CN109946650A - A kind of positioning system and method that wireless synchronization transmitting-receiving is isolated - Google Patents
A kind of positioning system and method that wireless synchronization transmitting-receiving is isolated Download PDFInfo
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- CN109946650A CN109946650A CN201910294010.3A CN201910294010A CN109946650A CN 109946650 A CN109946650 A CN 109946650A CN 201910294010 A CN201910294010 A CN 201910294010A CN 109946650 A CN109946650 A CN 109946650A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention belongs to ultrasonic wave location technology fields, provide a kind of positioning system and method that wireless synchronization transmitting-receiving is isolated.This kind of wireless synchronization receives and dispatches multiple beacon elements that isolated positioning system includes: car body, the transmitting being set on car body and data processing unit and is set in target orientation range, transmitting and data processing unit include: ultrasonic signal generator, data processing module one, wireless communication module one, directional-rotation device, rotary encoder, and beacon element includes ultrasound signal receipt device, wireless communication module two, data processing module two.This kind of wireless synchronization receives and dispatches isolated positioning system and shortens ultrasonic wave positioning prover time, extends the maintenance period of beacon element, save the cost.
Description
Technical field
The present invention relates to ultrasonic wave location technology fields, and in particular to a kind of wireless synchronization receive and dispatch isolated positioning system and
Method.
Background technique
Ultrasonic wave location technology is mainly used for interior, needs higher positioning accuracy, can not utilize satellite positioning signal or defend
Star positioning accuracy is unable to satisfy the occasion of requirement.Representational method for ultrasonic locating and system have ActiveBat and
Cricket etc. utilizes the integrated ultrasonic ranging method of wireless sensor research and development bidirectional transmit-receive and system in addition, also having.
ActiveBat positioning system is positioned according to arrival time (TOA) localization method, and is estimated using maximum likelihood
Calculating method is to improve positioning accuracy.ActiveBat label is housed, it is same as the time that controller sends radiofrequency signal in positioning terminal
Signal is walked, signal projector (Bat label) time of receipt (T of R) synchronization signal sends ultrasonic wave wave signal immediately, the positioning letter on roof
Mark (AP) be used for receive controller transmission radiofrequency signal and Bat label send ultrasonic signal, and calculate up to when
Between difference t, measure the distance between Bat label and beaconing nodes information.Central apparatus is collected each distance measure and is positioned
It resolves.
Cricket positioning system is positioned according to reaching time-difference (TDOA) location algorithm, it is by positioning terminal, fixation
The position beaconing nodes on ceiling and master controller composition in doors.Beaconing nodes are distributed by carrier sense mode
Radio-frequency channel, when the radio frequency signal channel free time, beaconing nodes emit ultrasonic signal and radiofrequency signal simultaneously；Positioning terminal is used
In the reaching time-difference for receiving and extracting two kinds of signals, the distance between positioning terminal and beaconing nodes are then calculated, it is most laggard
Row positions calculations.
The integrated ultrasonic ranging method of bidirectional transmit-receive and system based on wireless sensor pass through wireless network synchronization
In system after each node, ultrasonic signal, receiving node received ultrasonic signal and timing are sent by sending node, using arrival
Time (TOA) method carries out ranging and positioning.
And the major defect of ActiveBat positioning system and Cricket positioning system is that system lays complexity, to prevent
Influence of the barrier to ultrasonic signal, localizer beacon (AP) need all installations on the ceiling of the room；When beacon occurs
When the problem of failure or not enough power supply, safeguard relatively difficult；Due to the reason of installation site, both positioning systems can not be applied
In outdoor.In addition, ActiveBat positioning system is not suitable for carry out system extension, therefore be not suitable for a wide range of indoor positioning,
Cricket positioning system positioning terminal energy consumption is larger, and the response time is slower.
The integrated ultrasonic ranging method of bidirectional transmit-receive and system defect based on wireless sensor are each node
8 or more ultrasonic wave modules are used, volume is big, and system construction is complicated, and cost is higher.Since each node will carry out ultrasound
Wave receives and dispatches operation and to carry out data processing, so energy consumption is larger, is unfavorable for the non-maintaining use of long-time of positioning system.
Therefore needing one kind, low energy consumption, and the response time is short, wide adaptation range, localization method easy to maintain.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide one kind, low energy consumption, and the response time is short, application scenarios
More, easy to maintain positioning systems and method.
In order to achieve the above-mentioned object of the invention, a kind of wireless synchronization provided by the invention receives and dispatches isolated positioning system using such as
Lower technical solution:
A kind of positioning system that wireless synchronization transmitting-receiving is isolated, including car body, the transmitting and data processing that are set on car body
Unit and the multiple beacon elements being set in target orientation range, the transmitting and data processing unit include: ultrasonic wave letter
Number generator, data processing module one, wireless communication module one, directional-rotation device, rotary encoder, the beacon element packet
Ultrasound signal receipt device, wireless communication module two, data processing module two are included,
The information of the rotary encoder record body movement simultaneously sends information to data processing module one,
The data processing module one receives rotary encoder information and controls directional-rotation device, ultrasonic signal occurs
Device work,
The directional-rotation device controls the direction of the launch of the ultrasonic signal generator,
The ultrasonic signal generator is generated and transmitted by ultrasonic signal,
The ultrasound signal receipt device received ultrasonic signal
The data processing module two controls the work of ultrasound signal receipt device and received ultrasonic signal receiver receives
The information arrived,
Pass through wireless communication module one and wireless telecommunications mould between the data processing module one and data processing module two
Block two carries out information transmission.
Data processing module one can extrapolate the incremental counter of mobile object according to the information of the rotary encoder received.
As shown from the above technical solution, a kind of wireless synchronization provided by the invention receives and dispatches isolated positioning system, emit and
Data processing unit only carries out ultrasonic wave transmitting without received ultrasonic signal, and beacon element received ultrasonic signal is without sending out
Ultrasonic signal is penetrated, ultrasonic wave positioning time is shortened, while also reducing the energy consumption of beacon element, when extending beacon use
Between；Data processing module one passes through the positional relationship judged between incremental counter and actual beacon unit, control directional-rotation dress
It sets ultrasonic signal generator towards actual beacon unit, reduces the quantity of ultrasonic wave transmitting module and beacon element, most
It is few only to need a ultrasonic wave transmitting module and two beacon elements that positioning calibration, save the cost can be completed.
Optionally, the car body uses two driving wheel differential steerings, remaining wheel for the tricycle of Universal wheel structure or four
Vehicle is taken turns, the rotary encoder uses and is directly connected to the indirect connections such as mode or gear, synchronous toothed belt and driving wheel wheel
Axis connection.
Optionally, the beacon element is set on a bar.Stake bar directly can place or be inserted into earth's surface, facilitate beacon
Unit is mounted on target localization region, avoids array installation trouble on the ceiling, reduces beacon cost and lays into
This.
Optionally, there are two ultrasound signal receipt device, adjacent ultrasonic wave signal receiver is pressed for the beacon element setting
Central axis is in 15 ° of angle distributing installations.Expand signal and receive fan angle, reduces ultrasound signal receipt blind area.
It is specific to use the present invention also provides a kind of localization method for receiving and dispatching isolated positioning system using above-mentioned wireless synchronization
Following technical solution:
A kind of localization method that wireless synchronization transmitting-receiving is isolated, comprising the following steps:
S1. the preparation stage installs beacon element according to usage scenario demand within the scope of localization region, and by beacon list
First receiving side signal, by positioning object of which movement range, measures to alignment and the position data (coordinate) for demarcating beacon element is defeated
Enter transmitting and data processing unit；
S2. initial phase, car body carry out position reset in origin, obtain initial position co-ordinates and inceptive direction；
S3. the measurement of incremental counter, car body move freely in orientation range, data processing module one by with kinematic axis
Connected rotary encoder obtains angle data, passes through rotary encoder and speed ratio relationship of wheel and the radius of wheel being connected etc.
Data reduction goes out moving distance data and direction；
S4. the calibration of coordinate is positioned:
S4.1 car body stops in anchor point, by data processing module one according to the incremental counter of car body and direction, beacon list
The coordinate position data of member calculates and judges, determines angle rotation instruction to the sending of directional-rotation device, makes ultrasonic signal
Device is directed at corresponding beacon element direction；
S4.2 transmitting and data processing unit pass through wireless telecommunications mould of the wireless communication module one to corresponding beacon element
Block two issues handshake, after shaking hands successfully, wakes up beacon element, transmitting and data processing unit and beacon element into line timebase
Simultaneously operating；
S4.3 is controlled by data processing module one and data processing module two, in the clock pulse sequence synchronized, together
When take a rising edge clock signal or failing edge, transmitting and data processing unit triggering ultrasonic wave transmitting movement, beacon element
Triggering timing simultaneously；
After S4.4 beacon element receives ultrasonic signal, stop timing, and timing numerical value is sent to by communication module
Transmitting and data processing unit；
After S4.5 transmitting and data processing unit receive the chronometric data that beacon element transmits, passes through formula and combine temperature
The correction factors such as degree, humidity, system time loss are converted into transmitting and the distance between data processing unit and beacon element number
According to；
S4.6 selects another beacon element, repeats S4.1~S4.5 process, obtains transmitting and data processing unit and another
The distance between one beacon element data；
S4.7 data processing module one passes through two-point locating according to the distance between two beacon elements obtained
Method, available two positions judge to take the position data of one of point to get car body is arrived with current delta position data
Absolute position；
S4.8 is corrected to get to accurately positioning coordinate incremental counter with this absolute position, eliminates by rotating
Encoder measures bring accumulated error.
Optionally, it to beacon element set device address and is numbered in the step S1, each beacon element is made to have one
A independent address and number establish an orderly beacon array for all beacon elements, i.e., carry out group to beacon element
Net.During work, beacon element is in wireless signal and listens to state, and other parts are in sleep state, until being launched and counting
It is waken up according to the handshake of processing unit, selection is had according to incremental counter and direction by transmitting and data processing unit when positioning
Ground wakes up the beacon element for needing received ultrasonic signal, can significantly save the average energy loss of beacon element, extend
Beacon element uses the time under the same battery service life.
Optionally, data processing module one and data processing module two take a clock letter at the same time in the step S4.3
Before number rising edge or failing edge, there are delay times.Running for ultrasonic signal generator and ultrasound signal receipt device is stayed
There is time.
Optionally, in the step S4.5 calculate transmitting and data processing unit between beacon element at a distance from data
Shi Caiyong TOA (time arrival) mode is calculated.Time error caused by the problems such as circuit jitter, delay can be reduced, into
One step improves positioning accuracy.
Optionally, external temperature, the humidity data that basis measures in advance in the step S4.5 are to obtain correction factor
And input data processing module one, or temperature-humidity sensor is installed on the car body, according to prior prefab data table, by data
Correction factor is calculated in processing module one.Correction factor further increases positioning accuracy to compensate ultrasonic measurement error.
As shown from the above technical solution, provided by the invention kind of wireless synchronization receives and dispatches isolated ultrasonic wave and calibrates positioning side
Method has the advantages that
1. energy conservation consumes energy biggish transmitting unit installation on the car body, is powered by car body rechargable power supplies, can be convenient ground
Return charging station charge, beacon element is arranged on mobile object motion range peripheral border, and quantity is more, distance compared with
Far, generally using the power supply of the mobile power sources such as dry cell or lithium battery, beacon element received ultrasonic signal can reduce energy
Consumption, significantly extends battery life, reduces the difficulty and use cost of system maintenance.
2. efficiently, the present invention is positioned by the way of ultrasonic transmission/reception separation, ultrasonic wave only runs one way, compares general
Logical ultrasonic wave bidirectional transmit-receive positioning method, effectively shortens time-consuming, improves location efficiency.
3. adaptability is good, using directional-rotation device and more than two beacon elements, reduce because ultrasonic signal fan angle compared with
It is small to cause the possibility that signal does not receive, the current location and direction of car body are obtained using incremental counter, are filled by directional-rotation
It sets and ultrasonic signal generator is directed at beacon element, beacon element presses central axis using more than two ultrasound signal receipt devices
Line is in 15 ° of angle distributing installations, reduces a possibility that beacon reception is less than signal.
4. extendibility is good, networking is carried out to beacon element, upgrades positioning system with can be convenient, is mentioned simultaneously for multiple car bodies
For positioning service.Each transmitting and data cell, beacon element are designed with independent address, can be convenient by new transmitting and
Data cell is added in network, and the location data of each transmitting and data processing unit is obtained by sub-address operation.
5. structure is simple, at low cost, the ultrasound signal receipt device that each beacon element uses is not more than 2, structure letter
Single, compact, beacon element is set on a bar, directly can place or be inserted into earth's surface, facilitate and be mounted on beacon element
Target localization region avoids array installation trouble on the ceiling, reduces beacon element cost and lays cost.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the structural block diagram of transmitting and data processing unit and beacon element；
Fig. 2 is the structural schematic diagram of car body and transmitting and data processing unit；
Fig. 3 is the structural schematic diagram of beacon element；
Fig. 4 is that ultrasonic transmitter rotates angle schematic diagram；
Base is synchronous when Fig. 5 is and signal emits and receives flow chart；
Fig. 6 is straight line incremental displacement schematic diagram；
Fig. 7 is turning position relation schematic diagram；
Fig. 8 is two-point locating schematic diagram.
In Fig. 2, Fig. 3,1 car body, 11 driving wheels, 21 data processing modules one, 22 ultrasonic signal generators, 23 channel radios
Interrogate module one, 24 directional-rotation devices, 25 rotary encoders, 31 data processing modules two, 32 ultrasound signal receipt devices, 33 nothings
Line communication module two, 4 bars.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be intended only as example, and cannot be used as a limitation and limit protection of the invention
Range, unless specifically stated otherwise, the component and the opposite step of step, numerical expression otherwise illustrated in these embodiments
It is not limit the scope of the invention with numerical value.
It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
As shown in Figure 1-3, a kind of wireless synchronization receives and dispatches isolated positioning system, comprising: car body 1 is set on car body
Transmitting and data processing unit and the more than two beacon elements being set in target orientation range, car body use two driving wheels
11 differential steerings, remaining wheel are the tricycle or carriage of Universal wheel structure, and car body motor is subtracted using the high-power planet of GP36
Fast direct current generator, transmitting and data processing unit include: data processing module 1, ultrasonic signal generator 22, channel radio
Module 1, directional-rotation device 24, rotary encoder 25 are interrogated, the main development board of STM32, US-020 ultrasonic wave is respectively adopted in correspondence
Sensor, esp8266WiFi module, SG90 steering engine, 500 line rotary encoders, ultrasonic signal generator is generated and transmitted by super
Acoustic signals, directional-rotation device control the direction of the launch of ultrasonic signal generator, and rotary encoder is connected by synchromesh gear
It is connected to the driving wheel of car body, the information of rotary encoder record body movement simultaneously sends information to data processing module one, number
The incremental counter of mobile object is extrapolated according to the rotary encoder information received according to processing module one and controls directional-rotation
Device, ultrasonic signal generator work, data processing module one pass through wireless communication module one and extraneous transmitting information, beacon
Unit includes data processing module 2 31, ultrasound signal receipt device 32, wireless communication module 2 33, and correspondence is respectively adopted
STM32 control panel, US-020 ultrasonic sensor, esp8266WiFi module, ultrasound signal receipt device receive ultrasonic wave letter
Number, the information that data processing module two controls the work of ultrasound signal receipt device and received ultrasonic signal receiver receives,
Data processing module two transmits information, data processing module one and data processing module two by wireless communication module two and the external world
Between information transmission carried out by wireless communication module one and wireless communication module two, beacon element is set on a bar 4, beacon
Unit setting is in 15 ° of angles there are two ultrasound signal receipt device, the central axis of two ultrasound signal receipt devices.
The technical effect and following methods embodiment phase of device provided by the embodiment of the present invention, realization principle and generation
Together, to briefly describe, Installation practice part does not refer to place, can refer to corresponding contents in following methods embodiment.
A kind of localization method for receiving and dispatching isolated positioning system using above-mentioned wireless synchronization, comprising the following steps:
S1. the preparation stage installs beacon element AP according to usage scenario demand within the scope of localization region1, AP2... ...
APn, and by beacon element receiving side signal to being aligned by positioning object of which movement range, manual measurement simultaneously demarcates each beacon element
Position, and using measurement data as coordinate position data input transmitting and data processing unit data processing module one；
S2. initial phase, car body origin carry out position reset, data processing module one obtain initial position co-ordinates and
Inceptive direction；
S3. the measurement of incremental counter, car body move freely in orientation range, pass through the rotary coding being connected with kinematic axis
Device obtains angle data, goes out to move with the data reductions such as the speed ratio relationship of wheel and the radius of wheel being connected by rotary encoder
Range data and direction obtain incremental counter and direction by cumulative；
S4. the calibration of coordinate is positioned:
S4.1 is as shown in figure 4, car body runs to anchor point Pj+1Stop, by data processing module one according to the increment of car body
The displacement coordinate P of position recordj+1(xj+1,yj+1) and deflection ∑ aj+1, beacon element coordinate position data calculate and judge,
Angle rotation instruction is determined to the sending of directional-rotation device, and ultrasonic signal generator is made to be directed at beacon element AP1And AP2Corner
Respectively β and γ,
S4.2 is as shown in figure 5, transmitting and data processing unit pass through wireless communication module one to corresponding beacon element
Wireless communication module two issues handshake, after shaking hands successfully, wakes up beacon element, transmitting and data processing unit and beacon list
Member is into line timebase simultaneously operating；
S4.3 by data processing module one and data processing module two as shown in figure 5, controlled, in the clock pulses synchronized
In sequence, after postponing a period of time t, while a rising edge clock signal is taken, transmitting and data processing unit trigger ultrasonic wave
Transmitting movement, beacon element while triggering timing；
After S4.4 is as shown in figure 5, beacon element receives ultrasonic signal, stop timing, and pass through wireless communication module two
Timing numerical value T is sent to the wireless communication module one of transmitting and data processing unit；
The data processing module one of S4.5 transmitting and data processing unit receives the timing number that wireless communication module one transmits
After value T, by the correction factors such as formula and combination temperature, humidity, system time loss, changed using TOA (time arrival) mode
It is counted as transmitting and the distance between data processing unit and beacon element data；
S4.6 selects another beacon element, repeats S4.1~S4.5 process, obtains transmitting and data processing unit and another
The distance between one beacon element data；
S4.7 data processing module one passes through two-point locating according to the distance between two beacon elements obtained
Method, available two positions judge to take the position data of one of point to get car body is arrived with current delta position data
Absolute position；
The absolute position S4.8 is through judging, when in reasonable tolerances, replaces incremental position data, practical fixed as car body
Position coordinate data uses, and eliminates and measures bring accumulated error by rotary encoder.
Concrete operating principle of the present invention:
1. incremental displacement measuring principle:
1.1 straight line incremental displacements:
As shown in fig. 6, straight line incremental displacement Δ xj+1,Δyj+1Calculation formula is as follows:
Δxj+1=i θj+1r·sin(∑aj)
Δyj+1=i θj+1r·cos(∑aj)
Lj+1=i θj+1R, wherein Lj+1For+1 section of straight line incremental displacement length of jth, i is that driving wheel and rotary encoder connect
The gear set speed ratio connect, θj+1For+1 section of rotary encoder corner of jth, r is driving wheel radius, ∑ ajFor this straightway displacement side
To with coordinate system Y-axis angle.
1.2 direction deflection angles:
It is planar moved under this system default situations, direction deflection angle illustrates the posture of car body.
As shown in fig. 7, when two left and right sidesing driving wheel rotational speed omegas1≠ω2When, car body will turn to.αj+1As direction deflection angle,
Wherein: H is wheel spacing；Outside driven wheel arc length is poor in Δ l；The gear set that i driving wheel is connect with rotary encoder
Speed ratio；θ1For interior side drive wheel corner, obtained by anticlockwise encoder；θ2For outside driven wheel corner, obtained by right rotation encoder
?；R is driving wheel radius,
Wherein: LcFor the corresponding chord length of deflection arc,
β is using circular arc starting point as coordinate origin, and chord length is that the car body of mould deflects the angle of direction vector and y-axis, is indicated
The deflection direction of this turning,
1.3 turning incremental counter coordinates:
Wherein, k is that deflection direction selection coefficient takes k=2 when car body turns left；When car body is turned right, k=1 is taken.
1.4 incremental counter recurrence formula:
∑aj+1=∑ aj+aj+1,
Wherein, s is selection coefficient, when car body running track is straightway, s=1, and when car body turning, s=0.
2 ultrasonic wave positioning principles:
2.1 ultrasonic distance measurements:
Ultrasonic velocity formula C=C0+ 0.607T, in which: C is the ultrasonic velocity under Current Temperatures, C0When for zero degree
Acoustic speed 331.5m/s, T are actual temperature (DEG C)；
Ultrasonic distance measurement formula L=Ct, wherein L is ultrasonic wave the distance between from transmitter to receiver, and t is ultrasound
Propagation time of the wave from transmitter to receiver.
2.2 two-point locating principles:
Ultrasonic wave positions and generally uses two-point locating or three-point fix, and under most occasions, car body operates in one and puts down
In the region of face, this example be can simplify using two-point locating mode.
Beacon AP as shown in Figure 81And AP2Coordinate position measuring and demarcating in advance, ultrasonic transmitter is loaded in vehicle
On body, it is successively directed at beacon emissions ultrasonic signal.Using TOA (time arrival) method, beacon element is sent out from ultrasonic signal
It penetrates and starts simultaneously at timing, stop timing when receiving ultrasonic signal, obtain ultrasonic propagation time, and then obtain car body away from two
The distance between beacon L1And L2, respectively with beacon AP1And AP2Centered on, with L1And L2It draws and justifies for radius, obtain two intersection point G1
And G2, intersection point can be calculated by following equations group:
Wherein, (X, Y) is intersection point G1And G2Coordinate value, by being compared with incremental coordinates, G1And G2Middle selection difference is small
One group as current car body position coordinate, choose G as shown in Figure 81Point completes ultrasonic wave positioning.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (10)
1. a kind of wireless synchronization receives and dispatches isolated positioning system, it is characterised in that: include: car body, the transmitting that is set on car body
And data processing unit and the multiple beacon elements being set in target orientation range, the transmitting and data processing unit packet
It includes: ultrasonic signal generator, data processing module one, wireless communication module one, directional-rotation device, rotary encoder, institute
Stating beacon element includes ultrasound signal receipt device, wireless communication module two, data processing module two,
The information of the rotary encoder record body movement simultaneously sends information to data processing module one,
The data processing module one receives rotary encoder information and controls directional-rotation device, ultrasonic signal generator work
Make,
The directional-rotation device controls the direction of the launch of the ultrasonic signal generator,
The ultrasonic signal generator is generated and transmitted by ultrasonic signal,
The ultrasound signal receipt device received ultrasonic signal,
The information of two received ultrasonic signal receiver of the data processing module transmitting,
Pass through wireless communication module one and wireless communication module two between the data processing module one and data processing module two
Carry out information transmission.
2. a kind of wireless synchronization according to claim 1 receives and dispatches isolated positioning system, it is characterised in that: the car body is adopted
It is the tricycle or carriage of Universal wheel structure with two driving wheel differential steerings, remaining wheel, the rotary encoder is connected to
The driving wheel wheel shaft of the car body.
3. a kind of wireless synchronization according to claim 1 receives and dispatches isolated positioning system, it is characterised in that: the beacon list
Member setting is in 15 ° of angle distributing installations by central axis there are two ultrasound signal receipt device, adjacent ultrasonic wave signal receiver.
4. a kind of wireless synchronization according to claim 1 receives and dispatches isolated positioning system, it is characterised in that: the beacon list
Member is set on a bar.
5. a kind of using a kind of localization method for the positioning system that wireless synchronization transmitting-receiving is isolated described in claim 1, feature
It is: the following steps are included:
S4. the calibration of coordinate is positioned:
S4.1 car body stops in anchor point, by data processing module one according to the incremental counter of car body and direction, beacon element
Coordinate position data calculates and judges, determines angle rotation instruction to the sending of directional-rotation device, makes ultrasonic signal generator pair
Quasi- corresponding beacon element direction；
S4.2 transmitting and data processing unit pass through wireless communication module two of the wireless communication module one to corresponding beacon element
Handshake is issued, after shaking hands successfully, emits and data processing unit and beacon element is into line timebase simultaneously operating；
S4.3 is controlled by data processing module one and data processing module two, transmitting and data processing unit triggering ultrasonic wave transmitting
Movement, beacon element while triggering timing；
After S4.4 beacon element receives ultrasonic signal, stop timing, by communication module by timing numerical value be sent to transmitting and
Data processing unit；
S4.5 transmitting and after data processing unit receives chronometric data, passes through formula and combines correction factor, be converted into transmitting and
The distance between data processing unit and beacon element data；
S4.6 selects another beacon element, repeats S4.1~S4.5 process, obtains transmitting and data processing unit and another
The distance between beacon element data；
S4.7 data processing module one, can by two-point locating method according to the distance between two beacon elements obtained
To obtain two positions, judged to take one of position data to get the absolute position for arriving car body with current delta position data
It sets；
S4.8 data processing module one is corrected incremental counter with this absolute position, obtains accurately positioning coordinate, disappear
Except by rotary encoder measurement bring accumulated error.
6. a kind of wireless synchronization according to claim 5 receives and dispatches isolated localization method, it is characterised in that: the step S4
It is before further comprising the steps of:
S1. the preparation stage installs beacon element according to usage scenario demand within the scope of localization region, measures and demarcates beacon
The coordinate data input transmitting of unit and data processing unit；
S2. initial phase, car body carry out position reset in origin, obtain initial position co-ordinates and inceptive direction；
S3. the measurement of incremental counter, data processing module one receive the information of rotary encoder and mobile object are calculated
Incremental counter and direction.
7. a kind of wireless synchronization according to claim 6 receives and dispatches isolated localization method, it is characterised in that: the step S1
In to beacon element set device address and number, so that each beacon element is had an independent address and number, for institute
There is beacon element to establish an orderly beacon array.
8. a kind of wireless synchronization according to claim 5 receives and dispatches isolated localization method, it is characterised in that: the step
Data processing module one described in S4.3 and the data processing module two take a rising edge clock signal or decline at the same time
Before, there are delay times.
9. a kind of wireless synchronization according to claim 5 receives and dispatches isolated localization method, it is characterised in that: the step
Correction factor obtains according to the external temperature, the humidity data that measure in advance and pre-enters the data processing module in S4.5
One.
10. a kind of wireless synchronization according to claim 5 receives and dispatches isolated localization method, it is characterised in that: the step
In S4.5, for correction factor by installing temperature-humidity sensor on the car body in advance, temperature-humidity sensor will be collected
Data pass to the data processing module one, and data processing module one is calculated according to prefabricated tables of data.
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