CN107656244A - Based on the critical indoor locating system and method for listening domain ultrasonic wave reaching time-difference - Google Patents
Based on the critical indoor locating system and method for listening domain ultrasonic wave reaching time-difference Download PDFInfo
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- CN107656244A CN107656244A CN201710738625.1A CN201710738625A CN107656244A CN 107656244 A CN107656244 A CN 107656244A CN 201710738625 A CN201710738625 A CN 201710738625A CN 107656244 A CN107656244 A CN 107656244A
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- loudspeaker
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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
Abstract
The invention discloses a kind of based on the critical indoor locating system and method for listening domain ultrasonic wave reaching time-difference, system includes the microphone in ultrasonic signal source, sound power amplifier, multiple loudspeakers and equipment to be positioned, ultrasonic signal source is multisignal source, multiple loudspeakers are separately mounted to indoor diverse location, region where horn mouth towards equipment to be positioned, the ultrasonic signal that each loudspeaker receives is different, and microphone is used for received ultrasonic signal and recorded.Ultrasonic signal source produces different ultrasonic signals, amplified to be played by loudspeaker, using range difference of the equipment to be positioned apart from each loudspeaker is estimated after the microphone collection reception signal of equipment to be positioned, so as to realize the indoor positioning of equipment.The present invention realizes the indoor positioning of low-cost and high-precision without extra signal receiver；Substantially reduce the hardware handles precision for carrying out reaching time-difference estimation；The indoor environment of complexity is adapted to, locating speed is fast.
Description
Technical field
Present invention design indoor positioning field, more particularly to it is a kind of based on the critical interior for listening domain ultrasonic wave reaching time-difference
Alignment system and method.
Background technology
With the popularization of wireless network and intelligent mobile terminal, the research and application of wireless location technology are gradually deep into respectively
Individual field.With data service and the growth of multimedia service data, people are growing for the demand for positioning and navigating, especially
It is the indoor environment in complexity, it is often necessary to determines the position letter of mobile terminal or its holder, equipment and article indoors
Breath.But limited by conditions such as positioning precision and complex indoor environments, fairly perfect location technology at present can not also be very
Good utilization, causes the technical standard of indoor positioning varied.
Indoor positioning technologies mainly have to be entered based on electromagnetic wave signals such as WiFi signal, ultra-broadband signal, Bluetooth beacon signals
Positioning of the row based on signal intensity, signal angle or signal arrival time difference.However, pass through the signal intensity of radiofrequency signal merely
Its positioning precision of the technology of progress indoor positioning is relatively low.And the technology that indoor positioning is carried out by radiofrequency signals such as ultra wide bands needs
Extra signal receiver.
Physically, the spread speed of ultrasonic wave is far below electromagnetic wave propagation speed, can substantially reduce to proceed to and reaches
The hardware handles precision of time difference estimation.Have in existing technology and utilize the letter caused by ultrasonic wave and propagation velocity of electromagnetic wave difference
Number reach the estimation that the time difference enters row distance, so as to realize the positioning of interior.However, the technology is also required to the timing of hardware height
It is synchronous, so as to estimate the reaching time-difference of two different physical signallings, in realization with certain limitation.
The content of the invention
Goal of the invention：In order to solve the problems, such as that prior art is present, the indoor positioning of low-cost and high-precision is realized, the present invention
There is provided a kind of based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference.
It is a further object of the present invention to provide a kind of based on the critical indoor orientation method for listening domain ultrasonic wave reaching time-difference.
Technical scheme：It is a kind of based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, equipment position to be positioned
In the interior space, including ultrasonic signal source, sound power amplifier and multiple loudspeakers, the ultrasonic signal source is more
Signal source, ultrasonic signal source are used to produce multiple different ultrasonic signals, and caused ultrasonic signal passes through sound power
For synchronous transfer to multiple loudspeakers, multiple loudspeakers are separately mounted to indoor diverse location, high pitch loudspeaker after amplifier amplification
Region where horn mouth towards equipment to be positioned, the ultrasonic signal that each loudspeaker receives is different, to be positioned to set
Microphone is housed for upper, the microphone is used for ultrasonic signal and the recording for receiving loudspeaker broadcast.
Further, loudspeaker and ground and wall are more than 50 cm distances, it is possible to reduce ground or wall multipath are anti-
Penetrate the influence to positioning signal.
Further, the frequency range of ultrasonic signal caused by the ultrasonic signal source is high between 20-24KHz
In human auditory system scope.
Further, the sound power amplifier is one or more, and sound power amplifier includes multiple sound channels, can
It is amplified respectively with the sound to multichannel sound channel, the output of each sound channel of sound power amplifier is respectively connecting to each high
Sound loudspeaker.
Further, ultrasonic signal source has multiple, and different ultrasonic signal sources is same by network by ultrasonic signal
Step is transmitted to the sound power amplifier each connected.
Further, the frequency range of ultrasonic signal caused by the ultrasonic signal source is 20-24KHz, high pitch loudspeaker
Whole frequency range in 20-24KHz frequency ranges or band segment have good Frequency Response, can be whole by 20-24KHz
The sound of individual frequency range or band segment broadcasts.
It is a kind of based on the critical indoor orientation method for listening domain ultrasonic wave reaching time-difference, comprise the following steps：
Step 1：Ultrasonic signal source produces is believed the ultrasonic wave of baseband signal coded modulation by different positioning sequences
Number, different ultrasonic signals is inputted into sound power amplifier；
Step 2：The multiple loudspeakers for installing diverse location indoors are numbered, different ultrasonic signals leads to
Cross after sound power amplifier is amplified and be synchronously sent into multiple loudspeakers, the corresponding high pitch of a ultrasonic signal
Loudspeaker are simultaneously broadcasted by loudspeaker, record each loudspeaker and the positioning sequence corresponding with the loudspeaker；
Step 3：Microphone in equipment to be positioned receives the ultrasonic signal that multiple loudspeakers broadcast, and will receive
Ultrasonic signal carry out frequency conversion and demodulate to obtain baseband signal, corresponding to each loudspeaker that baseband signal and step 2 are recorded
Positioning sequence carries out related operation, obtains the peak value after each positioning sequence correlation, passes through the relative position difference of peak value and wheat
The ultrasonic signal that the sample rate of gram wind obtains different loudspeakers transmittings reaches time difference of equipment to be positioned, and by described
Time difference calculates the distance between equipment to be positioned and different loudspeakers difference；
Step 4：The range difference obtained by step 3 and different loudspeaker positional informations, are estimated using CHAN algorithms
Count out the position where equipment to be positioned.
Further, the different positioning sequences in step 1 use the pseudorandom sequence with baseband signal with orthogonal characteristic
Row, orthogonal sequence or other can be used for CDMA coded sequence.
Further, in step 1 ultrasonic signal source in the different ultrasonic signal of 20-24KHz scope internal modulations.
Further, the different ultrasonic signals of ultrasonic signal source modulation can be by using different codings, Huo Zhetong
The signal of different frequency range is made in toning, as long as different positioning sequences can be distinguished.
Beneficial effect：It is provided by the invention it is a kind of based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference and
Method, compared with prior art, merely with the microphone in equipment to be positioned, without extra signal receiver, compare radio frequency
Signal framing precision is high, it is possible to achieve the indoor positioning of low-cost and high-precision；The spread speed of ultrasonic wave is far below electromagnetic wave
Spread speed, the hardware handles precision for carrying out reaching time-difference estimation can be substantially reduced；The indoor environment of complexity is adapted to,
Locating speed is fast.
Brief description of the drawings
Fig. 1 is structured flowchart of the present invention based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference；
Fig. 2 is method flow diagram of the present invention based on the critical indoor positioning for listening domain ultrasonic wave reaching time-difference；
Fig. 3 is that the present invention is illustrated based on digital frequency conversion in the critical indoor locating system for listening domain ultrasonic wave reaching time-difference
Figure.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, equipment to be positioned is located at the interior space, bag
Include ultrasonic signal source, sound power amplifier and multiple loudspeakers, the ultrasonic signal source is multisignal source, ultrasonic wave
Signal source is used to produce multiple different ultrasonic signals, and caused ultrasonic signal is same after the amplification of sound power amplifier
Step is transmitted to multiple loudspeakers, and multiple loudspeakers are separately mounted to indoor diverse location, the horn mouth direction of loudspeaker
Region where equipment to be positioned, the ultrasonic signal that each loudspeaker receives is different, and microphone is housed in equipment to be positioned,
The microphone is used for ultrasonic signal and the recording for receiving loudspeaker broadcast.
As shown in figure 1, based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, equipment 6 to be positioned is located at
The interior space, there are two ultrasonic signal sources, respectively (the hereinafter referred to as X of the first ultrasonic signal source 1 in the present embodimentA) and the
(the hereinafter referred to as X of two ultrasonic signal source 2B)；Two sound power amplifiers, respectively the first sound power amplifier 3 are (following
Referred to as PA) and (the hereinafter referred to as P of second sound power amplifier 4B), PAWithPB respectively with XAAnd XBIt is connected；6 loudspeakers 5, point
Wei not S1, S2, S3, S4, S5, S6, wherein, S1, S2, S3It is connected to sound power amplifier PA；S4, S5, S6It is connected to sound power
Amplifier PB.Loudspeaker 5 is separately mounted to the boundary of indoor different directions, and the horn mouth of loudspeaker 5 is towards to be positioned
Region where equipment, the ultrasonic signal that each loudspeaker 5 receives are different.Microphone is housed in equipment 6 to be positioned, it is described
Microphone is used for ultrasonic signal and the recording for receiving the broadcast of loudspeaker 5.The installation of loudspeaker 5 exceedes with ground and wall
50 cm distances, it can so reduce the influence of ground or wall multipath reflection to positioning signal.
Based on the critical indoor orientation method for listening domain ultrasonic wave reaching time-difference as shown in Fig. 2 comprising the following steps：
Step 1：Ultrasonic signal source produces is believed the ultrasonic wave of baseband signal coded modulation by different positioning sequences
Number, different ultrasonic signals is inputted into sound power amplifier；
Step 2：The multiple loudspeakers for installing diverse location indoors are numbered, different ultrasonic signals leads to
Cross after sound power amplifier is amplified and be synchronously sent into multiple loudspeakers, the corresponding high pitch of a ultrasonic signal
Loudspeaker are simultaneously broadcasted by loudspeaker, record each loudspeaker and the positioning sequence corresponding with the loudspeaker；
Step 3：Microphone in equipment to be positioned receives the ultrasonic signal that multiple loudspeakers broadcast, and will receive
Ultrasonic signal carry out frequency conversion and demodulate to obtain baseband signal, corresponding to each loudspeaker that baseband signal and step 2 are recorded
Positioning sequence carries out related operation, obtains the peak value after each positioning sequence correlation, passes through the relative position difference of peak value and wheat
The ultrasonic signal that the sample rate of gram wind obtains different loudspeakers transmittings reaches time difference of equipment to be positioned, and by described
Time difference calculates the distance between equipment to be positioned and different loudspeakers difference；
Step 4：The range difference obtained by step 3 and different loudspeaker positional informations, are estimated using CHAN algorithms
Count out the position where equipment to be positioned.
In the present embodiment, ultrasonic signal source is multisignal source, and ultrasonic signal source can be by generating for different height offline
The different positioning signal audio files of sound loudspeaker door.Ultrasonic signal source uses pseudo-random sequence as positioning in the present embodiment
Sequence, pseudo-random sequence and baseband signal have orthogonal property, can also use other orthogonal sequences or other can be used for code division
The coded sequence of multiple access.The signal bandwidth of pseudo-random sequence base band is less than 4KHz.In the present embodiment, ultrasonic signal source uses
The Gold sequence maker of different taps generates different pseudo-random sequences.Ultrasonic signal source XAProduce 3 it is different it is pseudo- with
Machine sequenceUltrasonic signal source XBProduce 3 different pseudo-random sequencesDifferent pseudo-random sequences
Between there is preferable orthogonal property.
Ultrasonic signal source is by digital frequency conversion, by the pseudo-random sequence of base bandModulation listens domain ultrasound wave frequency to critical
Section, i.e. more than 20KHz frequency range, obtain the signal after digital frequency conversion modulationDue to the signal bandwidth of pseudo-random sequence base band
Less than 4KHz, the band limits where its ultrasonic signal after modulating is 20-24KHz.Its digital frequency conversion schematic diagram such as Fig. 3 institutes
Show.
The multi channel signals of ultrasonic signal source generationIt is sent into sound power amplifier.Wherein, ultrasonic signal source XA
And XBSignalWithIt can be realized by Ethernet or WLAN and send the synchronization of signal in time.Therefore, most
Achievable loudspeaker S eventually1, S2, S3, S4, S5, S6The voice signal of transmittingIn time same
Step.
Under present embodiment, there is an equipment to be positioned, there is microphone in the equipment to be positioned, can be according to
48KHz sample rate samples to the sound of reception, and the signal for sampling to obtain isThe sound letter of different loudspeaker transmittings
NumberAfter the equipment to be positioned is reached after spatial, the voice signal received isDue to the ultrasonic wave of different loudspeakers transmitting reach equipment to be positioned spatial distance not
Together, the ultrasonic signal from different loudspeakers that equipment to be positioned receives has different relative delays.It is specific real at this
Apply under mode, with loudspeaker S1The ultrasonic signal of transmitting reaches equipment to be positionedTime on the basis of.Other high pitch loudspeakers
S2, S3, S4, S5, S6The ultrasonic signal of transmitting is relative to S1The ultrasonic signal of transmitting reaches equipment to be positionedTime difference be τ21, τ31, τ41, τ51, τ61.Because signal is transmitted by sound wave in space,
Its speed propagated is about 340m/s.Equipment to be positioned is sampled by 48KHz, the Acoustic Wave Propagation corresponding to each of which sampled point
Distance be about 0.007 meter.Therefore, the sampling of voice signal is carried out by the microphone of equipment to be positioned, you can by it is low into
This mode realizes high-precision positioning.
The voice signal received after being sampled due to equipment to be positionedContain and come from loudspeaker S1, S2, S3, S4, S5, S6
Ultrasonic signalEquipment to be positioned is needed the relative reaching time-difference of each ultrasonic signal
Estimated.The voice signal that equipment to be positioned will receive after sampling firstDigital Down Convert is carried out, i.e., by 20-24KHz frequency spectrums
Under ultrasonic signal0-4KHz base band is converted into, obtains baseband signal Y.Equipment to be positioned passes through
By known different loudspeaker S1, S2, S3, S4, S5, S6Corresponding pseudo-random sequenceRelated operation is carried out with baseband signal Y,
Obtain the peak value P after correlation1, P2, P3, P4, P5, P6.It is different that the relative delay of equipment to be positioned is reached due to different loudspeakers,
Obtain different peak value P1, P2, P3, P4, P5, P6Relative alternate position spike can be converted into relative delay, i.e., different loudspeaker S1,
S2, S3, S4, S5, S6Reach the time difference τ of equipment to be positioned21, τ31, τ41, τ51, τ61。
Finally, equipment to be positioned passes through known loudspeaker S1, S2, S3, S4, S5, S6Positional information P1, P2, P3, P4,
P5, P6The time difference τ with location equipment is reached with ultrasonic wave21, τ31, τ41, τ51, τ61, come from using the CHAN algorithms estimation of classics
The position of body.
The present embodiment will listen domain ultrasonic wave based on different the critical of loudspeaker transmitting, utilize the Mike of equipment to be positioned
Range difference of the equipment to be positioned apart from each loudspeaker is estimated after elegance collection reception signal, so as to realize the interior of equipment
Positioning.The inventive method only needs to be broadcasted different voice signals by loudspeaker, recycles equipment to be positioned
Microphone carries out signal acquisition and data analysis, you can realizes indoor positioning.
The present embodiment does not need extra signal receiver, merely with the microphone of equipment to be positioned.In addition, this implementation
Example carries out signal transacting based on ultrasonic signal, and the hardware synchronization of lower accuracy can be used to realize.Therefore, the realization of the present embodiment
Advantage with low complex degree and low cost.
Claims (10)
1. a kind of be located at the interior space based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, equipment to be positioned,
It is characterised in that it includes ultrasonic signal source, sound power amplifier and multiple loudspeakers, the ultrasonic signal source is more
Signal source, ultrasonic signal source are used to produce multiple different ultrasonic signals, and caused ultrasonic signal passes through sound power
For synchronous transfer to multiple loudspeakers, multiple loudspeakers are separately mounted to indoor diverse location, high pitch loudspeaker after amplifier amplification
Region where horn mouth towards equipment to be positioned, the ultrasonic signal that each loudspeaker receives is different, to be positioned to set
Microphone is housed for upper, the microphone is used for ultrasonic signal and the recording for receiving loudspeaker broadcast.
2. according to claim 1 existed based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, its feature
In loudspeaker is with ground and wall more than 50 cm distances.
3. existed as claimed in claim 1 or 2 based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, its feature
In the frequency range of ultrasonic signal is between 20-24KHz caused by the ultrasonic signal source.
4. as claimed in claim 3 based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, it is characterised in that
The sound power amplifier is one or more, and sound power amplifier includes multiple sound channels, can be to the sound of multichannel sound channel
Cent is not amplified, and the output of each sound channel of sound power amplifier is respectively connecting to each loudspeaker.
5. as claimed in claim 4 based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, it is characterised in that
Ultrasonic signal source has multiple, different ultrasonic signal source to transmit ultrasonic signal to each connecting by Network Synchronization
Sound power amplifier.
6. existed as claimed in claim 1 or 2 based on the critical indoor locating system for listening domain ultrasonic wave reaching time-difference, its feature
In the frequency range of ultrasonic signal caused by the ultrasonic signal source is 20-24KHz, and loudspeaker is in 20-24KHz frequencies
Whole frequency range or band segment in the range of rate have good Frequency Response.
It is 7. a kind of based on the critical indoor orientation method for listening domain ultrasonic wave reaching time-difference, it is characterised in that to comprise the following steps：
Step 1：Ultrasonic signal source produces the ultrasonic signal by different positioning sequences to baseband signal coded modulation, will
Different ultrasonic signal input sound power amplifiers；
Step 2：The multiple loudspeakers for installing diverse location indoors are numbered, different ultrasonic signals passes through sound
Sound power amplifier is synchronously sent into multiple loudspeakers after being amplified, the corresponding loudspeaker of a ultrasonic signal
And broadcasted by loudspeaker, record each loudspeaker and the positioning sequence corresponding with the loudspeaker；
Step 3：Microphone in equipment to be positioned receives the ultrasonic signal that multiple loudspeakers broadcast, super by what is received
Acoustic signals carry out frequency conversion and demodulate to obtain baseband signal, positioning corresponding to each loudspeaker that baseband signal and step 2 are recorded
Sequence carries out related operation, obtains the peak value after each positioning sequence correlation, passes through the relative position difference and microphone of peak value
Sample rate obtain the ultrasonic signal of different loudspeakers transmitting and reach the time difference of equipment to be positioned, and pass through the time
Difference calculates the distance between equipment to be positioned and different loudspeakers difference；
Step 4：The range difference obtained by step 3 and different loudspeaker positional informations, are estimated using CHAN algorithms
Position where equipment to be positioned.
8. according to claim 7 existed based on the critical indoor orientation method for listening domain ultrasonic wave reaching time-difference, its feature
In, different positioning sequences in step 1 use the pseudo-random sequence that there is orthogonal characteristic with baseband signal, orthogonal sequence or
Other can be used for the coded sequence of CDMA.
9. according to claim 7 existed based on the critical indoor orientation method for listening domain ultrasonic wave reaching time-difference, its feature
In ultrasonic signal source is in the different ultrasonic signal of 20-24KHz scope internal modulations in step 1.
10. according to claim 7 existed based on the critical indoor orientation method for listening domain ultrasonic wave reaching time-difference, its feature
Modulating different ultrasonic signals in, ultrasonic signal source can be by using different coding, or by being modulated into different frequencies
The signal of section.
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| CN110333540A (en) * | 2019-07-09 | 2019-10-15 | 中科传启（苏州）科技有限公司 | A kind of life body detecting method, equipment and automobile data recorder |
| CN110333541A (en) * | 2019-07-09 | 2019-10-15 | 中科传启（苏州）科技有限公司 | A kind of life body detecting method, equipment and automobile data recorder |
| CN110988799A (en) * | 2019-12-05 | 2020-04-10 | 上海无线通信研究中心 | High-precision positioning system and method for moving object in tunnel based on ultrasonic waves |
| CN112400085A (en) * | 2018-05-15 | 2021-02-23 | 三菱重工制冷空调系统株式会社 | Air conditioning control device, air conditioning control system, air conditioning control method, and program |
| CN112905145A (en) * | 2019-11-19 | 2021-06-04 | 英业达科技有限公司 | Notebook computer |
| WO2022088436A1 (en) * | 2020-10-28 | 2022-05-05 | 苏州触达信息技术有限公司 | Method and apparatus for positioning person in water |
| WO2022156566A1 (en) * | 2021-01-25 | 2022-07-28 | 华为技术有限公司 | Device interaction method, position determining method, electronic device, and chip system |
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| WO2022156566A1 (en) * | 2021-01-25 | 2022-07-28 | 华为技术有限公司 | Device interaction method, position determining method, electronic device, and chip system |
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