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Indoor scene positioning method and indoor scene positioning device based on ultrasonic array information

An ultrasonic array and indoor scene technology, applied in the field of indoor scene positioning based on ultrasonic array information, can solve the problem of low positioning effect accuracy, and achieve the effects of improving robustness and accuracy and reducing costs.

Active Publication Date: 2016-08-24
TSINGHUA UNIV
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  • Application Information

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Problems solved by technology

However, the positioning accuracy of the camera is not high when the light conditions are not good.

Method used

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  • Indoor scene positioning method and indoor scene positioning device based on ultrasonic array information
  • Indoor scene positioning method and indoor scene positioning device based on ultrasonic array information
  • Indoor scene positioning method and indoor scene positioning device based on ultrasonic array information

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Embodiment Construction

[0037] An indoor scene positioning method and device based on ultrasonic array information proposed by the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] An indoor scene positioning method based on ultrasonic array information proposed by the present invention, its flow chart is as follows figure 1 shown. Include the following steps:

[0039] 1) The ultrasonic sensor is installed on the robot body in the form of a ring or an array, so the information appears in the form of ultrasonic array information, and the ultrasonic array information of known indoor scenes is collected as ultrasonic training samples, and the number of ultrasonic training samples is N , then the ultrasonic training sample data set S tr The expression is:

[0040] S tr =[S tr1 ,S tr2 ,...,S trN ] (1)

[0041] where S tr1 ,S tr2 ,...,S trN Denote the ultrasound training sample data set S respectively tr ...

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Abstract

The invention provides an indoor scene positioning method and an indoor scene positioning device based on ultrasonic array information, and relates to the technical field of positioning. The method comprises the following steps: (1) collecting the ultrasonic array information of indoor scenes used as training samples; (2) collecting the ultrasonic array information of indoor scenes used as test samples; (3) respectively aligning the ultrasonic training samples with the ultrasonic test samples; (4) calculating out a distance matrix of the ultrasonic training samples and the ultrasonic test samples; and (5) positioning the scenes of all the ultrasonic test samples based on a nearest neighbor algorithm. The device comprises a robot body, an ultrasonic sensor, and a computer. The robot body and the computer are connected via a USB-serial cable. Ultrasonic array information collected by the ultrasonic sensor in real time is saved in the computer. An indoor scene positioning method and an indoor scene positioning device based on ultrasonic array information are implemented on the basis of machine learning. The robustness and accuracy of indoor scene positioning are improved.

Description

technical field [0001] The invention belongs to the technical field of ultrasonic array information positioning, and in particular relates to an indoor scene positioning method and device based on ultrasonic array information. Background technique [0002] Positioning technology, as a current research hotspot, has had a profound impact on military affairs, economy and people's daily life. Localization is the process of determining the position of the body in its operating environment. More specifically, it uses the input information such as the prior environment map information, the current estimation of the body pose and the observation value of the sensor, after certain processing and transformation, to generate A more accurate estimate of the current body pose. [0003] Guangxi University of Science and Technology's invention patent "Beidou or GPS dual-mode online positioning mode, application number 201410763072.1" discloses a positioning method. The positioning method ...

Claims

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Application Information

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IPC IPC(8): G01S5/18
CPCG01S5/18
Inventor 刘华平郑向梅孙富春
Owner TSINGHUA UNIV
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