CN217543371U - Indoor positioning system based on ultrasonic ranging - Google Patents

Indoor positioning system based on ultrasonic ranging Download PDF

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CN217543371U
CN217543371U CN202221277636.7U CN202221277636U CN217543371U CN 217543371 U CN217543371 U CN 217543371U CN 202221277636 U CN202221277636 U CN 202221277636U CN 217543371 U CN217543371 U CN 217543371U
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ultrasonic
positioning
mobile terminal
base station
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陈开源
韦朴
谢海萍
李国元
赵浩男
经泽雨
苏劲申
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Nanjing Institute of Technology
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Abstract

An indoor positioning system based on ultrasonic ranging, comprising: the system comprises a fixed base station and a mobile terminal positioning node, wherein the fixed base station is fixedly arranged at the indoor top, and the mobile terminal positioning node is arranged indoors; the fixed base station comprises a first main control MCU which is respectively and electrically connected with a first wireless communication module, a first ultrasonic transmitting and receiving module and a first power supply module and processes data information of each module; the mobile end positioning node comprises a second main control MCU, the second main control MCU is respectively and electrically connected with a second wireless communication module, a second ultrasonic transmitting and receiving module, a steering engine module, an electronic compass module and a second power module, and data information of all the modules is processed to enable the mobile end node to complete positioning; through the technical scheme, the indoor environment is accurately positioned, the system has the advantages of low cost and few blind areas, and is simple in structure and flexible in positioning.

Description

一种基于超声波测距的室内定位系统An indoor positioning system based on ultrasonic ranging

技术领域technical field

本实用新型涉及室内定位技术领域,特别涉及一种基于超声波测距的室内定位系统。The utility model relates to the technical field of indoor positioning, in particular to an indoor positioning system based on ultrasonic ranging.

背景技术Background technique

以GPS为代表的室外定位技术已经相当成熟,然而身处于室内时,由于GPS信号需要穿透建筑,室内定位继续依靠GPS等室外定位技术则将使定位结果失去可靠性,定位精度很难保证,GPS定位结果因多径效应和信号遮蔽而急剧恶化。常使用的室内定位技术包含UWB技术、Wi-Fi技术、蓝牙技术、RFID技术等,但是多数室内定位技术设备成本颇高。目前超声波技术已经相当成熟,超声波模块的生产成本也相当低廉,且超声波具有指向性好的特性,非常适合应用到室内定位当中。The outdoor positioning technology represented by GPS is quite mature. However, when you are indoors, because GPS signals need to penetrate buildings, indoor positioning will continue to rely on outdoor positioning technologies such as GPS, which will make the positioning results unreliable, and the positioning accuracy is difficult to guarantee. GPS positioning results are drastically degraded by multipath effects and signal shadowing. Commonly used indoor positioning technologies include UWB technology, Wi-Fi technology, Bluetooth technology, RFID technology, etc., but most indoor positioning technology equipment is expensive. At present, the ultrasonic technology is quite mature, the production cost of the ultrasonic module is also quite low, and the ultrasonic wave has the characteristics of good directivity, which is very suitable for indoor positioning.

1989年至1992年间,Olivetti实验室开发了最早的室内定位系统之一——基于红外线的Active Badges定位系统,但是由于存在很大的缺陷没有被推广开来。随后,AT&T实验室在其基础上设计出了基于超声波的Active Bat系统,采用TOA算法,处理至少三组的数据便可实现定位,且误差可控制在3~4cm左右。相较西方国家,国内的室内定位技术研究较迟,技术也不够成熟,但是已经有了很大的进步和创新,2011年,北京理工大学的王军政等人应用卡尔曼滤波的量程自适应测量法设计了一款便于调控的超声波测距系统。2013年,南京信息工程大学的张永宏等人去除了超声波信号中的噪音。Between 1989 and 1992, Olivetti's laboratory developed one of the earliest indoor positioning systems, the infrared-based Active Badges positioning system, but it was not popularized due to its great flaws. Subsequently, the AT&T laboratory designed an ultrasonic-based Active Bat system on its basis. Using the TOA algorithm, the positioning can be achieved by processing at least three sets of data, and the error can be controlled within 3~4cm. Compared with western countries, domestic indoor positioning technology research is relatively late, and the technology is not mature enough, but there has been great progress and innovation. The method designed an ultrasonic ranging system that is easy to control. In 2013, Zhang Yonghong and others from Nanjing University of Information Technology removed the noise from ultrasonic signals.

实用新型内容Utility model content

本实用新型针对现有技术中的不足,提供一种基于超声波测距的室内定位系统,实现了室内环境的精确定位,并且具备低成本、少盲区的系统优越性,结构简易,定位灵活。Aiming at the deficiencies in the prior art, the utility model provides an indoor positioning system based on ultrasonic ranging, which realizes accurate positioning of the indoor environment, and has the advantages of low cost, less blind area, simple structure and flexible positioning.

为实现上述目的,本实用新型采用以下技术方案:To achieve the above object, the utility model adopts the following technical solutions:

一种基于超声波测距的室内定位系统,包括:固定基站和移动端定位节点,固定基站固定安装在室内顶部,移动端定位节点设置在室内中;An indoor positioning system based on ultrasonic ranging, comprising: a fixed base station and a mobile terminal positioning node, the fixed base station is fixedly installed on the indoor top, and the mobile terminal positioning node is set indoors;

所述固定基站包括有第一主控MCU,第一主控MCU分别与第一无线通信模块、第一超声波发射及接收模块、第一电源模块之间电性连接,并处理各个模块的数据信息;The fixed base station includes a first main control MCU, and the first main control MCU is electrically connected with the first wireless communication module, the first ultrasonic transmitting and receiving module, and the first power supply module, and processes the data information of each module. ;

所述移动端定位节点包括有第二主控MCU,第二主控MCU分别与第二无线通信模块、第二超声波发射及接收模块、转向舵机模块、电子指南针模块、第二电源模块之间电性连接,并处理各个模块的数据信息使得移动端节点完成定位;The mobile terminal positioning node includes a second main control MCU, and the second main control MCU is respectively connected with the second wireless communication module, the second ultrasonic transmitting and receiving module, the steering servo module, the electronic compass module, and the second power supply module. Electrical connection, and processing the data information of each module to complete the positioning of the mobile end node;

其中,所述第一无线通信模块与第二无线通信模块之间通信连接,使得移动端定位节点在定位需求时与固定基站匹配;第二超声波发射及接收模块安装在转向舵机上,使得通过转向舵机的转向使第二超声波发射及接收模块向不同方向发射超声波;第二超声波发射及接收模块与第一超声波发射及接收模块之间通过超声波通信连接,实现测距;电子指南针模块用于获取方向信息。Wherein, the communication connection between the first wireless communication module and the second wireless communication module enables the mobile terminal positioning node to match the fixed base station when positioning needs; the second ultrasonic transmitting and receiving module is installed on the steering steering gear, so that the The steering of the steering gear enables the second ultrasonic transmitting and receiving module to transmit ultrasonic waves in different directions; the second ultrasonic transmitting and receiving module and the first ultrasonic transmitting and receiving module are connected through ultrasonic communication to realize ranging; the electronic compass module is used to obtain direction information.

为优化上述技术方案,采取的具体措施还包括:In order to optimize the above technical solutions, the specific measures taken also include:

进一步地,所述移动端定位节点还包括温度传感器,温度传感器与第二主控MCU之间电性连接。Further, the mobile terminal positioning node further includes a temperature sensor, and the temperature sensor is electrically connected with the second main control MCU.

进一步地,所述移动端定位节点还包括WIFI通信模块,WIFI通信模块与第二主控MCU之间电信连接,且WIFI通信模块与PC端通信连接。Further, the mobile terminal positioning node further includes a WIFI communication module, the WIFI communication module is telecommunicationly connected with the second main control MCU, and the WIFI communication module is communicatively connected with the PC terminal.

进一步地,所述第一超声波发射及接收模块和第二超声波发射及接收模块的频率大小均为40KHZ。Further, the frequencies of the first ultrasonic transmitting and receiving module and the second ultrasonic transmitting and receiving module are both 40KHZ.

本实用新型的有益效果是:本申请通过舵机与第二超声波发射及接收模块的结合,并且同时借助电子指南针模块获得了移动端定位节点在空间内的距离和方向信息,极大缩减了定位系统的定位盲区,与现有的多点定位相比,该系统对基站的依赖更少。本申请采用的模块大多较为常规,因此整个系统的搭建和运行成本十分低廉。因此本申请系统结构简单,定位灵活,在搭建方面对技术的要求不高。The beneficial effects of the present invention are as follows: the application uses the combination of the steering gear and the second ultrasonic transmitting and receiving module, and at the same time obtains the distance and direction information of the positioning node of the mobile terminal in space with the help of the electronic compass module, which greatly reduces positioning. Compared with the existing multi-point positioning, the system has less dependence on the base station. Most of the modules used in this application are relatively conventional, so the construction and operation costs of the entire system are very low. Therefore, the system of the present application has a simple structure, flexible positioning, and low technical requirements in terms of construction.

附图说明Description of drawings

图1是本实用新型固定基站和移动端定位节点分位置分布示意图。FIG. 1 is a schematic diagram of the distribution of fixed base stations and mobile terminal positioning nodes by position of the present invention.

图2是本实用新型固定基站各模块连接关系示意图。FIG. 2 is a schematic diagram of the connection relationship of each module of the fixed base station of the present invention.

图3是本实用新型移动端定位节点各模块连接关系示意图。FIG. 3 is a schematic diagram of the connection relationship of each module of the mobile terminal positioning node of the present invention.

图4是本实用新型转向舵机连接关系示意图。4 is a schematic diagram of the connection relationship of the steering steering gear of the present invention.

图5是本实用新型实施例中移动端定位节点A与固定基站B的位置定位关系示意图。FIG. 5 is a schematic diagram of the position positioning relationship between the mobile terminal positioning node A and the fixed base station B in the embodiment of the present invention.

具体实施方式Detailed ways

下面结合附图详细说明本实用新型。The present utility model will be described in detail below with reference to the accompanying drawings.

本申请的主要技术方案为:The main technical solutions of this application are:

一种基于超声波测距的室内定位系统,包括:固定基站和移动端定位节点,固定基站固定安装在室内顶部,移动端定位节点设置在室内中;An indoor positioning system based on ultrasonic ranging, comprising: a fixed base station and a mobile terminal positioning node, the fixed base station is fixedly installed on the indoor top, and the mobile terminal positioning node is set indoors;

固定基站包括有第一主控MCU,第一主控MCU分别与第一无线通信模块、第一超声波发射及接收模块、第一电源模块之间电性连接,并处理各个模块的数据信息;The fixed base station includes a first main control MCU, and the first main control MCU is electrically connected with the first wireless communication module, the first ultrasonic transmitting and receiving module, and the first power supply module, and processes the data information of each module;

移动端定位节点包括有第二主控MCU,第二主控MCU分别与第二无线通信模块、第二超声波发射及接收模块、转向舵机模块、电子指南针模块、第二电源模块之间电性连接,并处理各个模块的数据信息使得移动端节点完成定位;The mobile terminal positioning node includes a second main control MCU, and the second main control MCU is electrically connected to the second wireless communication module, the second ultrasonic transmitting and receiving module, the steering servo module, the electronic compass module, and the second power supply module, respectively. Connect, and process the data information of each module so that the mobile end node completes the positioning;

其中,第一无线通信模块与第二无线通信模块之间通信连接,使得移动端定位节点在定位需求时与固定基站匹配;第二超声波发射及接收模块安装在转向舵机上,使得通过转向舵机的转向使第二超声波发射及接收模块向不同方向发射超声波;第二超声波发射及接收模块与第一超声波发射及接收模块之间通信连接,实现测距;电子指南针模块用于获取方向信息。The communication connection between the first wireless communication module and the second wireless communication module enables the mobile terminal positioning node to match the fixed base station when positioning needs; the second ultrasonic transmitting and receiving module is installed on the steering steering gear, so that the steering steering gear The turning of the second ultrasonic wave transmitting and receiving module enables the second ultrasonic transmitting and receiving module to transmit ultrasonic waves in different directions; the communication connection between the second ultrasonic transmitting and receiving module and the first ultrasonic transmitting and receiving module realizes ranging; the electronic compass module is used to obtain direction information.

进一步,移动端定位节点还包括温度传感器,温度传感器与第二主控MCU之间电性连接;以使第二主控MCU通过温度信息对第一超声波发射接收模块和第二超声波发射接收模块之间检测的距离进行修正(例如以常温为界限,每增加一摄氏度将测量的距离增加1公分,每减少一摄氏度将测量的距离减少1公分)Further, the mobile terminal positioning node also includes a temperature sensor, and the temperature sensor is electrically connected with the second main control MCU; so that the second main control MCU can use the temperature information to communicate between the first ultrasonic transmitting and receiving module and the second ultrasonic transmitting and receiving module. Correct the distance detected between them (for example, with normal temperature as the limit, the measured distance will increase by 1 cm for every one degree Celsius increase, and the measured distance will decrease by 1 cm for every one degree Celsius decrease)

进一步,移动端定位节点还包括WIFI通信模块,WIFI通信模块与第二主控MCU之间电信连接,且WIFI通信模块与PC端通信连接,用于将第二主控MCU中的数据信息传输给PC端。Further, the mobile terminal positioning node further includes a WIFI communication module, the WIFI communication module is telecommunicationly connected with the second main control MCU, and the WIFI communication module is communicatively connected with the PC terminal for transmitting the data information in the second main control MCU to the PC terminal. PC side.

进一步,第一超声波发射及接收模块和第二超声波发射及接收模块的频率大小为40KHZ。Further, the frequency of the first ultrasonic transmitting and receiving module and the second ultrasonic transmitting and receiving module is 40KHZ.

进一步,移动端定位节点还包括第三超声波发射及接收模块,第三超声波发射及接收模块与另外一个移动端定位节点的第三超声波发射及接收模块通过超声波通信连接,实现移动端定位节点彼此之间的距离测定;Further, the mobile terminal positioning node also includes a third ultrasonic transmitting and receiving module, and the third ultrasonic transmitting and receiving module is connected with the third ultrasonic transmitting and receiving module of another mobile terminal positioning node through ultrasonic communication, so as to realize the mutual communication between the mobile terminal positioning nodes. distance measurement;

其中,移动端定位节点彼此之间的第二无线通信模块通信连接,以实现彼此之间的第二主控MCU数据交互。Wherein, the second wireless communication modules between the mobile terminal positioning nodes are communicatively connected to each other, so as to realize the data interaction between the second main control MCUs.

进一步,第三超声波发射及接收模块的频率大小为80KHZ。Further, the frequency of the third ultrasonic transmitting and receiving module is 80KHZ.

本申请系统的具体实施方案如下:The specific embodiments of the application system are as follows:

参考图1-图3。固定基站由如下内容构成:LORA无线通信模块(第一无线通信模块)、40kHz超声波接收模块、40kHz超声波发射模块(接收和发射组合成第一超声波发射及接收模块)、第一电源模块、单片机——第一主控MCU。其中,40kHz超声波发射和接收模块为常规定位服务,LORA负责与移动节点通信,接收来自移动节点的定位指令。Refer to Figures 1-3. The fixed base station is composed of the following contents: LORA wireless communication module (the first wireless communication module), 40kHz ultrasonic receiving module, 40kHz ultrasonic transmitting module (receiving and transmitting are combined into the first ultrasonic transmitting and receiving module), the first power supply module, the single-chip microcomputer— - The first master control MCU. Among them, the 40kHz ultrasonic transmitting and receiving module serves for conventional positioning, and LORA is responsible for communicating with the mobile node and receiving positioning instructions from the mobile node.

参考图1-图3。移动端节点由如下内容构成:电子指南针模块、转动舵机、80kHz超声波发射模块、40kHz超声波发射模块、80kHz超声波接收模块、40kHz超声波接收模块(其中,40kHz的发射和接收组合成第二超声波发射及接收模块,80kHz的发射和接收组合成第三超声波发射及接收模块)、LORA无线通信模块(第二无线通信模块,负责与固定基站之间的通信)、WiFi通信模块(负责将定位数据汇总发送给PC端)、温度传感器、第二电源模块、单片机——第二主控MCU。其中,40kHz超声波接收与发射模块负责参与常规定位模式。电子指南针可以标明该节点的朝向,与舵机相结合参与方向的确定。80kHz超声波发射和接收模块负责参与伙伴定位模式。LORA模块负责与固定基站和其他移动节点进行通信。温度传感器负责参与测距的修正。Wi-Fi模块负责将定位信息上传到服务器。Refer to Figures 1-3. The mobile terminal node consists of the following contents: electronic compass module, steering gear, 80kHz ultrasonic transmitter module, 40kHz ultrasonic transmitter module, 80kHz ultrasonic receiver module, and 40kHz ultrasonic receiver module (wherein, the 40kHz transmitter and receiver are combined into the second ultrasonic transmitter and Receiving module, 80kHz transmission and reception are combined into the third ultrasonic transmission and reception module), LORA wireless communication module (the second wireless communication module, responsible for the communication with the fixed base station), WiFi communication module (responsible for sending the positioning data together to the PC), temperature sensor, second power supply module, single-chip microcomputer - the second main control MCU. Among them, the 40kHz ultrasonic receiving and transmitting module is responsible for participating in the conventional positioning mode. The electronic compass can indicate the orientation of the node, and it is combined with the steering gear to participate in the determination of the direction. The 80kHz ultrasonic transmitter and receiver module is responsible for participating in partner positioning mode. The LORA module is responsible for communicating with fixed base stations and other mobile nodes. The temperature sensor is responsible for participating in the correction of the ranging. The Wi-Fi module is responsible for uploading the positioning information to the server.

常规定位模式:任何处在四个固定基站测距范围内的移动端定位节点均可采用常规定位模式。在常规定位模式下,首先由移动端定位节点发出定位请求,请求通过LORA模块发送给固定基站,每次请求携带可能处在附近的固定定位基站的编号,指定该固定定位基站节点进入等待状态。其中,每个固定基站和移动端定位节点均有唯一的编号指定。固定基站通过自身的LORA模块收到指令后立即进入等待状态,使得固定基站和移动端定位节点匹配完成。Conventional positioning mode: Any mobile positioning node within the range of the four fixed base stations can use the conventional positioning mode. In the conventional positioning mode, the mobile positioning node first sends a positioning request, and the request is sent to the fixed base station through the LORA module. Each request carries the number of the fixed positioning base station that may be nearby, and the fixed positioning base station node is designated to enter the waiting state. Wherein, each fixed base station and mobile terminal positioning node has a unique number designation. The fixed base station enters the waiting state immediately after receiving the instruction through its own LORA module, so that the matching of the fixed base station and the mobile terminal positioning node is completed.

参考图4-图5。匹配完成后,移动端定位节点通过转向舵机和第二超声波发射及接收模块的配合,寻找固定基站,以实现定位。具体为:移动端定位节点上的舵机每次转动一个角度后通过第二超声波发射及接收模块发送一次超声波信号,等待一个超时时间,当超时发生时仍未收到固定基站的回应说明固定基站不处在当前舵机所指向的方向,则继续旋转一个角度,旋转的角度为超声波发射模块发射超声波的夹角(第二超声波发射及接收模块发射的超声波是一个广角范围,转向舵机的旋转角度也是这个广角),然后重复上一个操作,继续发送超声波信号并等待。当该移动节点发射超声波信号并且在超时周期内收到固定基站超声波模块的应答后,计量中间等待的时间以及根据当时环境温度对超声波测距进行修正就可以得到移动节点与该固定基站之间的距离,并且可以根据当时舵机转动的角度、电子指南针的指向获得该固定节点所在移动节点的方向(例如,舵机每次都是以电子指南针所指的正南为起始方向,每次顺时针转动一个角度,这样当有超声波信号返回时就知道超声波相对于正南的探测方向了),然后指定下一个处在附近的基站,重复上述完整的测距流程测得距离和方向。在舵机完成360°旋转后仍没有超声波应答则说明指定固定基站不处在有效测距范围内,于是跳过该固定基站,继续指定下一次固定基站;通过两个及以上的固定基站实现移动端定位节点的位置确定。Refer to Figures 4-5. After the matching is completed, the mobile terminal positioning node searches for a fixed base station through the cooperation of the steering servo and the second ultrasonic transmitting and receiving module to achieve positioning. Specifically: every time the steering gear on the positioning node of the mobile terminal rotates an angle, the second ultrasonic transmitting and receiving module sends an ultrasonic signal once, and waits for a timeout period. When the timeout occurs, the fixed base station has not received a response. If it is not in the direction of the current steering gear, continue to rotate by an angle, the angle of rotation is the angle of the ultrasonic wave emitted by the ultrasonic transmitter module (the ultrasonic wave emitted by the second ultrasonic transmitter and receiver module is a wide-angle range, and the rotation of the steering gear The angle is also this wide angle), then repeat the previous operation, continue to send ultrasonic signals and wait. When the mobile node transmits ultrasonic signals and receives a response from the ultrasonic module of the fixed base station within the timeout period, measuring the waiting time in the middle and correcting the ultrasonic ranging according to the current ambient temperature can obtain the difference between the mobile node and the fixed base station. distance, and the direction of the mobile node where the fixed node is located can be obtained according to the angle of rotation of the steering gear and the pointing of the electronic compass at that time (for example, the starting direction of the steering gear is the due south pointed by the electronic compass every time, Rotate the clock by an angle, so that when there is an ultrasonic signal back, the detection direction of the ultrasonic wave relative to the south will be known), and then specify the next nearby base station, and repeat the above complete ranging process to measure the distance and direction. If there is still no ultrasonic response after the steering gear completes 360° rotation, it means that the designated fixed base station is not within the effective ranging range, so skip the fixed base station and continue to designate the next fixed base station; move through two or more fixed base stations The position of the end positioning node is determined.

进一步补充的是,只通过一个固定基站对移动端定位节点的位置寻找并不准确,因此通过多个可以获得较好的定位结果。具体为:参考图5。由上述内容可知,可以使舵机每次都是以电子指南针所指的正南为起始方向,每次顺时针转动一个角度,这样当有超声波信号返回时就知道超声波相对于正南的探测方向了。在图5的实施例中,正好在起始的正南方向搜寻到返回信号。这时由于固定基站的位置是固定的,且由超声波测距知道移动端定位节点距离该固定基站的距离,因此可以得知,移动端定位节点必定在图5中的圆上(图中圆的直径就是所探测的距离)。结合超声波的探测方向(该实施例为正南)、以及超声波的探测广角,可以得知移动端定位节点所在的两个极限位置(如图5中的A1和A2),即移动端定位节点必然在A1或A2或A1和A2之间这条劣弧上,因为只有在这些位置才能得到返回信号。这时采用同样的方式定位另外一个匹配的固定基站,之间的交点就是移动端定位节点的位置。以此实现根据固定基站的位置确定移动节点的位置。It is further added that it is not accurate to search for the location of the mobile terminal positioning node only through one fixed base station, so better positioning results can be obtained through multiple base stations. Specifically: refer to Figure 5. It can be seen from the above content that the steering gear can be made to start from the true south pointed by the electronic compass every time, and rotate an angle clockwise each time, so that when there is an ultrasonic signal returning, the detection of the ultrasonic wave relative to the true south can be known. direction. In the embodiment of FIG. 5, the return signal is searched just in the due south direction of the origin. At this time, since the position of the fixed base station is fixed, and the distance between the mobile terminal positioning node and the fixed base station is known by ultrasonic ranging, it can be known that the mobile terminal positioning node must be on the circle in Figure 5 (the circle in the figure). The diameter is the distance detected). Combined with the detection direction of the ultrasonic wave (this embodiment is due south) and the detection wide angle of the ultrasonic wave, it can be known that the two extreme positions where the mobile terminal positioning node is located (A1 and A2 in Figure 5), that is, the mobile terminal positioning node must be On this inferior arc between A1 or A2 or between A1 and A2, because only at these positions can a return signal be obtained. At this time, another matching fixed base station is located in the same way, and the intersection between them is the location of the mobile terminal positioning node. In this way, the location of the mobile node is determined according to the location of the fixed base station.

其中,在移动端定位节点得知与附近两个固定基站之间的距离和方向信息后即可完成一次定位,图5中,α为移动端定位节点超声波发射模块的发射夹角,在常规定位模式下认为图5中的B为固定基站处在的位置,A处在A1到A2之间的劣弧上,A在图中未标出,可以根据几何知∠A1BA2也等于α。当移动节点A与一个固定基站B完成一次测距和方向测量后,可以得知A处在从A1到A2之间的劣弧上,当移动节点与两个固定节点完成距离和方向测量后,可能处在的位置为两条劣弧的交点。也可以采取与附近四个固定基站之间进行测距,通过四点定位法完成定位。应当意识到的是,此处完成定位的方式不止一种,只要是根据已经测得的距离和方向信息完成定位均可。该常规模式下,由于移动节点可以得知自身与基站之间的距离和方向,并且利用电子指南针可以得知自身朝向,综合这几个信息可以利用更少的基站完成定位,极大缩小了定位盲区。Among them, after the mobile terminal positioning node knows the distance and direction information between the mobile terminal and two nearby fixed base stations, a positioning can be completed. In Figure 5, α is the transmission angle of the ultrasonic transmitter module of the mobile terminal positioning node. In the mode, it is considered that B in Figure 5 is the location of the fixed base station, A is on the inferior arc between A1 and A2, A is not marked in the figure, it can be known from geometry that ∠A1BA2 is also equal to α. When the mobile node A and a fixed base station B complete a range and direction measurement, it can be known that A is on the inferior arc between A1 and A2. When the mobile node and two fixed nodes complete the distance and direction measurement, The possible location is the intersection of two inferior arcs. It can also measure the distance with four nearby fixed base stations, and complete the positioning through the four-point positioning method. It should be appreciated that there is more than one way to complete the positioning here, as long as the positioning is completed according to the distance and direction information that have been measured. In this normal mode, since the mobile node can know the distance and direction between itself and the base station, and use the electronic compass to know its own orientation, combining these pieces of information can use fewer base stations to complete positioning, which greatly reduces positioning. blind spot.

本申请还提供了除常规定位模式以外的伙伴定位模式,这种模式下需要用到第三超声波发射及接收模块。在上述常规定位模式下,如果附近可用定位基站不足,可以启动伙伴定位模式,借助附近已知位置的其他移动节点进一步缩小目标移动节点处在的区域。伙伴模式下,由于附近固定基站不足,所以如果有处在测距范围内的位置已知的其他移动节点,这些移动节点可以参与辅助定位,将这些节点称为辅助定位节点。当附近不存在其他辅助定位节点时无法完成伙伴定位。当无法完成一次完整的常规定位时,目标移动节点将会激活伙伴定位模式,在该模式下,首先该目标移动节点已经完成了与附近可定位固定基站的交互,目标移动节点进而通过LORA向可能处在附近的其他移动节点发出请求,请求发出后,舵机每旋转一个角度80kHz超声波发射/接收模块(第三超声波发射及接收模块)发射一次超声波,此时舵机旋转的角度为80kHz超声波发射/接收模块发射覆盖的角度,超声波发射后,该目标移动节点等待一个超时周期,当等待超时时认为辅助定位节点不在当前舵机所指向的方向,舵机继续旋转,然后发射超声波并等待,如此重复,当舵机旋转360°后仍未收到回应,则说明辅助定位节点不在附近,继续指定下一个辅助定位节点。如果指定的辅助定位节点自身位置也处于未知状态,该辅助定位节点将会做出否定的回应,于是目标移动节点跳过该节点。当完成对附近其他移动节点的请求和定位后,目标移动节点可以根据已知信息再次尝试定位。在该模式下,移动节点的定位盲区为动态变化的,但是总会小于常规定位模式下的定位盲区,这就是该模式对常规定位模式的补充作用。The present application also provides a partner positioning mode other than the conventional positioning mode. In this mode, a third ultrasonic transmitting and receiving module is required. In the above-mentioned conventional positioning mode, if the nearby available positioning base stations are insufficient, the partner positioning mode can be activated, and the area where the target mobile node is located can be further narrowed with the help of other nearby mobile nodes with known positions. In partner mode, due to the lack of nearby fixed base stations, if there are other mobile nodes with known positions within the ranging range, these mobile nodes can participate in assisted positioning, and these nodes are called assisted positioning nodes. Partner positioning cannot be completed when there are no other auxiliary positioning nodes nearby. When a complete conventional positioning cannot be completed, the target mobile node will activate the partner positioning mode. In this mode, first the target mobile node has completed the interaction with the nearby fixed base stations that can be positioned, and then the target mobile node will use LORA to communicate with possible Other nearby mobile nodes send requests. After the request is sent, the 80kHz ultrasonic transmitting/receiving module (the third ultrasonic transmitting and receiving module) transmits an ultrasonic wave every time the steering gear rotates by an angle. At this time, the rotation angle of the steering gear is 80kHz ultrasonic transmission. /The angle covered by the transmission of the receiving module. After the ultrasonic wave is transmitted, the target mobile node waits for a timeout period. When the wait times out, it considers that the auxiliary positioning node is not in the direction pointed by the current steering gear, and the steering gear continues to rotate, then transmits the ultrasonic wave and waits, so Repeat, when the servo rotates 360° and still does not receive a response, it means that the auxiliary positioning node is not nearby, and continue to specify the next auxiliary positioning node. If the position of the designated auxiliary positioning node is also in an unknown state, the auxiliary positioning node will respond negatively, and the target mobile node will skip this node. After completing the request and positioning for other nearby mobile nodes, the target mobile node can try positioning again according to the known information. In this mode, the location blind area of the mobile node changes dynamically, but it is always smaller than the location blind area in the conventional location mode, which is the supplementary effect of this mode to the conventional location mode.

其中,80kHz超声波接收/发射模块安装方式为水平安装,目的是为伙伴定位服务;40kHz超声波接收/发射模块采取斜向上的方向安装,目的是为常规定位模式服务,尽可能对准固定基站的接收模块。Among them, the installation method of 80kHz ultrasonic receiving/transmitting module is horizontal installation, the purpose is to serve the partner positioning; module.

需要注意的是,实用新型中所引用的如“上”、“下”、“左”、“右”、“前”、“后”等的用语,亦仅为便于叙述的明了,而非用以限定本实用新型可实施的范围,其相对关系的改变或调整,在无实质变更技术内容下,当亦视为本实用新型可实施的范畴。It should be noted that the terms such as "up", "down", "left", "right", "front", "rear", etc. quoted in the utility model are only for the convenience of description and clarity, not for use In order to limit the applicable scope of the present invention, the change or adjustment of the relative relationship shall also be regarded as the applicable scope of the present invention without substantially changing the technical content.

以上仅是本实用新型的优选实施方式,本实用新型的保护范围并不仅局限于上述实施例,凡属于本实用新型思路下的技术方案均属于本实用新型的保护范围。应当指出,对于本技术领域的普通技术人员来说,在不脱离本实用新型原理前提下的若干改进和润饰,应视为本实用新型的保护范围。The above are only the preferred embodiments of the present utility model, and the protection scope of the present utility model is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present utility model belong to the protection scope of the present utility model. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims (4)

1.一种基于超声波测距的室内定位系统,其特征在于,包括:固定基站和移动端定位节点,固定基站固定安装在室内顶部,移动端定位节点设置在室内中;1. an indoor positioning system based on ultrasonic ranging, is characterized in that, comprises: fixed base station and mobile terminal positioning node, fixed base station is fixedly installed on indoor top, and mobile terminal positioning node is arranged in indoor; 所述固定基站包括有第一主控MCU,第一主控MCU分别与第一无线通信模块、第一超声波发射及接收模块、第一电源模块之间电性连接,并处理各个模块的数据信息;The fixed base station includes a first main control MCU, and the first main control MCU is electrically connected with the first wireless communication module, the first ultrasonic transmitting and receiving module, and the first power supply module, and processes the data information of each module. ; 所述移动端定位节点包括有第二主控MCU,第二主控MCU分别与第二无线通信模块、第二超声波发射及接收模块、转向舵机模块、电子指南针模块、第二电源模块之间电性连接,并处理各个模块的数据信息使得移动端节点完成定位;The mobile terminal positioning node includes a second main control MCU, and the second main control MCU is respectively connected with the second wireless communication module, the second ultrasonic transmitting and receiving module, the steering servo module, the electronic compass module, and the second power supply module. Electrical connection, and processing the data information of each module to complete the positioning of the mobile end node; 其中,所述第一无线通信模块与第二无线通信模块之间通信连接,使得移动端定位节点在定位需求时与固定基站匹配;第二超声波发射及接收模块安装在转向舵机上,使得通过转向舵机的转向使第二超声波发射及接收模块向不同方向发射超声波;第二超声波发射及接收模块与第一超声波发射及接收模块之间通过超声波通信连接,实现测距;电子指南针模块用于获取方向信息。Wherein, the communication connection between the first wireless communication module and the second wireless communication module enables the mobile terminal positioning node to match the fixed base station when positioning needs; the second ultrasonic transmitting and receiving module is installed on the steering steering gear, so that the The steering of the steering gear enables the second ultrasonic transmitting and receiving module to transmit ultrasonic waves in different directions; the second ultrasonic transmitting and receiving module and the first ultrasonic transmitting and receiving module are connected through ultrasonic communication to realize ranging; the electronic compass module is used to obtain direction information. 2.根据权利要求1所述的一种基于超声波测距的室内定位系统,其特征在于,所述移动端定位节点还包括温度传感器,温度传感器与第二主控MCU之间电性连接。2 . The indoor positioning system based on ultrasonic ranging according to claim 1 , wherein the mobile terminal positioning node further comprises a temperature sensor, and the temperature sensor is electrically connected to the second main control MCU. 3 . 3.根据权利要求1所述的一种基于超声波测距的室内定位系统,其特征在于,所述移动端定位节点还包括WIFI通信模块,WIFI通信模块与第二主控MCU之间电信连接,且WIFI通信模块与PC端通信连接。3 . The indoor positioning system based on ultrasonic ranging according to claim 1 , wherein the mobile terminal positioning node further comprises a WIFI communication module, and the WIFI communication module is telecommunicationly connected with the second main control MCU, 3 . And the WIFI communication module is in communication connection with the PC terminal. 4.根据权利要求1所述的一种基于超声波测距的室内定位系统,其特征在于,所述第一超声波发射及接收模块和第二超声波发射及接收模块的频率大小均为40KHZ。4 . The indoor positioning system based on ultrasonic ranging according to claim 1 , wherein the frequency of the first ultrasonic transmitting and receiving module and the second ultrasonic transmitting and receiving module are both 40KHZ. 5 .
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