-fixed module by the beacon of calling, receive different beacon module to make mobile position-fixed module in the different time periods and launch the ultrasonic signal of coming.In addition, when there is multiple robot, if there is the problem of request beacon module conflict, inquire about by electronic location platform the beacon module that the robot that working calls whether to be taken by other robot, if take, then notify this robot need interval sometime after action again, after arriving interval time, continued assignment test below.Interval time is set to usually in units of millisecond.Further, when robot departs from default movement locus, still can realize location automatically according to the beacon module in other movement locus be located near robot, thus avoid robot bias motion track just lost, the problem of cisco unity malfunction;
(2) encoded ultrasonic signal is launched respectively to main survey module chronologically by beacon module again, simultaneously, the mobile position-fixed module receiving synchronizing signal starts data acquisition time window T, real-time data collection also stores successively, according to the sequential of the ultrasonic signal received, marking the time received respectively is T 1,t 2.。。,t i, wherein, i is identical with the quantity of called beacon module; Then process calculates the ultrasonic signal data segment that receives of each time period, identify that it is encoded, if receive the ultrasonic signal of many group same-codes, only get the one group of ultrasound wave coded signal arrived at first, reject all the other clutters, then time of the starting T of this group ultrasound wave coded signal finding each time period to arrive at first as calculated 1' ,t 2' .。。，T i’；
Concrete, after starting data acquisition time window T, start continuous acquisition data, be labeled as that time of turn-on data acquisition window acquisition time zero point, the data gathered in time window store successively according to sequential when all storing stored in RAM(), and according to the sequential of the ultrasonic signal received, marking the time received respectively is T 1,t 2.。。,t i; After time window is closed, the data that mobile position-fixed module will process in RAM immediately.Wherein, according to the sequential of the ultrasonic signal received, marking the time received respectively is T 1,t 2.。。,t ican be understood as: suppose T=0.15s, according to the sequential of the ultrasonic signal received, the time receiving one group of ultrasonic signal that first beacon module is launched is 0.05s, the time receiving one group of ultrasonic signal that second beacon module is launched is 0.1s, then the time period of 0 ~ 0.05s is labeled as T 1, the time period of 0.05s ~ 0.1s is labeled as T 2; Each time period only obtains the one group of ultrasound wave coded signal arrived at first, wherein, obtain the one group of ultrasound wave coded signal arrived at first and refer to the ultrasonic signal arrived at first in certain ultrasonic sensing unit or certain several ultrasonic sensing unit, and must be that straight line arrives; All the other clutters comprise the signal that multipath effect, non-line-of-sight propagation and ultrasonic reflections produce, and reject the interference problem that these clutters can solve ambient sound waves;
(3) the distance z between ultrasound wave receiving array and each beacon module is calculated ifor z i=T i' × c, wherein, c is ultrasonic signal velocity of propagation at normal temperatures, and needs to revise the velocity of propagation c of ultrasonic signal;
(4) the distance L of ultrasound wave receiving array theoretical center and each beacon module is calculated iand the dextrorotation angle γ of beacon module and ultrasound wave receiving array theoretical center i; Wherein, ultrasound wave receiving array theoretical center refers to the geometric center point of ultrasound wave receiving array; Dextrorotation angle refers to the angle that the distance straight line between this beacon module and ultrasound wave receiving array theoretical center along the axis of ultrasound wave receiving array theoretical center to right rotation is;
(5) ultrasonic signal of two-way or three tunnel beacon module straight lines arrival ultrasound wave receiving arraies is selected out by mobile position-fixed module, and carry out computing in conjunction with built-in electronic chart, namely receive and dispatch the distance between ultrasound wave receiving array theoretical center and this two-way or three tunnel beacon module calculated according to step (4) respectively, and calculate two-dimensional coordinate data or the three-dimensional coordinate data of the position of robot in conjunction with the stationary coordinate of this two-way or three tunnel beacon module;
(6) send the two-dimensional coordinate data of gained or three-dimensional coordinate data real-time radio to electronic location platform, generate the navigation information of robot and show.
For convenience of describing, the present embodiment is specifically described at indoor moving for robot.As shown in Figure 1: mobile position-fixed module 2 is fixedly mounted on the top of robot 1, the ultrasound wave receiving array 21 that it carries is arranged on the top center of robot 1, ultrasound wave receiving array 21 comprises the ultrasonic sensing unit of several circle distribution, thus receives the ultrasonic signal sent from each beacon module 3 having stationary coordinate.The present embodiment also comprises a set of electronic location platform 4.
On four sides wall top or top, room, the beacon module 3 being no less than 3 is installed, the ultrasonic signal that each beacon module 3 is launched will cover the panel region of oneself, when having 3 tunnels and above signal, then jointly be covered with a panel region, and this overlay area forms crossings on different level formula, robot 1, all can walking in the clover leaf ultrasound wave overlay area of formation (need according to space size different, rationally settle beacon module) when indoor moving.When robot 1 needs positioning signal, make to be coordinated synchronism detection by the beacon module 3 of calling and robot 1 according to above-mentioned localization method.
Launch the beacon module 3 after wireless synchronization signal, the ultrasonic signal with encoding separately is launched chronologically successively to mobile position-fixed module, the robot 1 simultaneously receiving synchronizing signal starts data acquisition, and robot 1 will receive the signal on more than 3 tunnels through carried ultrasonic array 21.As shown in Figure 2: according to reliability needs, the ultrasonic signal data (ultrasound data that only adopt straight line arrive, reject undesired signal because multipath effect and non-line-of-sight propagation cause) of 3 tunnels for calculating are selected out, this 3 road signal is (0,0,0), (X by coming from three-dimensional coordinate respectively, 0,0) and the beacon module of (0, Y, 0) launch, then TDOA algorithm is used, the three-dimensional coordinate (x, y, z) at robot place can be calculated:
Wherein, L 1, L 2and L 3for the distance of ultrasound wave receiving array theoretical center and three beacon module.For ease of understanding L 1, L 2and L 3computation process, the ultrasonic signal that the beacon module that the present embodiment is also (0,0,0) with three-dimensional coordinate is launched is example to calculating L 1process be specifically described.With reference to shown in Fig. 3 and Fig. 4: ultrasound wave receiving array comprises 16 ultrasonic sensing unit r0-r15, when the ultrasound wave emissive source of the beacon module of (0,0,0) launches ultrasound wave, received by these five ultrasonic sensing units of the r0-r4 in ultrasound wave receiving array, wherein z 0-z 4for r0-r4 respectively with the distance of ultrasound wave emissive source, O is ultrasound wave receiving array theoretical center, and R is 16 ultrasonic sensing units of circle distribution and the distance of ultrasound wave receiving array theoretical center, L 1for the distance of ultrasound wave emissive source and ultrasound wave receiving array theoretical center, angle b and length s is the fixed measure of ultrasound wave receiving array.
Wherein, at z 0-z 4in, z 3minimum, z 2secondary little, the dextrorotation angle of r3 is α, angle for straight line z 2and the angle between length s, ultrasound wave receiving array theoretical center is to the distance L of ultrasound wave emissive source 1with nearest ultrasonic sensing unit r 3angular deflection be β, now the angle of ultrasound wave receiving array theoretical center and ultrasound wave emissive source is γ 1, calculate:
L can be tried to achieve according to above-mentioned formula 1value, in like manner can try to achieve L 2and L 3.Wherein, z 0-z 4namely ultrasonic sensing unit can be calculated (beacon module being (X, 0,0) with three-dimensional coordinate is that example is described) by following distance-finding method with the distance of ultrasound wave emissive source:
This distance-finding method comprises the following steps:
(1) initiated to set up wireless connections request signal by mobile position-fixed module, call three-dimensional coordinate is the beacon module of (0,0,0), is sent wireless signal and responds, complete wireless shaking hands after main survey module receives response by the beacon module of calling;
(2) mobile position-fixed module wireless signal emission startup range finding order again, after beacon module receives orders, first launches wireless first dielectric signal, then launches the ultrasonic signal addressed;
(3) main survey module turn-on data acquisition time window T when receiving the wireless first dielectric signal that beacon module is launched, real-time data collection also stores, process calculates the ultrasonic signal data segment received, identify that it is encoded, if receive the ultrasonic signal of many group same-codes, only get the one group of ultrasound wave coded signal arrived at first, reject all the other clutters, then find time of the starting T ' of this group ultrasound wave coded signal arrived at first as calculated;
(4) ultrasonic sensing unit r is calculated 3and the distance z between the ultrasound wave emissive source of this beacon module 3for z 3=T ' × c, wherein, c is ultrasonic signal velocity of propagation at normal temperatures (hereinafter referred to as the velocity of sound).
In like manner can calculate the distance of other beacon module and ultrasonic sensing unit.
Because under outside certain condition, its velocity of sound is certain, when external condition changes, we can revise the velocity of sound according to the knots modification of external condition.Use and calculate through the revised velocity of sound, just after external condition changes, also can calculate accurate distance.
Coordinate due to each beacon module is fixing, then the distance (absolute distance) between them is also fixing.Any one in ultrasound wave effective coverage range is local, first under fixing acquiescence sonic conditions, can calculate relative distance and the angle of ultrasound wave receiving array and two beacon module; Relative distance (under acquiescence sonic conditions) between the beacon module calculating two stationary coordinate again, compared by the relative distance between the beacon module of these two stationary coordinate and the absolute distance between them again, just can calculate the accurate current velocity of sound.
For ease of understanding, the present embodiment get three-dimensional coordinate for the beacon module A of (X, 0,0) and the beacon module B of (0,0,0) be that example is specifically described, with reference to shown in Fig. 5:
D 1for the absolute distance (in units of mm) between beacon module A and beacon module B, acquiescence velocity of sound c 1, current real velocity of sound is c 2, L 1, L 2, dextrorotation angle γ 1and γ 2calculate in above-mentioned formula, thus the angle μ=γ between the beacon module obtaining two stationary coordinate 2-γ 1, the relative distance d between the beacon module of two stationary coordinate 2for:
Due to d 1=c 2t, d 2=c 1t, therefore real velocity of sound formula is:
By calculating percentage error between absolute distance between two beacon module and relative distance as compensation, and then calculate the accurate velocity of sound under current environmental condition.
Above-mentioned computation process is realized by the central processing unit in mobile position-fixed module, by robot, the computing module that the ultrasonic signal received puts into central processing unit together together with electronic chart is calculated, by comparing the phase differential of the ultrasonic signal received, judge the angle of robot in electronic chart, the three-dimensional coordinate data of gained is wirelessly transmitted to electronic location platform the most at last, generates the navigation information of robot and shows.
The attainable accuracy standard of the present embodiment is: the design standards of conventional precision is: positioning error 1cm, improves a precision quantitative levels than existing best wireless indoor positioning system; The design standards of medium accuracy is: positioning error 1mm, the theoretical precision <0.1mm that the present embodiment can reach.
Different accuracy classes is determined by beacon installation accuracy, manufacture accuracy, circuit precision (mainly simulating part), backoff algorithm, utilizes backoff algorithm to solve these problems, can reduce cost while guarantee precision.

Claims (11)

1. wireless, a ultrasound wave compound positioning system, is characterized in that: comprise the beacon module of several fixed positions, at least one mobile position-fixed module and electronic location platform;
Described beacon module comprises:
First radio receiving transmitting module, for getting in touch with mobile position-fixed module and/or electronic location platform wirelessly, transmitting-receiving instruction and synchronizing signal;
Ultrasound wave transmitter module, for sending the ultrasonic signal addressed;
First intelligent processing module, for the treatment of the instruction received and storage ultrasound wave coding, the arrangement of process synchronous sequence;
Described mobile position-fixed module is installed on moving body, comprising:
Second radio receiving transmitting module, gets in touch with beacon module and electronic location platform for being responsible for, transmitting/receiving wireless synchronizing signal, and receives the scheduling made ultrasonic signal to be received;
Ultrasound wave receiving array, for receiving the ultrasonic signal from different angles;
Second intelligent processing module, comprises ARRAY PROCESSING module and central processing unit;
Described ARRAY PROCESSING module is used for the ultrasonic signal received to amplify, and the power according to its signal carries out gain control automatically, the ultrasound wave simulating signal intensity of output is kept relative stability, and converts the simulating signal received to digital signal;
Described central processing unit for the treatment of the instruction received, module each several part logical relation, make the ultrasound data information that synchronous sequence arrangement, recognition coding, storage and analysis receive, and ultrasound data is put into computing unit together together with the electronic chart that electronic location platform sends carry out computing, obtain position coordinate data;
Described electronic location platform for building electronic chart, and sends electronic chart to mobile position-fixed module, wirelessly passes to the scheduling that mobile position-fixed module carries out moving body; Synchronous also for coordinated beacon module and mobile position-fixed module, receives the position coordinate data uploaded from each mobile position-fixed module.
2. wireless, ultrasound wave compound positioning system according to claim 1, is characterized in that: described ARRAY PROCESSING module comprises pre-amplifying module and A/D modular converter;
Described pre-amplifying module is used for the ultrasonic signal received to amplify, and the power according to its signal carries out gain control automatically, and the ultrasound wave simulating signal intensity of output is kept relative stability;
Described A/D modular converter is used for the ultrasound wave simulating signal in detection time section convert digital signal to continuously and store; The ultrasonic signal amplitude arrived by central processing unit scanning collection, processes this group ultrasound data; Super according to what receive
The average amplitude of sound wave pulse group, calculates the threshold value for judging; The point reaching judgment threshold then thinks that the ultrasonic signal of current test arrives starting point, otherwise thinks noise signal.
3. wireless, ultrasound wave compound positioning system according to claim 1 and 2, is characterized in that: described moving body is robot or intelligent vehicle.
4. wireless, ultrasound wave compound positioning system according to claim 1 and 2, is characterized in that: described electronic location platform comprises:
Carry the computing machine of electronic chart, for sending electronic chart to mobile position-fixed module;
3rd radio receiving transmitting module, for transmitting electronic chart, and sending positioning synchronous signal, the sequential of coordinated beacon module and mobile position-fixed module, receiving the position coordinate data that each mobile position-fixed module is uploaded;
Display, for showing electronic chart.
5. wireless, ultrasound wave compound positioning system according to claim 2, is characterized in that: described ultrasonic transmission/reception array is the integrated array with at least four ultrasonic sensing units, or by least four independently ultrasonic sensor disperse array; Described pre-amplifying module is corresponding with the quantity of ultrasonic sensing unit with the number of channels of A/D modular converter.
6. a localization method for wireless according to any one of claim 1 ~ 5, ultrasound wave compound positioning system, is characterized in that: comprise the following steps:
(1) the origin coordinates data of being walked according to moving body by robot localization terminal, in conjunction with the coordinate that the movement locus that edge behind location is default may reach, calculate at least two beacon module cooked up each coordinate place that may reach and need, sequentially call the beacon module of needs respectively, set up the synchronism detection relation of beacon module and robot localization terminal;
(2) the robot localization terminal receiving synchronizing signal starts data acquisition time window T, and receive the encoded ultrasonic signal that beacon module is sent chronologically, marking the time received respectively is T 1,t 2,, T i, wherein, i is identical with the quantity of called beacon module; The ultrasonic signal data segment that process calculating each time period receives, identify that it is encoded, if receive the ultrasonic signal of many group same-codes, only get the one group of ultrasound wave coded signal arrived at first, reject all the other clutters, then time of the starting T of this group ultrasound wave coded signal finding each time period to arrive at first as calculated 1', T 2' ..., T i';
(3) the distance z between ultrasound wave receiving array and each beacon module is calculated ifor z i=T i' × c, wherein, c is ultrasonic signal velocity of propagation at normal temperatures, and revises the velocity of propagation c of ultrasonic signal;
(4) the distance L of ultrasound wave receiving array theoretical center and each beacon module is calculated iand the dextrorotation angle γ of beacon module and ultrasound wave receiving array theoretical center i;
(5) two-dimensional coordinate data of calculating robot position or three-dimensional coordinate data;
(6) two-dimensional coordinate data of gained or three-dimensional coordinate data are wirelessly transmitted to electronic location platform, generate the positional information of robot.
7. the localization method of wireless, a ultrasound wave compound positioning system according to claim 6, it is characterized in that: in step (2), described real-time data collection comprises: the ultrasonic signal received within the T moment is carried out gain control automatically according to the power of its signal, the ultrasonic amplitude dynamic range of stable output; Again this ultrasound wave simulating signal is converted to digital signal and stores; The ultrasonic signal data segment that described process calculating each time period receives comprises: the ultrasonic digital signal after process conversion, calculate judgment threshold, if the amplitude of the ultrasonic signal collected reaches judgment threshold, think that current demand signal is ultrasonic signal, otherwise think noise signal.
8. the localization method of wireless according to claim 6 or 7, a ultrasound wave compound positioning system, it is characterized in that: in step (1), also comprise: located to the application of electronic location platform by mobile position-fixed module, whether the beacon module of being called by electronic location platform inquiry mobile position-fixed module is taken by other moving body, if take, action again after then notice mobile position-fixed module needs interval sometime, after arriving interval time, has continued assignment test below.
9. one kind wireless according to claim 6 or 7, the localization method of ultrasound wave compound positioning system, it is characterized in that: in step (4), specifically comprise: whether hyperacoustic coding that the different ultrasonic sensing units detecting ultrasound wave receiving array receive is identical, if identical, the ultrasonic signal that the beacon module of selecting out this coding is launched arrives the shortest two paths of signals of ultrasonic sensing elementary time, and in conjunction with the fixed position of corresponding two ultrasonic sensing units and fixed angle, calculate the distance of ultrasound wave receiving array theoretical center and beacon module and the dextrorotation angle of this beacon module and ultrasound wave receiving array theoretical center, the distance of described ultrasound wave receiving array theoretical center and beacon module is obtained by following formula,
Wherein,
In formula, z i1 , z i2 for receiving the air line distance of hyperacoustic two ultrasonic sensing unit of same coding and beacon module, and z i2 < z i1 , rfor ultrasonic sensing unit and the air line distance of ultrasound wave receiving array theoretical center, sbe the air line distance between two ultrasonic sensing units, afor straight line z i1 with straight line sbetween angle, bfor with z i1 corresponding ultrasonic sensing unit arrives straight line R and the straight line of ultrasound wave receiving array theoretical center sbetween angle, wherein, angle band straight line sbe ultrasound wave receiving array fixed measure.
10. the dextrorotation angle of beacon module described in and ultrasound wave receiving array theoretical center is obtained by following formula,
In formula, for z i2 the dextrorotation angle of corresponding ultrasonic sensing unit, dextrorotation angle be ultrasound wave receiving array fixed measure.
The localization method of 11. 1 kinds of wireless according to claim 6 or 7, ultrasound wave compound positioning systems, it is characterized in that: in step (3), the modification method of the velocity of propagation c of described ultrasonic signal is:
A. choose two required beacon module, calculate the absolute distance between them according to their stationary coordinate;
B. any one in ultrasound wave effective coverage range is local, under fixing acquiescence sonic conditions, calculate relative distance and the angle of ultrasound wave receiving array theoretical center and two beacon module, and then calculate the relative distance between two beacon module;
C. using the percentage error of the absolute distance between two beacon module and relative distance as compensation, calculate real velocity of sound.
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