CN110568408A - Audio positioning system and method based on single signal source - Google Patents
Audio positioning system and method based on single signal source Download PDFInfo
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- CN110568408A CN110568408A CN201910819825.9A CN201910819825A CN110568408A CN 110568408 A CN110568408 A CN 110568408A CN 201910819825 A CN201910819825 A CN 201910819825A CN 110568408 A CN110568408 A CN 110568408A
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
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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
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
Abstract
The invention provides an audio positioning system based on a single signal source, which comprises: the signal source emission micro base stations emit audio signals one by one in a positioning scene in a specified time region; the positioning terminal comprises an audio signal receiving module and a positioning algorithm processing module, and the positioning terminal calculates the position of the positioning terminal; and the time synchronization module is used for realizing time synchronization among the signal source emission micro base stations and between the positioning terminal and the signal source emission micro base stations. Compared with the prior indoor positioning technology, the mobile phone positioning device has the advantages of low cost, high positioning precision, large effective working range, easy installation and maintenance, public mobile phones support and the like.
Description
Technical Field
The invention relates to the technical field of positioning systems, in particular to a system and a method for positioning by adopting audio signals.
Background
Although Global Navigation Satellite positioning systems (Global Navigation Satellite System) such as the GPS System in the united states, the beidou System in china and the Galileo System in europe can provide a high-precision positioning scheme in an outdoor open space, since signals are transmitted from high altitudes over twenty-thousand kilometers to the surface of the earth, the signal strength is weak and cannot penetrate into an indoor space, a reliable positioning scheme cannot be provided for the indoor space. And 80% of the activities of people are spent on indoor space, and the demand of artificial intelligence application on high-precision indoor positioning is more and more strong.
Currently, the technologies for indoor positioning mainly rely on radio frequency signals including Wi-Fi signals, bluetooth signals (e.g., apple iBeacon), Ultra Wide Band signals (Ultra Wide Band) and cellular network wireless communication signals (e.g., LTE, etc.). The primary use of these Radio Frequency (RF) signals is wireless communication, not location. They are sometimes referred to as signals of Opportunity (Signal of Opportunity) in the field of positioning. Driven by artificial intelligence application, indoor positioning by using wireless signals is more and more concerned by the industry, and new wireless communication agreements also slowly add positioning elements, including Wi-Fi Round Trip Time (RTT) ranging technology (Wi-Fi 802.11mc protocol), 5G positioning technology, and bluetooth 5.1 signal arrival angle (AoA) and signal emission angle (DoA) positioning technology.
The propagation speed of electromagnetic waves is fast (30 kilo-kilometer/second), and in order to accurately measure the propagation distance of radio frequency signals from a micro base station transmitter to a receiver (such as a smart phone), the time for accurately synchronizing the micro base station is required to be in a nanosecond or even a subnanosecond level (the synchronization accuracy of 1 nanosecond is equivalent to the distance measurement error of 0.3 meter). Time synchronization is expensive and the system is not easy to install. This is one of the reasons why the positioning technology based on radio frequency signals is difficult to land. The common positioning technology in the market at present is ultra wide band and Bluetooth Low Energy (BLE) Beacon. The two positioning technologies cannot simultaneously meet the requirements of low cost, high precision, easy installation, support of mass mobile phones, good user experience and the like, so that the requirements of the market cannot be met. UWB positioning accuracy is high, but the cost is also very high, and low-power consumption bluetooth BLE Beacon is with low costs but has positioning accuracy low, single basic station effective coverage is little, shortcomings such as difficult maintenance. And the new positioning technology is difficult to popularize in the short term.
Audio Ranging (Acoustic Ranging) based location technology has also begun to be of interest to the academic community. Compared with radio frequency signals, the audio signals have the following greatest advantages: 1) the sound propagation speed is slow (340 m/s), the requirement on the time synchronization of the signal transmitting base station is low, and the cost of the positioning system is greatly reduced. 2) The effective distance measurement value of the audio signal is long and is 10 times that of the Bluetooth Beacon, and the layout density of base stations can be greatly reduced, so that the hardware cost and the maintenance cost of the positioning system are reduced. 3) The receiving device of the audio signal is simple, such as a microphone of a smart phone, and the popular popularization of the technology has no threshold. Audio ranging will be one of the core technologies that support indoor and outdoor seamless positioning systems.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a system and method for positioning based on a single audio signal, which has low cost, high positioning accuracy, large effective working range, and easy installation and maintenance.
An audio localization system based on a single signal source, comprising: the system comprises a plurality of signal source emission micro base stations, a positioning scene and a plurality of signal source emission micro base stations, wherein the signal source emission micro base stations are used for emitting audio signals into the positioning scene; the positioning terminal comprises an audio signal receiving module and a positioning algorithm processing module, wherein the audio signal receiving module is used for collecting audio signals transmitted by the signal source transmitting micro base stations, the positioning algorithm processing module is used for extracting positioning signals in the audio signals, calculating the propagation time of each positioning signal from each signal source transmitting micro base station to the receiving terminal so as to calculate the geometric distance between each signal source transmitting micro base station and the positioning terminal, and calculating the position of the positioning terminal by using the known coordinates of each signal source transmitting micro base station and the distance measurement value between each signal source transmitting micro base station and the positioning terminal; and the time synchronization module is used for realizing time synchronization among the signal source emission micro base stations and between the positioning terminal and the signal source emission micro base stations.
Preferably, the audio signal transmitted by the signal source transmitting micro base station comprises a modulated sound signal in an ultrasonic frequency range.
preferably, the signal source emits the audio signal emitted by the micro base station and further includes an identifiable sound signal in an audible range, when the audio signal is the identifiable sound signal in the audible range, the modulated sound signal in the ultrasonic frequency band needs to be superimposed, and when the audio signal does not have the identifiable sound signal in the audible range, only the modulated sound signal in the ultrasonic frequency band is emitted.
Preferably, the time synchronization module is integrated in a signal source transmitting micro base station, the signal source transmitting micro base station is a core micro base station, the time synchronization module is provided with a wireless communication unit, wireless communication units are arranged in other signal source transmitting micro base stations except the core micro base station and the positioning terminal, and the time synchronization module is in communication connection with the other signal source transmitting micro base stations and the positioning terminal through the wireless communication units, so that time synchronization is realized.
Preferably, the signal source emission micro base station comprises a controller, a loudspeaker and a power circuit.
Preferably, the positioning terminal comprises a microphone, an audio processing circuit and a processor.
Preferably, an echo filtering module is further disposed in the positioning terminal, and the echo filtering module is configured to filter an echo in the received audio signal.
the patent also discloses an audio positioning method based on the single signal source, which is characterized by comprising the following steps:
1) Setting a plurality of signal source transmitting micro base stations capable of transmitting audio signals to a positioning scene;
2) Time synchronization among a plurality of signal source transmitting micro base stations and between a positioning terminal and the signal source transmitting micro base stations is realized through a time synchronization module;
3) a plurality of signal sources transmit micro base stations to be switched in turn in a positioning scene, and transmit audio signals in different time intervals;
4) The positioning terminal receives the audio signals sent by the signal source transmitting micro base stations, extracts the positioning signal sources, calculates the propagation time of each positioning signal from the signal source transmitting micro base station to the receiving terminal so as to calculate the geometric distance between the signal source transmitting micro base station and the positioning terminal, and calculates the position of the positioning terminal by using the known coordinates of the signal source transmitting micro base stations and the distance measurement value between the signal source transmitting micro base stations and the positioning terminal.
Preferably, the signal source emits the audio signal emitted by the micro base station, which includes a modulated sound signal in the ultrasonic frequency range and a sound signal in the audible range that can be identified, and when the audio signal is the sound signal in the audible range that can be identified, the modulated sound signal in the ultrasonic frequency range needs to be superimposed, and when the audio signal does not have the sound signal in the audible range that can be identified, the modulated sound signal in the ultrasonic frequency range only is emitted.
Preferably, when the positioning terminal collects an audio signal that does not appear in the specified time interval or the collected audio signal does not conform to the specified signal, the signal collected by the positioning terminal is an echo interference signal, and the positioning terminal filters the interference signal.
As described above, the present invention has the following advantageous effects: compared with the prior indoor positioning technology, the technology has the advantages of low cost, high positioning precision, large effective working range, easy installation and maintenance, public mobile phones support and the like. The method has the advantages of high precision of the ultra-wideband positioning technology, long effective distance, low cost of BLE Beacon, support of mass mobile phones and the like. Because the sound propagation speed is slower than the electromagnetic wave, and the propagation attenuation characteristic is easier to understand than the electromagnetic wave signal, the modulation identification measurement technology based on the audio frequency is stable and has high precision. Meanwhile, due to the fact that sound signals are ubiquitous, the generating and processing equipment is strong in universality and controllable in sound propagation distance, the propagation range can be controlled to exceed 50 meters in general application, parameters in all aspects of the sound signal source are configurable, and meanwhile, based on ToA observation after time synchronization, installation and point selection of most indoor building structures are easy, and different types of topological spaces can be flexibly adapted. The positioning system can be realized based on a device with high cost performance, is mature in production, low in cost and moderate in requirement on the performance of the processor, and the positioning terminal supports a mobile phone to meet the requirement of the public. Compared with the existing indoor positioning technology, the method has the advantages of low cost, high positioning precision, large effective working range, easy installation and maintenance, support for mass mobile phones and the like.
drawings
FIG. 1 is a system block diagram of an embodiment of the invention.
Fig. 2 is a schematic diagram of the operation of time synchronization according to the embodiment of the present invention.
fig. 3 is a schematic diagram of a positioning method according to an embodiment of the present invention.
Fig. 4 is a flowchart of a positioning method according to an embodiment of the invention.
element number description: 1. a signal transmitting micro base station; 11. an audio signal generating and transmitting module; 2. Positioning a terminal; 21. an audio signal receiving module; 22. a positioning algorithm processing module; 3. a time synchronization module; 4. a wireless communication unit.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
as shown in fig. 1, this patent discloses an audio localization system based on a single signal source, which includes two subsystem units: the signal source transmitting micro base station 1 and the positioning terminal 2, wherein the number of the signal source transmitting micro base station 1 is plural, generally at least three, and the number of the positioning terminal 2 can be one or more. The audio signal transmitting base station 1 is used for transmitting audio signals to a positioning scene, an audio signal generating and transmitting module 11 is arranged in the audio signal transmitting base station 1 and is specially used for generating and sending the audio signals outwards, and the audio signal generating and transmitting module 11 mainly comprises a controller, a loudspeaker and a power circuit.
the positioning terminal 2 comprises an audio signal receiving module 21 and a positioning algorithm processing module 22, wherein the audio signal receiving module 21 is used for collecting audio signals transmitted by the signal source transmitting micro base station 1, the positioning algorithm processing module 22 is used for extracting positioning signals in the audio signals, calculating the propagation time of each positioning signal from each signal source transmitting micro base station to the receiving terminal so as to calculate the geometric distance between each signal source transmitting micro base station and the positioning terminal, and calculating the position of the positioning terminal by using the known coordinates of each signal source transmitting micro base station and the measured value of the distance between each signal source transmitting micro base station and the positioning terminal; and the time synchronization module is used for realizing time synchronization among the signal source emission micro base stations and between the positioning terminal and the signal source emission micro base stations. The positioning terminal 2 mainly comprises a microphone, an audio processing circuit and a processor.
the system also comprises a time synchronization module 3, wherein the time synchronization module 3 is used for realizing time synchronization among the signal source emission micro base stations and between the positioning terminal and the signal source emission micro base stations. As a specific implementation manner, the wireless communication unit 4 may be disposed in the time synchronization module 3, each signal source transmitting micro base station 1, and the positioning terminal 2, so that the time synchronization module 3 can perform wireless communication connection with each signal source transmitting micro base station 1 and the positioning terminal 2 through the wireless communication unit 4 to implement time synchronization.
As a preferred embodiment, the time synchronization module may be integrated into a signal source transmitting micro base station, the signal source transmitting micro base station is a core micro base station, and the time synchronization module 4 is connected to the controller of the signal source transmitting micro base station by wire. When necessary, the debugging or management equipment can intervene in the base station system through wireless communication to control the configuration of all base stations. The wireless communication units 4 are arranged in other signal source transmitting micro base stations except the core micro base station and the positioning terminal, and the time synchronization module 4 is in communication connection with the other signal source transmitting micro base stations and the positioning terminal through the wireless communication units to achieve time synchronization.
The synchronization method is shown in fig. 2, when synchronizing, each signal source transmitting micro base station and the positioning terminal are in the same wireless communication network, and the synchronization signal is transmitted in one direction. The signal source transmitting micro base station can also transmit a synchronization signal to be received by the terminal, namely all nodes (including the base station and the terminal) are finally synchronized with one node (a core micro base station which can be further accessed to an external time reference). The time synchronization of the signal source transmitting base station and the positioning terminal is completed by means of high-efficiency wireless communication, so that the wiring construction is avoided, and the synchronization precision is guaranteed to be effective in sound positioning application. In the positioning system, the time of the micro base station network and the user terminal is synchronized through a time synchronization system based on a low-delay wireless communication technology. The low-delay wireless communication technology adopted by the time synchronization system includes (but is not limited to) 433, 5G, Wi-Fi, bluetooth and other wireless communication technologies. The whole time synchronization network comprises a core time synchronization node, a micro base station and a receiving terminal
The signal source emission micro base station 1 emits an audio signal outwards through the audio signal generation and emission module 11, the emitted audio signal comprises a modulated sound signal in an ultrasonic frequency range and a recognizable sound signal in an auditory range, when the audio signal is the recognizable sound signal in the auditory range, the modulated sound signal in the ultrasonic frequency range needs to be superimposed, and when the audio signal is not the recognizable sound signal in the auditory range, only the modulated sound signal in the ultrasonic frequency range is emitted. By adopting the mode, no matter whether the signal source emission micro base station 1 generates the sound signal in the auditory range or not, the positioning of the positioning terminal can be realized, and the modulation sound signal of the ultrasonic frequency band emitted by each signal source emission micro base station 1 can be set, so that the positioning terminal can be more conveniently collected and identified, and the better positioning effect can be realized for the mobile terminal. The signal source transmitting micro base station 1 can be used as a voice broadcasting system at the same time, and can also embed a modulation signal for positioning at the same time during broadcasting.
The positioning terminal 2 extracts the positioning signals in the audio signals through the audio signal receiving module 21 and the positioning algorithm processing module 22, calculates the propagation time of each positioning signal from each signal source transmitting micro base station to the receiving terminal so as to calculate the geometric distance from each signal source transmitting micro base station to the positioning terminal, and calculates the position of the positioning terminal by using the known coordinates of each signal source transmitting micro base station and the measured value of the distance from each signal source transmitting micro base station to the positioning terminal. The localization algorithm identifies the signals generated by the different sources by processing the digitized acoustic signals, detects their arrival times and obtains their travel times (ToF) from the previously known signal emission times. The time synchronization module in the positioning system can adopt or simultaneously adopt various low-delay wireless communication technologies, and on one hand, the time can be synchronized with a designated root node; on the other hand, the sound signal generation parameters of the management client can be received.
Because echo is easily generated in the process of collecting the audio signal by the positioning terminal 2, an echo filtering module is further arranged on the positioning terminal 2, and the echo in the audio signal can be filtered by the echo filtering module. The judgment of the echo signal may be to set that when the positioning terminal acquires an audio signal that does not appear in a specified time interval (for example, the audio signal that should be acquired within 0.1S is the next audio signal, but is acquired within 0.05S) or the acquired audio signal does not conform to the specified signal (it is set that the audio signal sent by each signal source transmitting micro base station 1 is different, and if the acquired audio signal is not the type of audio signal that should be sent by the english signal source transmitting micro base station), it may be determined that the audio signal is the echo signal, and at this time, the positioning terminal filters the interference signal. In order to allow the terminal to identify and distinguish different sound sources and simultaneously remove the interference of echo, a coordination mechanism exists in the transmission signal of the base station. The mechanism ensures that the sound signals arriving at the terminals at the same time do not interfere with each other and that the context of the transmission times of the base stations using the same modulation information remains unchanged. The positioning system is composed of three or more signal source transmitting micro base stations 1 and one or more positioning terminals 2, and after the synchronization, the positioning terminals 2 work independently and only monitor sound signals.
As shown in fig. 3 and 4, the present patent further discloses an audio positioning method based on a single signal source, which specifically includes the following steps: firstly, setting a plurality of signal source transmitting micro base stations capable of transmitting audio signals to a positioning scene; and time synchronization among a plurality of signal source transmitting micro base stations and between the positioning terminal and the signal source transmitting micro base stations is realized through the time synchronization module. Then, a plurality of signal source emission micro base stations are switched in turn in a positioning scene, audio signals are emitted in different time intervals, for example, the audio signals are switched to different signal source emission micro base stations in turn in a short time (1 second), so that only one signal source emission micro base station emits a positioning signal source in the same signal emission period (for example, 50 milliseconds), and the system identifies different signal source emission micro base stations through a time division mode of the switching in turn, different frequency modes and the like. In this way, the number of distinguishable signal sources can be ensured to meet the use requirements of most scenes in unit time.
The positioning terminal receives the audio signals sent by the signal source transmitting micro base stations, extracts the positioning signal sources, calculates the propagation time of each positioning signal from the signal source transmitting micro base station to the receiving terminal so as to calculate the geometric distance between the signal source transmitting micro base station and the positioning terminal, and calculates the position of the positioning terminal by using the known coordinates of the signal source transmitting micro base stations and the distance measurement value between the signal source transmitting micro base stations and the positioning terminal. By measuring the wave transmission time (To A) of audio signals from different micro base stations To a receiving terminal (such as a smart phone) in real time, the geometric distance between the signal source transmitting micro base station and the positioning terminal is calculated, and the position of the receiving terminal is estimated by using the known coordinates of the micro base stations. The localization algorithm has the ability to fuse other localization sources such as motion sensors on smartphones. The algorithm can effectively fuse 1 to n asynchronous distance measurement values for positioning.
the signal source transmits the audio signal transmitted by the micro base station, wherein the audio signal comprises a modulated sound signal in an ultrasonic frequency range and a sound signal in an audible range which can be identified, when the audio signal is the sound signal in the audible range which can be identified, the modulated sound signal in the ultrasonic frequency range needs to be superposed, and when the audio signal does not have the sound signal in the audible range which can be identified, the modulated sound signal in the ultrasonic frequency range only is transmitted. When the positioning terminal collects the audio signal which does not appear in the specified time interval or the collected audio signal is not in accordance with the specified signal, the signal collected by the positioning terminal is an echo interference signal, and the positioning terminal filters the interference signal.
The audio positioning system and method based on the single signal source have the following beneficial effects:
1) High precision, with low costs:
The sound propagation speed is slower than that of electromagnetic waves, the propagation attenuation characteristics of the sound are easier to understand than those of electromagnetic wave signals, and the modulation identification measurement technology based on the audio frequency is stable and high in precision. Meanwhile, due to the fact that sound signals are everywhere, the generating and processing equipment is strong in universality, mature in production and low in cost, and the sound signal generating and processing equipment is realized based on a device with high cost performance.
2) The working range is large, and the installation and maintenance are easy:
The sound propagation distance is controllable, the propagation range can be controlled to exceed 50 meters in general application, parameters in all aspects of the sound signal source of the patent adopt configurable design, and meanwhile, based on ToA observation after time synchronization, points are easy to install and select in most indoor building structures, and different types of topological spaces are flexibly adapted.
3) The use scene is abundant, the practicality is strong:
The positioning terminal in the patent supports the mobile phone, has moderate performance requirement on the processor and meets the requirement of the public.
In summary, the following steps: compared with the current indoor positioning technology, the indoor positioning system has the advantages of low cost, high positioning precision, large effective working range, easy installation and maintenance, public mobile phones support and the like. The method has the advantages of high precision of the ultra-wideband positioning technology, long effective distance, low cost of BLE Beacon, support of mass mobile phones and the like. These advantages support the broad application prospects of this technology.
the foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An audio localization system based on a single signal source, comprising:
The system comprises a plurality of signal source emission micro base stations, a positioning scene and a plurality of signal source emission micro base stations, wherein the signal source emission micro base stations are used for emitting audio signals into the positioning scene;
The positioning terminal comprises an audio signal receiving module and a positioning algorithm processing module, wherein the audio signal receiving module is used for collecting audio signals transmitted by the signal source transmitting micro base stations, the positioning algorithm processing module is used for extracting positioning signals in the audio signals, calculating the propagation time of each positioning signal from each signal source transmitting micro base station to the receiving terminal so as to calculate the geometric distance between each signal source transmitting micro base station and the positioning terminal, and calculating the position of the positioning terminal by using the known coordinates of each signal source transmitting micro base station and the distance measurement value between each signal source transmitting micro base station and the positioning terminal;
And the time synchronization module is used for realizing time synchronization among the signal source emission micro base stations and between the positioning terminal and the signal source emission micro base stations.
2. The single signal source based audio localization system of claim 1, wherein: the signal source transmits the audio signal transmitted by the micro base station, wherein the audio signal comprises a modulated sound signal in an ultrasonic frequency range.
3. the single signal source based audio localization system of claim 1, wherein: the signal source transmits the audio signals transmitted by the micro base station and also comprises recognizable sound signals in the hearing range, when the audio signals are recognizable sound signals in the hearing range, the modulated sound signals in the ultrasonic frequency range need to be superposed, and when the audio signals are not recognizable sound signals in the hearing range, the modulated sound signals in the ultrasonic frequency range are only transmitted.
4. the single signal source based audio localization system of claim 1, wherein: the time synchronization module is integrated in a signal source transmitting micro base station which is a core micro base station, the time synchronization module is provided with a wireless communication unit, the signal source transmitting micro base stations except the core micro base station and the positioning terminal are provided with the wireless communication units, and the time synchronization module is in communication connection with the other signal source transmitting micro base stations and the positioning terminal through the wireless communication units to realize time synchronization.
5. The single signal source based audio localization system of claim 1, wherein: the signal source emission micro base station comprises a controller, a loudspeaker and a power circuit.
6. The single signal source based audio localization system of claim 1, wherein: the positioning terminal comprises a microphone, an audio processing circuit and a processor.
7. The single signal source based audio localization system of claim 1, wherein: the positioning terminal is also internally provided with an echo filtering module which is used for filtering echoes in the received audio signals.
8. an audio positioning method based on a single signal source, comprising the steps of:
1) Setting a plurality of signal source transmitting micro base stations capable of transmitting audio signals to a positioning scene;
2) Time synchronization among a plurality of signal source transmitting micro base stations and between a positioning terminal and the signal source transmitting micro base stations is realized through a time synchronization module;
3) A plurality of signal sources transmit micro base stations to be switched in turn in a positioning scene, and transmit audio signals in different time intervals;
4) the positioning terminal receives the audio signals sent by the signal source transmitting micro base stations, extracts the positioning signal sources, calculates the propagation time of each positioning signal from the signal source transmitting micro base station to the receiving terminal so as to calculate the geometric distance between the signal source transmitting micro base station and the positioning terminal, and calculates the position of the positioning terminal by using the known coordinates of the signal source transmitting micro base stations and the distance measurement value between the signal source transmitting micro base stations and the positioning terminal.
9. The audio positioning method according to claim 1, wherein: the signal source transmits the audio signals transmitted by the micro base station, wherein the audio signals comprise modulated sound signals in an ultrasonic frequency range and recognizable sound signals in an auditory range, when the audio signals are recognizable sound signals in the auditory range, the modulated sound signals in the ultrasonic frequency range need to be superposed, and when the audio signals do not have recognizable sound signals in the auditory range, the modulated sound signals in the ultrasonic frequency range are only transmitted.
10. The audio positioning method according to claim 1, wherein: when the positioning terminal collects the audio signal which does not appear in the specified time interval or the collected audio signal is not in accordance with the specified signal, the signal collected by the positioning terminal is an echo interference signal, and the positioning terminal filters the interference signal.
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| CN111983564A (en) * | 2020-08-12 | 2020-11-24 | 中国计量大学 | Sound positioning system and positioning method based on TDOA |
| CN112188616A (en) * | 2020-10-13 | 2021-01-05 | 江西三鑫医疗科技股份有限公司 | Indoor positioning method based on acoustic perception |
| CN112710986A (en) * | 2020-12-18 | 2021-04-27 | 武汉大学 | Sound positioning method and system based on 5G signal synchronization |
| CN113099405A (en) * | 2021-03-11 | 2021-07-09 | 武汉大学 | Audio positioning method based on emission angle estimation |
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