CN106772325A - A kind of trans-regional ultrasound locating method and system based on RF - Google Patents
A kind of trans-regional ultrasound locating method and system based on RF Download PDFInfo
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- CN106772325A CN106772325A CN201611050287.4A CN201611050287A CN106772325A CN 106772325 A CN106772325 A CN 106772325A CN 201611050287 A CN201611050287 A CN 201611050287A CN 106772325 A CN106772325 A CN 106772325A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52003—Techniques for enhancing spatial resolution of targets
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention discloses a kind of trans-regional ultrasound locating method based on RF and system, and the system includes at least one receiver, and is arranged at synchronizer and at least three transmitters in each region.When being positioned, the bluetooth signal intensity average value for being primarily based on each area transmitter determines receiver affiliated area, then it is determined that obtain the distance between multiple difference transmitters and receiver in region, is finally based on the position that multipoint positioning algorithm obtains receiver.The present invention can realize ensureing that positioning precision is ± 5 ㎝ while trans-regional positioning, and system cost is low, arrange that simple, easily operated, real-time is good, disclosure satisfy that the requirement of multizone indoor positioning.
Description
Technical field
The present invention relates to indoor positioning technologies field.More particularly, to a kind of trans-regional localization by ultrasonic side based on RF
Method and system.
Background technology
With scientific and technological progress and the fast development of economic society, people increasingly increase positioning with the demand of navigation, especially
It is in complicated indoor environment, it is often necessary to determine various facilities and article positional information indoors.At present, although GPS systems
System it is highly developed, good positioning and navigation Service can be provided for people, but indoors under environment, gps system without
Work of the image of Buddha in outdoor stabilization like that.Indoor positioning is to realize that position positions in environment indoors, and environment cannot make indoors
When using satellite fix, using indoor positioning technologies as satellite fix auxiliary positioning, solve satellite-signal reach ground when compared with
Problem weak, that building can not be penetrated, the position that final positioning object is presently in.
In recent years, people propose various indoor positioning technologies, such as infrared confirming orientation technology, inertial positioning technology, electricity one after another
Magnetic orientation technology, light tracking technique, computer vision location technology and super wideband wireless location technology etc., the field has become
, there is wide application market and prospect in popular research field.But, all be present some defects in these location technologies, be such as based on
Infrared positioning method, because infrared signal line-of-sight transmission and by indoor light can only be influenceed larger, has in positioning precision
Limitation；Inertial positioning existence time drift phenomenon, positioning precision is poor；Electromagnetic location to electromagnetic interference and magnetic metal very
Sensitivity is, it is necessary to correct, system delay is big；Vision positioning technology has the advantages that investigative range is wide, obtains information completely, but the skill
Art needs substantial amounts of image processing techniques, and the requirement to processor is very high；Super wideband wireless location technology (UWB) positioning precision ±
10CM, but it involves great expense, and a set of most simple system is required for units up to ten thousand, commercial high cost；In addition, the anti-interference energy of UWB signal
Power difference is, it is necessary to the coaxial cable of specialty；Further, the receiver of UWB can not directly obtain location data, it is necessary to central data service
On the one hand device, so cause the delay of data, is on the other hand unfavorable for positioning the location privacy of target.By positioning time, essence
The limitation of the condition such as degree and complex environment, fairly perfect location technology cannot also be utilized well at present.
In numerous location technologies, ultrasonic positioning techniques have spread speed as a kind of contactless detection mode
Low, longitudinal frame is high, to color, the advantage such as illuminance is insensitive, be easy to directional transmissions, good directionality, intensity are easily controlled,
The extensive application in location technology.From fields such as initial robot localization, blind man navigations, and to sophisticated weapons,
The development of aircraft, battlefield virtual training, the Prototype Design of the product for civilian use, manufacture and assembly and educational training, science
Contour frontier is studied and entertains to extend.Ultrasonic positioning techniques all have great application potential, are always in these years to position
The focus of technical field research.
But, ultrasound covers localization by ultrasonic systems more when multiple isolated areas need positioning without penetrability, it is necessary to arrange
System.What supersonic sounding sent is pulse array, and the pulse launched between different launch points is identical, without carrying transmitter
The information of region, therefore, No. 1 launch point of region A and No. 1 launch point of region B cannot be distinguished by.When receiver fortune
When moving the critical zone to region A and B, No. 1 ultrasonic signal of launch point in A areas can be received, can also receive No. 1 launch point in B areas
Information, similarly, other launch points also have similar problem, this be accomplished by we find another obtain receiver where
The method in region.
Accordingly, it is desirable to provide it is a kind of have good location effect and suitable for multizone trans-regional positioning method and be
System.
The content of the invention
It is an object of the present invention to overcome drawbacks described above, there is provided a kind of trans-regional ultrasound locating method based on RF.
To reach above-mentioned purpose, the present invention uses following technical proposals：
A kind of trans-regional ultrasound locating method based on RF, the method is comprised the following steps：
S1：Bluetooth signal intensity average value based on each area transmitter determines receiver affiliated area；
S2：Synchronizer launches the n-th synchronizing signal；
S3：N-th the n-th synchronizing signal of transmitter receipt simultaneously sends ultrasonic wave, and receiver receives the n-th synchronizing signal and starts meter
When；
S4：Receiver receives ultrasonic wave and stops timing, the record ultrasonic transmission time be Tn, the n-th transmitter with connect
Device is received apart from Sn=Tn*v, v is ultrasonic propagation velocity；
S5：The common n times of the S2-S4 that repeats the above steps, respectively obtain the distance of N number of transmitter and receiver；
S6：Distance based on N number of transmitter Yu receiver, is calculated the position of receiver；
Value is 1-N to n successively, wherein, n, N are natural number and N >=3.
Preferably, step " S1：Bluetooth signal intensity average value based on each area transmitter determines the affiliated area of receiver
Domain " specifically includes following steps：
S101：Each transmitter in each region broadcasts respective Bluetooth signal；
S102：The Bluetooth signal of receiver scanning transmitter broadcast；
S103：Divided by the transmitter quantity in region, be somebody's turn to do the bluetooth signal intensity phase adduction of the same area by receiver
The bluetooth signal intensity average value in region；
S104：It is receiver affiliated area by comparing the region for determining that there is maximum bluetooth signal intensity average value.
Preferably, synchronizing signal is RF signals.
Preferably, the synchronizing signal of synchronizer transmitting carries the ID and region ID of correspondence transmitter.
It is further preferred that transmitter is only responded to the synchronizing signal with region ID and self ID.
Preferably, ultrasonic propagation velocity v is the ultrasonic velocity under Current Temperatures.
Preferably, step " S6：Distance based on N number of transmitter Yu receiver, is calculated the position of receiver " it is specific
Comprise the following steps：
S601：The range data of N number of transmitter and receiver is stored in data buffer area；
S602：Read each data ID；
S603：Choosing at least three has the data of different ID；
S604：The position that multipoint positioning algorithm calculates receiver is based on according to the data chosen.
Preferably, step " S603：Choose newest according to storage order in data of the selection at least three with different ID "
At least three of storage have the data of different ID.
It is another object of the present invention to provide a kind of trans-regional ultrasound positioning system based on RF.
To reach above-mentioned purpose, the present invention uses following technical proposals：
A kind of trans-regional ultrasound positioning system based on RF, the system includes at least one receiver, and is arranged at each
Synchronizer and at least three transmitters in region, wherein
Synchronizer, synchronizing signal is launched with certain frequency；
Transmitter, broadcasts Bluetooth signal；Receive synchronizing signal and send ultrasonic wave；
Receiver, scans Bluetooth signal, and receiver affiliated area is determined based on Bluetooth signal；Receive synchronizing signal and start
Timer；Ultrasonic wave is received to believe and stop timer；Transmitter and receiver are calculated according to timer and ultrasonic propagation velocity
Distance, be calculated the position of receiver；
Preferably, receiver is provided with temperature detecting module, obtains Current Temperatures.
Beneficial effects of the present invention are as follows：
A kind of trans-regional ultrasound locating method and system based on RF of the invention, while trans-regional positioning being realized
Guarantee positioning precision is ± 5 ㎝, and trans-regional ultrasound positioning system low cost of the invention, about super wideband wireless location technology
(UWB) 1/10th, system arranges that simple, easily operated, real-time is good, disclosure satisfy that the requirement of multizone indoor positioning.
Brief description of the drawings
Specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 shows a kind of trans-regional ultrasound locating method block diagram based on RF.
Fig. 2 shows to determine the method and step figure of receiver affiliated area.
Fig. 3 shows to determine the method and step figure of receiver position in affiliated area.
Fig. 4 shows the trans-regional ultrasound positioning system schematic diagram based on RF in embodiment 1.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further with reference to preferred embodiments and drawings
It is bright.Similar part is indicated with identical reference in accompanying drawing.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
Because ultrasonic wave does not have a penetrability, thus multiple isolated areas when needing positioning, it is necessary to arrange many set localization by ultrasonic
System.When needing the object affiliated area of positioning uncertain or during boundary in different zones, existing excusing from death alignment system is very
Hardly possible is accurately positioned to it.
In the present invention, a kind of trans-regional ultrasound positioning system based on RF, the system includes at least one receiver, and sets
The synchronizer and at least three transmitters being placed in each region, wherein
Synchronizer, synchronizing signal is launched with certain frequency；
Transmitter, broadcasts Bluetooth signal；Receive synchronizing signal and send ultrasonic wave；
Receiver, scans Bluetooth signal, and receiver affiliated area is determined based on Bluetooth signal；Receive synchronizing signal and start
Timer；Ultrasonic wave is received to believe and stop timer；Transmitter and receiver are calculated according to timer and ultrasonic propagation velocity
Distance, be calculated the position of receiver.
Its operation principle is as follows：Other regions are more than according to receiver affiliated area bluetooth signal intensity to be positioned, it is considered to
May be different to each area transmitter quantity, therefore the bluetooth signal intensity average value in region is judged to be positioned as standard
Receiver affiliated area.A synchronizer and at least three transmitters are designed with each region in multiple regions, each hair
Emitter broadcasts the Bluetooth signal of oneself.During work, receiver receives Bluetooth signal and Bluetooth signal is classified, same by belonging to
Divided by the transmitter quantity in the region after the bluetooth signal intensity value addition in one region, the as bluetooth signal intensity in the region is put down
Average.It is compared by the bluetooth signal intensity average value to different zones, it is determined that having maximum bluetooth signal intensity average
The region of value is the affiliated area of receiver to be positioned.
After determining receiver affiliated area, the position of receiver is further determined.Based on three-point fix principle, at this
At least different three known location points to the distance of receiver are determined in region, you can determine the position of receiver.In the present invention,
Each region sets a synchronizer and at least three transmitters.During work, synchronizer is called out in order by launching synchronizing signal
Each transmitter, transmitter and receiver wake up while receiving the synchronizing signal, transmitter sends super after synchronizing signal is received
Acoustical signal, receiver receives the ultrasonic signal and calculates the time difference for receiving synchronizing signal and receiving ultrasonic signal.Due to synchronization
Signal is chosen for the signal with the light velocity, it is believed that transmitter and the receiver sync response synchronizing signal, therefore, receiver
The time difference of calculating is transmission time of the ultrasonic wave from transmitter to receiver.Further, it is multiplied by with the transmission time super
The transmission speed of sound wave is actual range of the transmitter apart from receiver.Similarly, other transmitters are obtained apart from receiver
Distance.Finally, based on three-point fix algorithm, it is calculated the position of receiver.
In the present invention, synchronizer RF signal of the transmitting with region ID and transmitter ID is used as synchronizing signal.Due to RF
Signal has penetrability, so can guarantee that the synchronizing signal of synchronizer transmitting in each region in synchronizing signal with region ID
Act only on the transmitter in the region.Because the synchronizing signal carries transmitter ID, ensure that to be measured after waking up every time
Transmitter.Preferably, if the transmitter that each region is set is respectively provided with different ID, need not be carried in synchronizing signal
Region ID.Receiver can receive all synchronizing signals, while the time of its record and range data are launched with correspondence
The ID of device.Because RF signals have the spread speed for meeting application claims (RF signals are electromagnetic transmissions, with light velocity propagation)
With low cost, be easily achieved the characteristics of, so from RF signals as synchronizing signal.
In practice, the spread speed of ultrasonic wave has been influenced by temperature obvious temperature characterisitic, and this will influence whether range finding
With final positioning.Therefore, receiver is provided with temperature detecting module in the present invention, for obtaining Current Temperatures, according to different
Current temperature value chooses the ultrasonic propagation velocity under corresponding temperature, can further ensure that range finding is accurate with final positioning
Property.
As shown in figure 1, in the present invention, a kind of trans-regional ultrasound locating method based on RF, the method is comprised the following steps：
S1：Bluetooth signal intensity average value based on each area transmitter determines receiver affiliated area, specifically include with
Lower step, as shown in Figure 2：
S101：Each transmitter in each region broadcasts respective Bluetooth signal；
S102：The Bluetooth signal of receiver scanning transmitter broadcast；
S103：Divided by the transmitter quantity in region, be somebody's turn to do the bluetooth signal intensity phase adduction of the same area by receiver
The bluetooth signal intensity average value in region；
S104：It is receiver affiliated area by comparing the region for determining that there is maximum bluetooth signal intensity average value；
S2：Synchronizer launches the n-th synchronizing signal；
S3：N-th the n-th synchronizing signal of transmitter receipt simultaneously sends ultrasonic wave, and receiver receives the n-th synchronizing signal and starts meter
When；
S4：Receiver receives ultrasonic wave and stops timing, the record ultrasonic transmission time be Tn, the n-th transmitter with connect
Device is received apart from Sn=Tn*v, v is ultrasonic propagation velocity；
S5：The common n times of the S2-S4 that repeats the above steps, respectively obtain the distance of N number of transmitter and receiver；
S6：Distance based on N number of transmitter Yu receiver, the position for being calculated receiver specifically includes following steps,
As shown in Figure 3：
S601：The range data of N number of transmitter and receiver is stored in data buffer area；
S602：Read each data ID；
S603：Choosing at least three has the data of different ID；
S604：The position that multipoint positioning algorithm calculates receiver is based on according to the data chosen；
Value is 1-N to n successively, wherein, n, N are natural number and N >=3.
The present invention can be also used for object of the positioning with certain translational speed.When being positioned to mobile object, Ying Gen
The synchronizing signal tranmitting frequency of synchronizer is set according to the translational speed of object.It should be noted that should now be selected according to storage order
Taking at least three of newest storage has the data of different ID.
Embodiment 1
The present embodiment includes closely coupled region A and region B, as shown in figure 4, trans-regional ultrasound positioning system includes
One receiver 6 and it is arranged on the synchronizer 5 and four transmitters 1,2,3 and 4 in region A and region B in any region.
The setting of transmitter quantity will guarantee to cover all scopes of one's respective area, meanwhile, the quantity of transmitter is more, and positioning result is got over
Accurately.
Step one：Determine receiver affiliated area
4 transmitters in 4 transmitters and region B in the A of region broadcast respective Bluetooth signal；In receiver scanning
State 8 Bluetooth signals；Based on the Bluetooth signal Mac addresses of default all transmitters in receiver, receiver will be scanned
Bluetooth signal is classified by region；Receiver 4 bluetooth signal intensities of a-quadrant are added after divided by a-quadrant transmitter number
Amount 4, obtains the bluetooth signal intensity average value X of a-quadrant；Receiver 4 bluetooth signal intensities in B regions are added after divided by B
Area transmitter quantity 4, obtains the bluetooth signal intensity average value Y in B regions；By comparing the size of X and Y, it is determined that having most
The region of big bluetooth signal intensity average value is receiver affiliated area.In the present embodiment, such as X ＞ Y, then it is assumed that belonging to receiver
Region is a-quadrant.
Step 2：Determine position of the receiver in a-quadrant
In a-quadrant
1), first synchronizing signal of the synchronizer transmitting with a-quadrant ID and first transmitter ID；The first hair in a-quadrant
Emitter and receiver receive first synchronizing signal simultaneously；First transmitter sends ultrasound while receiving first synchronizing signal
Ripple；Receiver starts timer while receiving first synchronizing signal；Receiver stops timer when receiving ultrasonic wave；Meter
When device record the time be T1；With receiver apart from S1=T1*v, v is ultrasonic propagation velocity to first transmitter.
2), second synchronizing signal of the synchronizer transmitting with a-quadrant ID and second transmitter ID；The second hair in a-quadrant
Emitter and receiver receive second synchronizing signal simultaneously；Second transmitter sends ultrasound while receiving second synchronizing signal
Ripple；Receiver starts timer while receiving second synchronizing signal；Receiver stops timer when receiving ultrasonic wave；Meter
When device record the time be T2；With receiver apart from S2=T2*v, v is ultrasonic propagation velocity to second transmitter.
3), threeth synchronizing signal of the synchronizer transmitting with a-quadrant ID and the 3rd transmitter ID；The 3rd hair in a-quadrant
Emitter and receiver receive the 3rd synchronizing signal simultaneously；Ultrasound is sent while 3rd three synchronizing signal of transmitter receipt
Ripple；Receiver starts timer while receiving three synchronizing signals；Receiver stops timer when receiving ultrasonic wave；Meter
When device record the time be T3；With receiver apart from S3=T3*v, v is ultrasonic propagation velocity to 3rd transmitter.
4), fourth synchronizing signal of the synchronizer transmitting with a-quadrant ID and the 4th transmitter ID；The 4th hair in a-quadrant
Emitter and receiver receive the 4th synchronizing signal simultaneously；Ultrasound is sent while 4th four synchronizing signal of transmitter receipt
Ripple；Receiver starts timer while receiving four synchronizing signals；Receiver stops timer when receiving ultrasonic wave；Meter
When device record the time be T4；With receiver apart from S4=T4*v, v is ultrasonic propagation velocity to 4th transmitter.
5), above-mentioned S1-S4 data are stored in data buffer area by receiver；Read the ID of each data；If above-mentioned 4 ID
Different, then application aforementioned four data are based on the position that multipoint positioning algorithm calculates receiver；If having three in above-mentioned 4 ID
Individual different, then three data of the application with different ID are based on the position that multipoint positioning algorithm calculates receiver；If on
Mutually different ID quantity is less than three in stating 4 ID, it is impossible to is positioned, restarts position fixing process.
In the present embodiment, synchronizer includes MCU controllers and RF radio-frequency modules；Transmitter includes that MCU controllers, bluetooth are wide
Broadcasting module, RF radio-frequency modules and ultrasound emission module；Receiver include MCU controllers, bluetooth scan module, RF radio-frequency modules and
Ultrasonic reception module.
In the present embodiment, area to be targeted is square space region, and 4 transmitters are respectively arranged at square space region
Four upper angles and by could be adjusted to angle to cover whole region to greatest extent.In the present embodiment, ultrasound emission module
Ultrasonic transducer is selected with ultrasonic reception module, wherein, ultrasound emission module includes 7 ultrasonic transducers in each transmitter,
In two rows distribution (above arranging 3, lower row 4)；The ultrasonic reception module of receiver includes 6 ultrasonic transducers, in uniform
Annular distribution.Because the field angle of ultrasonic transducer is about 60 ° ± 10 °, this setup can be before device volume be ensured
Put, whole region is covered to greatest extent, realize good locating effect.
It should be noted that calmodulin binding domain CaM shapes and sizes are wanted in the specific setting of transmitter and receiver, with to greatest extent
For the purpose of covering, it is not limited in the set-up mode in the present embodiment.
Preferably, receiver also include location data forwarding module, for by location data by WIFI, bluetooth or
The communication modes such as Zigbee send.
Embodiment 2
, with embodiment 1, receiver is provided with temperature detecting module for other, for obtaining Current Temperatures.Carrying out the n-th transmitting
When device is calculated with receiver distance, Sn=Tn*v, v is the ultrasonic propagation velocity determined according to Current Temperatures in formula.By drawing
Enter temperature detecting module, real-time update is carried out to ultrasonic propagation velocity, temperature can be prevented effectively to ultrasonic propagation velocity
The error that influence brings, improves positioning precision.
Embodiment 3
Other with embodiment 1 or 2, when being positioned for the receiver with certain translational speed, according to receiver
Translational speed to synchronizer send synchronizing signal frequency be adjusted, meanwhile, carry out multipoint positioning algorithm calculate receiver
During position, the time of buffer zone is stored according to data, chooses last at least three data being stored in and calculated.
It should be noted that being applied to the receiver that moves slowly in the present embodiment, translational speed will be too fast when will cause different
Carve the position data disunity of acquisition and cannot be accurately positioned.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right
The restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms, all of implementation method cannot be exhaustive here, it is every to belong to this hair
Obvious change that bright technical scheme is extended out changes row still in protection scope of the present invention.
Claims (10)
1. a kind of trans-regional ultrasound locating method based on RF, it is characterised in that the method is comprised the following steps：
S1：Bluetooth signal intensity average value based on each area transmitter determines receiver affiliated area；
S2：Synchronizer launches the n-th synchronizing signal；
S3：N-th synchronizing signal described in n-th transmitter receipt simultaneously sends ultrasonic wave, and receiver receives n-th synchronizing signal and opens
Beginning timing；
S4：Receiver receives the ultrasonic wave and stops timing, the record ultrasonic transmission time be Tn, the n-th transmitter with connect
Device is received apart from Sn=Tn*v, v is ultrasonic propagation velocity；
S5：The common n times of the S2-S4 that repeats the above steps, respectively obtain the distance of N number of transmitter and receiver；
S6：Distance based on N number of transmitter Yu receiver, is calculated the position of receiver；
Value is 1-N to n successively, wherein, n, N are natural number and N >=3.
2. trans-regional ultrasound locating method according to claim 1, it is characterised in that the step " S1：Based on each region
The bluetooth signal intensity average value of transmitter determines receiver affiliated area " specifically include following steps：
S101：Each transmitter in each region broadcasts respective Bluetooth signal；
S102：Receiver scans the Bluetooth signal of the transmitter broadcast；
S103：Divided by the transmitter quantity in the region, be somebody's turn to do the bluetooth signal intensity phase adduction of the same area by receiver
The bluetooth signal intensity average value in region；
S104：It is receiver affiliated area by comparing the region for determining that there is maximum bluetooth signal intensity average value.
3. trans-regional ultrasound locating method according to claim 1, it is characterised in that the synchronizing signal is RF signals.
4. trans-regional ultrasound locating method according to claim 1, it is characterised in that the synchronous letter of the synchronizer transmitting
Number with correspondence transmitter ID and region ID.
5. trans-regional ultrasound locating method according to claim 4, it is characterised in that the transmitter is only to the area
The synchronizing signal of domain ID and self ID is responded.
6. trans-regional ultrasound locating method according to claim 1, it is characterised in that the ultrasonic propagation velocity v is
Ultrasonic velocity under Current Temperatures.
7. trans-regional ultrasound locating method according to claim 1, it is characterised in that the step " S6：Based on N number of hair
Emitter and the distance of receiver, are calculated the position of receiver " specifically include following steps：
S601：The range data of N number of transmitter and receiver is stored in data buffer area；
S602：Read each data ID；
S603：Choosing at least three has the data of different ID；
S604：The position that multipoint positioning algorithm calculates receiver is based on according to the data chosen.
8. trans-regional ultrasound locating method according to claim 7, it is characterised in that the step " S603：Choose at least
Choosing at least three of newest storage according to storage order in three data with different ID " has the data of different ID.
9. using the trans-regional ultrasound positioning system of any one of claim 1-8 method, it is characterised in that the system includes
At least one receiver, and synchronizer and at least three transmitters in each region are arranged at, wherein
Synchronizer, synchronizing signal is launched with certain frequency；
Transmitter, broadcasts Bluetooth signal；Receive the synchronizing signal and send ultrasonic wave；
Receiver, scans Bluetooth signal, and receiver affiliated area is determined based on the Bluetooth signal；Receive the synchronizing signal simultaneously
Start timer；The ultrasonic wave is received to believe and stop timer；Transmitter is calculated according to timer and ultrasonic propagation velocity
With the distance of receiver, the position of receiver is calculated.
10. trans-regional ultrasound positioning system according to claim 9, it is characterised in that the receiver is provided with temperature
Detection module, obtains Current Temperatures.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109597110A (en) * | 2018-11-08 | 2019-04-09 | 昂科信息技术（上海）股份有限公司 | Trans-regional equipment localization method, system, device and medium |
| CN109982279A (en) * | 2019-03-28 | 2019-07-05 | 中国科学技术大学 | Indoor orientation method and device based on bluetooth and audio |
| CN111918206A (en) * | 2020-08-07 | 2020-11-10 | 昂科信息技术（上海）股份有限公司 | Method and system for improving area positioning certainty |
| CN112393726A (en) * | 2019-08-16 | 2021-02-23 | 苏州触达信息技术有限公司 | Ultrasonic positioning system, method, device and computer readable storage medium |
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| CN101420749A (en) * | 2008-12-02 | 2009-04-29 | 中国科学技术大学苏州研究院 | Determining method for indoor node region of wireless sensor network |
| EP2550542B1 (en) * | 2010-03-23 | 2016-10-19 | University Of Oslo | Robust ultrasonic indoor positioning system with high accuracy |
| CN102721942A (en) * | 2012-06-29 | 2012-10-10 | 中国科学院声学研究所 | Acoustic positioning system and acoustic positioning method for object in building environment |
| CN103941231A (en) * | 2014-05-13 | 2014-07-23 | 李建 | Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing |
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| CN109982279A (en) * | 2019-03-28 | 2019-07-05 | 中国科学技术大学 | Indoor orientation method and device based on bluetooth and audio |
| CN112393726A (en) * | 2019-08-16 | 2021-02-23 | 苏州触达信息技术有限公司 | Ultrasonic positioning system, method, device and computer readable storage medium |
| CN112393726B (en) * | 2019-08-16 | 2023-10-27 | 苏州触达信息技术有限公司 | Ultrasonic positioning system, method, device and computer readable storage medium |
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