CN105629201B - A kind of indoor ultrasonic positioning position correcting method - Google Patents
A kind of indoor ultrasonic positioning position correcting method Download PDFInfo
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- CN105629201B CN105629201B CN201610004556.7A CN201610004556A CN105629201B CN 105629201 B CN105629201 B CN 105629201B CN 201610004556 A CN201610004556 A CN 201610004556A CN 105629201 B CN105629201 B CN 105629201B
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of indoor ultrasonic positioning position correcting method, the alignment system is made up of central station, beaconing nodes, destination node and the part of reference station four.Indoor ultrasonic positioning position correcting method of the present invention can be eliminated due to position error caused by ultrasonic velocity error, hardware delay time error, alignment error and other errors, for existing method for ultrasonic locating, the positional information precision of the destination node obtained by indoor ultrasonic positioning position correcting method is higher.
Description
Technical field
The present invention relates to a kind of indoor ultrasonic positioning position correcting method；Error compensation is carried out using position correcting method
Indoor position accuracy is improved, for being accurately positioned to indoor object, belongs to field of navigation technology.
Background technology
Indoor positioning technologies turn into the focus of research in recent years, with continuing to develop for indoor positioning technologies, people
Life also can be more and more convenient therewith.
There is ultrasonic wave indoor positioning technologies low cost, anti-electromagnetic interference capability to be influenceed by force, not by light smog, time letter
The features such as breath is intuitively and positioning precision is high.Therefore, ultrasonic wave location technology is widely used in various rangings and alignment system
In.
The conventional indoor positioning technologies based on ultrasonic wave mainly have：
The first is that need to position installation radiofrequency launcher (or infrared transmission module) and ultrasonic transmitter battle array on object
Row, fixed position installation ultrasonic receiver and radio frequency receiver, positioning object are while launch radiofrequency signal and ultrasound indoors
The distance between ripple signal, digital object and each ultrasonic receiver that receiving terminal is reached by two signals, base
Station receives the range information launched from fixed position and carries out positions calculations, and operation result then is passed through into Data-Link
It is sent to positioning object.
Second is the method for ultrasonic locating based on CDMA.This technology is to arrange multiple beaconing nodes transmittings indoors
Ultrasonic signal, positioning end installs ultrasonic receiver array, and beaconing nodes launch the ultrasonic signal through ovennodulation simultaneously,
Positioning end extracts arrival time by auto-correlation computation, carries out positions calculations.
Pass through these method for ultrasonic locating, it is only necessary to which measuring the distance between positioning terminal and three beaconing nodes can
To carry out three-dimensional localization computing, positioning terminal positional information is calculated.Due to exist ultrasonic velocity error (ultrasonic velocity with
Variation of ambient temperature and change), hardware delay time error, alignment error and other errors so that the coordinate and reality calculated
Positional information is different, there is error.
The content of the invention
The defect existed for existing ultrasonic wave indoor orientation method, the invention provides a kind of indoor ultrasonic positioning
Position correcting method.
The present invention to achieve the above object, is adopted the following technical scheme that：
Indoor ultrasonic alignment system structure of the present invention includes：Indoor ultrasonic alignment system is by central station, beacon
Node, destination node and the part of reference station four.
Indoor ultrasonic positioning position correcting method step of the present invention is：
If three beaconing nodes coordinates for being laid in roof fixed position are respectively (x1,y1,z1), (x2,y2,z2),
(x3,y3,z3)；Reference station position coordinates is set as (xu,yu,zu), subscript u is reference station label；
(1) central station transmitting radiofrequency signal, is used as time synchronizing signal；
(2) reference station is received after the time synchronizing signal that central station is sent, and launches ultrasonic signal；Install indoors
The beaconing nodes of fixed position are received after the time synchronizing signal that central station is sent, and start timer, are carried out ranging, are obtained
Range information ρ of the reference station to beaconing nodes kuk；
Above-mentioned k is three beaconing nodes numberings, k=1,2,3；
Above-mentioned ρukFor the distance of the reference station that measures to beaconing nodes k；
(3) range information obtained according to (2) step is resolved by formula (1) obtains reference station measurement three-dimensional coordinate
(x′u,y′u,z′u)；
(4) coordinate will be measured according to formula (2) and reference station standard value is compared and obtains measurement position error correction number
Δ；
(5) central station launch time synchronizing signal again, destination node receives the time synchronized letter that central station is sent
After number, launch ultrasonic signal；The beaconing nodes for installing fixed position indoors receive the time synchronized that central station is sent
After signal, start timer, carry out ranging, obtain destination node to beaconing nodes k range information ρrk, ρrkFor the mesh measured
Node is marked to beaconing nodes k distance；
(6) range information obtained according to (5) step is resolved by formula (3) and obtains destination node three-dimensional coordinate (x 'r,
y′r,z′r)；
(7) the measurement position error correction number Δ obtained using (4) step corrects the three-dimensional seat calculated by formula (4)
Mark, obtains the destination node location coordinate information of higher precision.
It follows that obtaining site error amendment number according to reference station, mesh can accurately be measured by position correcting method
Mark the three-dimensional coordinate (x, y, z) of node.
The position error Comparative result table of table 1
Beneficial effects of the present invention：Indoor ultrasonic positioning position correcting method can be eliminated because ultrasonic velocity is missed
Position error caused by difference, hardware delay time error, alignment error and other errors, relative to existing method for ultrasonic locating
For, the positional information precision of the destination node obtained by indoor ultrasonic positioning position correcting method is higher.
Brief description of the drawings
Fig. 1 is indoor ultrasonic positioning method, system pie graph；
Fig. 2 is beaconing nodes artwork；
Fig. 3 is position error comparative result figure；
In figure：A is that traditional position error, B are that position correcting method position error, abscissa are data number, ordinate
For position error/㎝.
Embodiment
In order to realize high-precision indoor ultrasonic three-dimensional localization, the invention provides a kind of indoor ultrasonic positioning position
Modification method.The technical scheme to invention is described in detail below in conjunction with the accompanying drawings：
The system architecture composition of indoor ultrasonic alignment system：
Such as Fig. 1 indoor ultrasonic alignment system structure composition figures, its mainly by central station, beaconing nodes, destination node with
And the part of reference station four composition.The specific positioning step in four parts is as follows：
If three beaconing nodes coordinates for being laid in roof fixed position are respectively (x1,y1,z1), (x2,y2,z2),
(x3,y3,z3)；Reference station position coordinates is set as (xu,yu,zu), subscript u is reference station label；
(1) central station transmitting radiofrequency signal, is used as time synchronizing signal.
(2) reference station is received after the time synchronizing signal that central station is sent, and launches ultrasonic signal；Install indoors
The beaconing nodes of fixed position are received after the time synchronizing signal that central station is sent, and start timer, are carried out ranging, are obtained
Range information ρ of the reference station to beaconing nodes kuk；
Above-mentioned k is three beaconing nodes numberings, k=1,2,3；
Above-mentioned ρukFor the distance of the reference station that measures to beaconing nodes k；
(3) range information obtained according to (2) step is resolved by formula (5) obtains reference station measurement three-dimensional coordinate
(x′u,y′u,z′u)；
(4) coordinate will be measured according to formula (6) and reference station standard value is compared and obtains measurement position error correction number
Δ；
(5) central station launch time synchronizing signal again, destination node receives the time synchronized letter that central station is sent
After number, launch ultrasonic signal；The beaconing nodes for installing fixed position indoors receive the time synchronized that central station is sent
After signal, start timer, carry out ranging, obtain destination node to beaconing nodes k range information ρrk, ρrkFor the mesh measured
Node is marked to beaconing nodes k distance；
(6) range information obtained according to (5) step is resolved by formula (7) and obtains destination node three-dimensional coordinate (x 'r,
y′r,z′r)；
(7) the measurement position error correction number Δ obtained using (4) step corrects the three-dimensional seat calculated by formula (8)
Mark, obtains the destination node location coordinate information of higher precision.
It follows that obtaining site error correction factor according to reference station, can accurately it be measured by position correcting method
The three-dimensional coordinate (x, y, z) of destination node.
It is illustrated in figure 2 the specific implementation case beaconing nodes artwork of the present invention, the 1.6m*1.6m area on roof
Lay four beaconing nodes, four beaconing nodes three-dimensional coordinate (coordinate units in domain：Mm) be respectively (0,0,3925), (1600,0,
3925), (1600,1600,3925), (0,1600,3925), ground drop target node carry out indoor ultrasonic positioning experiment,
Conventional ultrasonic wave localization method is respectively adopted and ultrasonic wave position location modification method (takes square area central point as ginseng
Examination point) positions calculations are carried out, position error table and application condition figure are shown in Table 1 and Fig. 3 respectively, with reference to chart as can be seen that adopting
Positioning precision can be preferably improved with ultrasonic wave position location modification method, it is adaptable to indoor accurate position.
The position error Comparative result table of table 1
An above-mentioned specific implementation case for giving the present invention, indoor ultrasonic positioning position correcting method can be realized
Indoor object is accurately positioned.The content not being described in detail in present specification belongs to existing known to professional and technical personnel in the field
There is technology.
Embodiments of the present invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned embodiment party
In formula, the knowledge that those skilled in the art possesses, it can also be made on the premise of present inventive concept is not departed from
Various change.
Claims (1)
1. a kind of indoor ultrasonic positioning position correcting method, it is characterised in that：Positioning system structure includes：Indoor ultrasonic is determined
Position system is by central station, beaconing nodes, destination node and the part of reference station four；
Its main positioning step of the indoor ultrasonic positioning position correcting method is：
If three beaconing nodes coordinates for being laid in roof fixed position are respectively (x1,y1,z1), (x2,y2,z2), (x3,y3,
z3)；Reference station position coordinates is set as (xu,yu,zu), subscript u is reference station label；
(1) central station transmitting radiofrequency signal, is used as time synchronizing signal；
(2) reference station is received after the time synchronizing signal that central station is sent, and launches ultrasonic signal；Installation is fixed indoors
Beaconing nodes at position are received after the time synchronizing signal that central station is sent, and start timer, are carried out ranging, are referred to
Stand to beaconing nodes k range information ρuk；
Above-mentioned k is three beaconing nodes numberings, k=1,2,3；
Above-mentioned ρukFor the distance of the reference station that measures to beaconing nodes k；
(3) range information obtained according to (2) step is resolved by formula (1) obtains reference station measurement three-dimensional coordinate (xu′,yu′,
zu′)；
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Distance of the point to beaconing nodes k；
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Obtain the destination node location coordinate information of higher precision；
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It follows that obtaining site error amendment number according to reference station, target section can accurately be measured by position correcting method
The three-dimensional coordinate (x, y, z) of point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610004556.7A CN105629201B (en) | 2016-01-06 | 2016-01-06 | A kind of indoor ultrasonic positioning position correcting method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610004556.7A CN105629201B (en) | 2016-01-06 | 2016-01-06 | A kind of indoor ultrasonic positioning position correcting method |
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| Publication Number | Publication Date |
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| CN105629201A CN105629201A (en) | 2016-06-01 |
| CN105629201B true CN105629201B (en) | 2017-11-03 |
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| CN201610004556.7A Expired - Fee Related CN105629201B (en) | 2016-01-06 | 2016-01-06 | A kind of indoor ultrasonic positioning position correcting method |
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| CN106291468B (en) * | 2016-10-09 | 2018-08-03 | 无锡职业技术学院 | It is a kind of can quick positioning system and its localization method in the sonication chamber of remote monitoring |
| CN106405603A (en) * | 2016-11-14 | 2017-02-15 | 南昌大学 | Portable efficient long-distance accurate target positioning system and positioning method |
| CN107024679B (en) * | 2017-05-15 | 2019-12-27 | 武汉星巡智能科技有限公司 | Unmanned aerial vehicle indoor positioning calculation method and device |
| CN108008354B (en) * | 2017-12-25 | 2024-08-30 | 上海昂丰装备科技有限公司 | Grab bucket ultrasonic positioning system |
| CN108594215A (en) * | 2018-04-04 | 2018-09-28 | 重庆人文科技学院 | A kind of multi-point cooperative high precision wireless distance-measuring and positioning method |
| CN110736993A (en) * | 2019-10-31 | 2020-01-31 | 重庆交通大学 | ultrasonic positioning system and method for indoor multi-target positioning |
| CN113391304B (en) * | 2021-05-11 | 2023-09-12 | 雷远信息技术有限公司 | Radar positioning method, positioning radar and positioning system |
| CN114966547B (en) * | 2022-05-18 | 2023-05-12 | 珠海视熙科技有限公司 | Compensation method, system and device for improving sound source positioning accuracy |
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