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An Indoor Ultrasonic Differential Positioning Method

A differential positioning and ultrasonic technology, used in positioning, radio wave measurement systems, measuring devices, etc., can solve the problems of hardware delay error installation error, large error between coordinates and actual position information, etc., to achieve high accuracy and improve positioning solutions. Arithmetic accuracy, the effect of eliminating crosstalk

Inactive Publication Date: 2017-11-03
NANCHANG UNIV
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Problems solved by technology

Due to the existence of ultrasonic velocity error (ultrasonic velocity varies with ambient temperature), hardware delay error, installation error and other errors, there is a certain error between the measured pseudo-range and the actual distance, resulting in a relatively large error between the calculated coordinates and the actual position information. Big

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  • An Indoor Ultrasonic Differential Positioning Method

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Embodiment Construction

[0033] In order to realize high-precision indoor ultrasonic three-dimensional positioning, the present invention provides an ultrasonic differential positioning method. Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:

[0034] The system structure of the indoor ultrasonic differential positioning system:

[0035] like figure 1 The structural composition diagram of the indoor ultrasonic positioning system is mainly composed of four parts: the central station, the beacon node, the positioning terminal and the reference station. The specific positioning steps of the four parts are as follows:

[0036] Let the coordinates of the three beacon nodes deployed at fixed positions on the roof be (x 1 ,y 1 ,z 1 ), (x 2 ,y 2 ,z 2 ), (x 3 ,y 3 ,z 3 ), set the position coordinates of the reference station as (x u ,y u ,z u ), the subscript u is the label of the reference station;

[0037] (1) The central station transmi...

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Abstract

The invention provides an indoor ultrasonic difference positioning method. An indoor ultrasonic difference positioning system includes four parts: a key station, beacon nodes, a positioning terminal and a reference station. The indoor ultrasonic difference positioning method can eliminate a measurement pseudo range error caused by an ultrasonic speed error, a hardware time-delay error, an installation error and other errors so as to improve the precision for positioning calculation. The indoor ultrasonic difference positioning method introduces a spread spectrum coding technology to eliminate the crosstalk phenomenon among various paths of ultrasonic signals, and compared with a current ultrasonic positioning method, the obtained position information for a positioning terminal by means of the ultrasonic difference positioning method is higher in precision.

Description

technical field [0001] The invention relates to an indoor ultrasonic differential positioning method; the differential positioning method is applied to indoor ultrasonic positioning for precise positioning of indoor targets, and belongs to the field of indoor positioning. Background technique [0002] Over the past few years, navigation and positioning technology has become a research hotspot. In view of the maturity of outdoor navigation and positioning methods, people gradually focus on indoor positioning. Among many indoor positioning technologies, ultrasonic positioning technology, as a non-contact detection method, has the advantages of good directionality, high vertical resolution, insensitivity to color and illumination, and is widely used in positioning technology. [0003] An ultrasonic positioning system generally consists of a sign, a receiver and a control center. The control center is responsible for time synchronization; the sign is used to transmit ultrasonic...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/26
CPCG01S5/26
Inventor 熊剑周先赞杨祖华郭杭林舟杰马号徐江颖杨欢
Owner NANCHANG UNIV
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