Fusion positioning method and device based on sound waves

Abstract

The present invention discloses a fusion positioning method based on acoustic waves. The method calls an angle sensor configured in an intelligent device to obtain the angle α between the line connecting any two receiving / transmitting terminals configured on the intelligent device and the horizontal plane. When α is not greater than θ, the angle between the line connecting a receiving / transmitting terminal to a target device and the line connecting the two receiving / transmitting terminals is obtained as the ultrasonic angle z. The intelligent device is continuously rotated, and the angle sensor is called to obtain the rotation direction and rotation angle of the intelligent device in the horizontal plane. The corrected ultrasonic angle and the corresponding change angle obtained each time are input into a formula pre-written in the intelligent device, and the angle measurement result is output. The present invention integrates an IMU into the acoustic positioning system, uses the angle change value read by the IMU to correct the acoustic positioning angle measurement, and improves the angle measurement accuracy. This method can not only improve the positioning effect, but also realize the function of the intelligent device to realize positioning and angle measurement at any angle, eliminates the untrustworthy interval at a specific angle, and improves the applicability of acoustic positioning and angle measurement.

Description

Technical Field

[0001] The present invention relates to a fusion positioning method and device based on sound waves, belonging to the technical field of positioning. Background Art

[0002] The Internet of Things (IoT) refers to the real-time collection of acoustic, optical, thermal, electrical, mechanical, chemical, biological, and location-based information from any object or process requiring monitoring, connection, and interaction, using various devices and technologies, including information sensors, radio frequency identification (RFID), global positioning systems (GPS), infrared sensors, and laser scanners. This information is then collected through various network connections, enabling ubiquitous connectivity between objects and between objects and people, and enabling intelligent perception, identification, and management of objects and processes. The IoT is an information carrier based on the internet and traditional telecommunications networks, enabling all independently addressable, common physical objects to form an interconnected network.

[0003] In IoT applications, location awareness is particularly important. However, single position sensors often have positioning errors. In particular, when using acoustic positioning, smart devices in certain postures will be blocked by their own obstructions, which will affect the channel, causing errors in the positioning results. This makes it difficult to achieve satisfactory positioning accuracy and meet the positioning needs of the IoT. Summary of the Invention

[0004] The purpose of the present invention is to provide a fusion positioning method and device based on sound waves. This method and device not only solve the problem in the prior art that when smart devices use sound waves for positioning, the smart devices themselves block the channel, but also solve the problem of multi-sensor fusion to achieve relative angle measurement.

[0005] To achieve the above object, the present invention adopts a technical solution: a fusion positioning method based on sound waves, the method comprising the following steps:

[0006] Call the angle sensor configured in the smart device to obtain the angle α between the line connecting any two receivers / transmitters configured on the smart device and the horizontal plane;

[0007] When α is not greater than θ, the receiving end continuously receives the direct acoustic positioning signal from the target device / the target device continuously receives the direct acoustic positioning signal from the transmitting end, and the angle between the line connecting the receiving end / transmitter to the target device and the line connecting the two receiving ends / transmitters is obtained as the ultrasonic angle z;

[0008] At the same time, the smart device is continuously rotated, and the angle sensor is called to obtain the rotation direction and rotation angle of the smart device in the horizontal plane;

[0009] In the rotation trend of the same rotation direction, when the ultrasonic angle increases with the increase of the rotation angle, the corrected ultrasonic angle Z=z; when the ultrasonic angle decreases with the increase of the rotation angle, the corrected ultrasonic angle Z=z-180;

[0010] Input the corrected ultrasonic angle and the corresponding change angle obtained each time into the formula pre-written in the smart device:

[0011] ⑥x k =A·y k-1 +B;

[0012]

[0013] ⑨y k =x k +k k ·(ZH·x k );

[0014]

[0015] Among them, x k is the prior estimate, A is the state transfer matrix, and A=1, y k is the posterior estimation value, k = 0, 1, 2, ..., used to characterize the fusion measurement node in the mobile process, B is the rotation angle change in the k-(k-1) time difference, when Z k -Z k-1 >0, B takes a positive value, when Z k -Z k-1 When it is less than 0, B takes a negative value. is the prior covariance matrix, P k is the posterior covariance matrix, Q is the variance of IMU angle measurement, k k is the Kalman coefficient, H is the transformation matrix, and H = 1, R is the variance of ultrasonic angle measurement;

[0016] When β≤z≤ε, R tends to 0, and when z<β, z>ε, 1 / R tends to 0;

[0017] Output y k As the result of angle measurement.

[0018] The further improved scheme in the above technical scheme is as follows:

[0019] 1. In the above scheme, β = 60 to 80°, ε = 100 to 120°.

[0020] 2. In the above solution, when α is greater than θ, the camera configured on the smart device is called to obtain the relative angle between the target device and the smart device through image recognition.

[0021] 3. In the above solution, θ=15-45°.

[0022] 4. In the above scheme, when Z>0 and the direction of rotation of the line connecting the two receiving ends / transmitters in the horizontal plane is clockwise, B takes a positive value, and when it is counterclockwise, it takes a negative value. When Z<0 and the direction of rotation of the line connecting the two receiving ends / transmitters in the horizontal plane is clockwise, B takes a negative value, and when it is counterclockwise, it takes a positive value.

[0023] 5. In the above scheme, while the acoustic wave is being positioned, the smart device is displaced in the vertical direction to obtain the distance L between the receiving end / transmitting end and the target device. n , the smart device outputs L n The direction of displacement decreases.

[0024] 6. In the above solution, the acoustic positioning signal carries the target device / smart device identifier.

[0025] 7. In the above solution, the receiving end / transmitting end is installed at both ends of the display interface of the smart device.

[0026] 8. In the above scheme, the position of the target device relative to the smart device is output. The relative position is: the line connecting the two receiving ends / transmitting ends is used as a vertical plane perpendicular to the display interface of the smart device. One side of the vertical plane corresponds to the positive value of Z, and the other side corresponds to the negative value of Z. The smart device outputs the position relationship between the target device and the vertical plane according to the positive or negative value of Z as the position of the target device relative to the smart device.

[0027] 9. In the above solution, the receiving end is a microphone unit and the transmitting end is a speaker unit.

[0028] The present invention also provides a technical solution: a fusion positioning device based on sound waves, the device comprising a processor and a memory;

[0029] The memory is used to store executable program instructions for executing any one of the above methods;

[0030] The processor is configured to execute program instructions stored in the memory.

[0031] The present invention also provides another technical solution: a computer-readable storage medium, characterized in that the computer-readable storage medium stores executable program instructions, and when the executable program instructions are executed, they are used to execute the steps described in any of the above methods.

[0032] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0033] 1. The present invention provides a fusion positioning method and device based on sound waves. By integrating IMU into the sound wave positioning system, the angle change value read by the IMU is used to correct the sound wave positioning angle measurement and improve the angle measurement accuracy. This can not only further improve the positioning effect, but also enable the smart device to realize the positioning and angle measurement function at any angle, eliminate the untrusted interval at a specific angle, and improve the applicability of sound wave positioning and angle measurement. At the same time, especially for existing smart devices, most of the usage states are handheld / wearable. In this state, the angle between the connection line of the two receiving ends / transmitting ends and the horizontal plane is within the range of the IMU correction sound wave angle measurement. The correction process is in line with ergonomics and meets the common state of smart devices, and is highly practical.

[0034] 2. The present invention provides a fusion positioning method and device based on acoustic waves. By using known confidence intervals and unconfidence intervals, the weight of acoustic angle measurement in the confidence interval is increased, its weight in the unconfidence interval is reduced, the Kalman coefficient is corrected, and the correction accuracy of the correction angle measurement cycle is improved, thereby accelerating the correction speed and improving the angle measurement accuracy.

[0035] 3. The present invention provides a fusion positioning method and device based on sound waves. By calling camera image recognition to obtain the relative angle between the target device and the smart device, it compensates for the problem that the IMU corrected sound wave angle measurement loses its effect when α is greater than θ, and improves the angle measurement effect of the smart device under various usage postures.

[0036] 4. The present invention provides a fusion positioning method and device based on sound waves. By identifying the rotation direction, it further supplements the judgment condition of whether the B value is positive or negative, thereby avoiding misjudgment caused by the Z values ​​of k and k+1 crossing 0 / 180.

[0037] 5. The present invention provides a fusion positioning method and device based on sound waves, which can be used to determine the positive and negative values ​​of the Z value and the vertical direction L n The change in value obtains the target device relative to the smart device in the three-dimensional space of the user's perspective, and is located on the left / right side, above / below the smart device, so that the user can more intuitively obtain the positional relationship between the devices, which is convenient for use and subsequent operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Attachment Figure 1 The figure is a flow chart of a fusion positioning method based on sound waves of the present invention. DETAILED DESCRIPTION

[0039] Example 1: A fusion positioning method based on sound waves, see the attached Figure 1 , this method includes:

[0040] S1: Call the angle sensor configured in the smart device - IMU, and obtain the angle α between the connection line of the two receiving ends configured on the smart device and the horizontal plane. Here, the smart device is a smart phone, and the receiving end is the built-in microphone configured at the front and back ends of the smart phone. Its connection is parallel to the display interface of the smart phone and is used to represent the main body in the length direction of the mobile phone. The IMU is a built-in module in the current mainstream smart phones and does not need to be added separately. When calling its data, you can either read the underlying information of the mobile phone to obtain IMU data, or reconnect to the IMU module to directly obtain its data.

[0041] S2: When α is not greater than 15°, start the command to correct the angle measurement by fusing acoustic positioning with IMU data;

[0042] At this time, the target device is notified to start acoustic positioning through Bluetooth broadcasting, activating the target device's transmitter (speaker) and the smart device's receiver respectively. The receiver continuously receives the direct acoustic positioning signal sent by the target device. The acoustic positioning signal is an ultrasonic positioning signal that carries the sending time and the receiving time. The ultrasonic angle z between the line connecting the receiver at the back of the smartphone and the target device (transmitter) and the line connecting the two receivers is measured;

[0043] The angle measurement method is as follows: the distance between the two receiving ends is known, and the distance between the two receiving ends and the target device (transmitter) can be known through the time-of-flight algorithm. In the triangle constructed by the algorithm, the three known sides can be used to calculate the required ultrasonic angle z. Here, ultrasonic ranging / angle measurement under both time synchronization and time asynchrony has been fully described in our company's previous patents and will not be repeated here.

[0044] While ultrasonic positioning is in progress, the IMU is called to obtain the rotation direction and rotation angle of the smart device. The rotation angle here is the change angle from the first use state to the second use state, and the judgment of the use state is divided by a fixed time length or a rotation pause. The ultrasonic angle z, the distance L between the back-end receiving end and the target device (transmitter) are used as the basis. n The angle change value at the corresponding moment is stored in the memory of the smart device for easy call and correction.

[0045] S3: As the smart device rotates close to the horizontal plane, the ultrasonic angle z remains constant when the smart device crosses the two receiving terminals and the target device (transmitter) in a straight line. This makes it difficult for the user to determine whether the target device is on the left or right side of the smart device. Therefore, after obtaining the above data, the z value is further processed to facilitate the cyclic correction of the angle measurement.

[0046] The Z value is processed as follows: in the rotation trend of the same rotation direction, in the area where the ultrasonic angle z increases as the rotation angle increases, the corrected ultrasonic angle Z=z; in the area where the ultrasonic angle z decreases as the rotation angle increases, the corrected ultrasonic angle Z=z-180;

[0047] Here, record the Z value and output the positive or negative value of the Z value;

[0048] In addition, the compass of a smartphone can be used as an angle sensor instead of the IMU to measure the effect of rotation angle in the horizontal plane.

[0049] S4: Circularly correct the angle measurement results based on the recorded data:

[0050] ①x k =A·y k-1 +B;

[0051]

[0052] ④y k =x k +k k ·(ZH·x k );

[0053]

[0054] Among them, x k is the prior estimate, A is the state transfer matrix, and A=1, y k is the posterior estimation value, k = 0, 1, 2, ..., used to characterize the fusion measurement node in the mobile process, B is the rotation angle change in the k-(k-1) time difference, when Z k -Z k-1 >0, B takes a positive value, when Z k -Z k-1 When it is less than 0, B takes a negative value. is the prior covariance matrix, P k is the posterior covariance matrix, Q is the variance of IMU angle measurement, k k is the Kalman coefficient, H is the transformation matrix, and H = 1, R is the variance of ultrasonic angle measurement;

[0055] Here, at initial startup, the prior estimate has no reference data, but this does not affect subsequent corrections. Simply continue rotating the smartphone. As more state data is obtained, the prior estimate is gradually corrected, resulting in an accurate posterior estimate (output value). The fusion measurement node here can be set to fuse and output once every fixed time length. In addition, the variance of the IMU (device inherent error) can be obtained directly by calling the IMU device information or obtained in advance through experimental measurements. The variance of ultrasonic angle measurement is: when 70° ≤ z ≤ 110°, R is 0.1; when 70° < β and z > 110°, R is 1000.

[0056] Keep moving the smart device. The best option is to rotate the smart device. After the angle data is accurately corrected, enter the use state and output y k , which is the corrected angle measurement result, is output to the display interface of the smart device or imported into the operation sequence synchronously with the Z value and Ln, converting the angle change into an operation instruction to complete the interaction between the smart device and the target device.

[0057] Example 2: A fusion positioning method based on sound waves, see the attached Figure 1 , this method includes:

[0058] S1: Call the angle sensor configured in the smart device - IMU, and obtain the angle α between the connection line of the two receiving ends configured on the smart device and the horizontal plane. Here, the smart device is a smart phone, and the receiving end is the built-in microphone configured at the front and back ends of the smart phone. Its connection is parallel to the display interface of the smart phone and is used to represent the main body in the length direction of the mobile phone. The IMU is a built-in module in the current mainstream smart phones and does not need to be added separately. When calling its data, you can either read the underlying information of the mobile phone to obtain IMU data, or reconnect to the IMU module to directly obtain its data.

[0059] S2: When α is greater than 30°, the common usage state is that the front end of the smartphone is raised. In this state, the camera configured on the smart device is called to perform image recognition to obtain the relative angle between the target device and the smart device. The method is as follows:

[0060] Collect the target device image and dimensions, input them into the smartphone processor, and build a target device model;

[0061] Capturing an image of a target device;

[0062] Establish a coordinate system with one corner of the image as the origin, the image unit pixel as the unit value, and the image center coordinates as (x, y). Find the target device in the image based on the target device model. Take the four vertices of a complete surface of the target device in the image and use these four vertices to make a rectangle parallel to the four sides of the image. The pixel length of each side of this rectangle is w, and the coordinates of the center point of the rectangle are (a, b);

[0063] Output relative angle β,

[0064] Call the actual side length W of the long side of the rectangle corresponding to the target device stored in the mobile device. It is known that the display interface width is M and the image pixel width is N. Output the actual length w′=Mw / N in the positioning device image, and output the distance d between the mobile device and the positioning device, d=Mw / NfW, where f is the focal length of the camera unit.

[0065] S3: When α is not greater than 30°, start the command to correct the angle measurement by fusing acoustic positioning with IMU data;

[0066] At this time, the target device is notified to start acoustic positioning through Bluetooth broadcasting, activating the target device's transmitter (speaker) and the smart device's receiver respectively. The receiver continuously receives the direct acoustic positioning signal sent by the target device. The acoustic positioning signal is an ultrasonic positioning signal that carries the sending time and the receiving time. The ultrasonic angle z between the line connecting the receiver at the back of the smartphone and the target device (transmitter) and the line connecting the two receivers is measured;

[0067] The angle measurement method is as follows: the distance between the two receiving ends is known, and the distance between the two receiving ends and the target device (transmitter) can be known through the time-of-flight algorithm. In the triangle constructed by the algorithm, the three known sides can be used to calculate the required ultrasonic angle z. Here, ultrasonic ranging / angle measurement under both time synchronization and time asynchrony has been fully described in our company's previous patents and will not be repeated here.

[0068] While ultrasonic positioning is in progress, the IMU is called to obtain the rotation direction and rotation angle of the smart device. The rotation angle here is the change angle from the first use state to the second use state, and the judgment of the use state is divided by a fixed time length or a rotation pause. The ultrasonic angle z, the distance L between the back-end receiving end and the target device (transmitter) are used as the basis. n The angle change value at the corresponding moment is stored in the memory of the smart device for easy call and correction.

[0069] S4: As the smart device rotates close to the horizontal plane, the ultrasonic angle z has the same value when the smart device crosses the two receiving ends and the target device (transmitter) in a straight line. This makes it difficult for the user to determine whether the target device is on the left or right side of the smart device. Therefore, after obtaining the above data, the z value is further processed to facilitate the cyclic correction of the angle measurement.

[0070] The Z value is processed as follows: in the rotation trend of the same rotation direction, in the area where the ultrasonic angle z increases as the rotation angle increases, the corrected ultrasonic angle Z=z; in the area where the ultrasonic angle z decreases as the rotation angle increases, the corrected ultrasonic angle Z=z-180;

[0071] Here, the Z value is recorded and the sign of the Z value is output.

[0072] S5: Circularly correct the angle measurement results based on the recorded data:

[0073] ①x k =A·y k-1 +B;

[0074]

[0075] ④y k =x k +k k ·(ZH·x k );

[0076]

[0077] Among them, x k is the prior estimate, A is the state transfer matrix, and A=1, y k is the posterior estimation value, k = 0, 1, 2, ..., used to characterize the fusion measurement node in the mobile process, B is the rotation angle change in the k-(k-1) time difference, when Z k -Z k-1 >0, B takes a positive value, when Z k -Z k-1 When it is less than 0, B takes a negative value. is the prior covariance matrix, P k is the posterior covariance matrix, Q is the variance of IMU angle measurement, k k is the Kalman coefficient, H is the transformation matrix, and H = 1, R is the variance of ultrasonic angle measurement;

[0078] Here, when Z>0 and the direction of rotation of the two receiving ends / connection line in the horizontal plane is clockwise, B takes a positive value, and counterclockwise takes a negative value. When Z<0 and the direction of rotation of the two receiving ends / connection line in the horizontal plane is clockwise, B takes a negative value, and counterclockwise takes a positive value. Add the judgment condition of B value. Only when both conditions are met at the same time can B be determined to take a positive / negative value. Avoid rotating the smart device across the two receiving ends and when the target device (transmitter) is in a straight line, Z k -Z k-1 Unable to accurately judge the positive or negative value of B;

[0079] Here, the smartphone can read the compass data to determine whether the rotation direction is clockwise or counterclockwise;

[0080] Here, at initial startup, the prior estimate has no reference data, but this does not affect subsequent corrections. Simply continue rotating the smartphone. As more state data is obtained, the prior estimate is gradually corrected, resulting in an accurate posterior estimate (output value). The fusion measurement node here can be set to fuse and output once every fixed time length. In addition, the variance of the IMU (device inherent error) can be obtained directly by calling the IMU device information or obtained in advance through experimental measurements. The variance of ultrasonic angle measurement is: when 70° ≤ z ≤ 110°, R is 0.1; when 70° < β and z > 110°, R is 1000.

[0081] Keep moving the smart device. The best option is to rotate the smart device. After the angle data is accurately corrected, enter the use state and output y k , which is the corrected angle measurement result, is output to the display interface of the smart device or imported into the operation sequence synchronously with the Z value and Ln, converting the angle change into an operation instruction to complete the interaction between the smart device and the target device.

[0082] Example 3: A fusion positioning method based on sound waves, see the attached Figure 1 , this method includes:

[0083] S1: Call the angle sensor configured in the smart device - IMU, and obtain the angle α between the connection line of the two transmitters configured on the smart device and the horizontal plane. Here, the smart device is a smart phone, and the transmitter is the built-in speaker configured at the front and back ends of the smart phone. Its connection is parallel to the display interface of the smart phone and is used to represent the main body in the length direction of the mobile phone. The IMU is a built-in module in the current mainstream smart phones and does not need to be added separately. When calling its data, you can either read the underlying information of the mobile phone to obtain IMU data, or reconnect to the IMU module to directly obtain its data.

[0084] S2: When α is greater than 45°, the common usage state is that the front end of the smartphone is raised. In this state, the camera configured on the smart device is called to perform image recognition to obtain the relative angle between the target device and the smart device. The method is as follows:

[0085] Collect the target device image and dimensions, input them into the smartphone processor, and build a target device model;

[0086] Capturing an image of a target device;

[0087] Establish a coordinate system with one corner of the image as the origin, the image unit pixel as the unit value, and the image center coordinates as (x, y). Find the target device in the image based on the target device model. Take the four vertices of a complete surface of the target device in the image and use these four vertices to make a rectangle parallel to the four sides of the image. The pixel length of each side of this rectangle is w, and the coordinates of the center point of the rectangle are (a, b);

[0088] Output relative angle β,

[0089] Call the actual side length W of the long side of the rectangle corresponding to the target device stored in the mobile device. It is known that the display interface width is M and the image pixel width is N. Output the actual length w′=Mw / N in the positioning device image, and output the distance d between the mobile device and the positioning device, d=Mw / NfW, where f is the focal length of the camera unit.

[0090] S3: When α is not greater than 45°, start the command to correct the angle measurement by fusing acoustic positioning with IMU data;

[0091] At this time, the target device is notified to start acoustic positioning through Bluetooth broadcasting, activating the target device's receiver (microphone) and the smart device's transmitter respectively. The receiver continuously receives the direct acoustic positioning signals sent by the transmitters. The acoustic positioning signals are ultrasonic positioning signals that carry the device identification, sending time, and receiving time. The ultrasonic angle z between the line connecting the transmitter at the back of the smartphone and the target device (receiver) and the line connecting the two transmitters is measured;

[0092] The angle measurement method is as follows: the distance between the two transmitting ends is known, and the distance between the two transmitting ends and the target device (receiving end) can be known through the time-of-flight algorithm. In the triangle constructed by the known three sides, the required ultrasonic angle z value can be calculated. Here, whether it is time synchronization or time asynchronous ultrasonic ranging / angle measurement has been explained in detail in our company's previous patents and will not be repeated here.

[0093] While ultrasonic positioning is in progress, the IMU is called to obtain the rotation direction and rotation angle of the smart device. The rotation angle here is the change angle from the first use state to the second use state, and the judgment of the use state is divided by a fixed time length or a rotation pause. The ultrasonic angle z, the distance L between the back-end receiving end and the target device (receiving end) are used as the basis. n The angle change value at the corresponding moment is stored in the memory of the smart device for easy call and correction.

[0094] S4: As the smart device rotates close to the horizontal plane, the ultrasonic angle z has the same value when the smart device crosses the two transmitting ends and the target device (receiving end) in a straight line. This makes it difficult for the user to determine whether the target device is on the left or right side of the smart device. Therefore, after obtaining the above data, the z value is further processed to facilitate the cyclic correction of the angle measurement.

[0095] The Z value is processed as follows: in the rotation trend of the same rotation direction, in the area where the ultrasonic angle z increases as the rotation angle increases, the corrected ultrasonic angle Z=z; in the area where the ultrasonic angle z decreases as the rotation angle increases, the corrected ultrasonic angle Z=z-180;

[0096] Here, the Z value is recorded and the sign of the Z value is output.

[0097] S5: Circularly correct the angle measurement results based on the recorded data:

[0098] ⑥x k =A·y k-1 +B;

[0099]

[0100] ⑨y k =x k +k k ·(ZH·x k );

[0101]

[0102] Among them, x k is the prior estimate, A is the state transfer matrix, and A=1, y k is the posterior estimation value, k = 0, 1, 2, ..., used to characterize the fusion measurement node in the mobile process, B is the rotation angle change in the k-(k-1) time difference, when Z k -Z k-1 >0, B takes a positive value, when Z k -Z k-1 When it is less than 0, B takes a negative value. is the prior covariance matrix, P k is the posterior covariance matrix, Q is the variance of IMU angle measurement, k k is the Kalman coefficient, H is the transformation matrix, and H = 1, R is the variance of ultrasonic angle measurement;

[0103] Here, when Z>0 and the direction of rotation of the line connecting the two transmitting ends in the horizontal plane is clockwise, B takes a positive value, and when it is counterclockwise, it takes a negative value. When Z<0 and the direction of rotation of the line connecting the two transmitting ends in the horizontal plane is clockwise, B takes a negative value, and when it is counterclockwise, it takes a positive value. Add a judgment condition for the value of B. Only when both conditions are met at the same time can B be determined to take a positive / negative value. Avoid rotating the smart device across the two transmitting ends and when the target device (receiving end) is in a straight line, Z k -Z k-1 Unable to accurately judge the positive or negative value of B;

[0104] Here, at initial startup, the prior estimate has no reference data, but this does not affect subsequent corrections. Simply continue rotating the smartphone. As more state data is obtained, the prior estimate is gradually corrected, resulting in an accurate posterior estimate (output value). The fusion measurement node here can be set to fuse and output once every fixed time length. In addition, the variance of the IMU (device inherent error) can be obtained directly by calling the IMU device information or obtained in advance through experimental measurements. The variance of ultrasonic angle measurement is: when 70° ≤ z ≤ 110°, R is 0.1; when 70° < β and z > 110°, R is 1000.

[0105] Keep moving the smart device. The best option is to rotate the smart device. After the angle data is accurately corrected, enter the use state and output y k , which is the corrected angle measurement result, is output to the display interface of the smart device or imported into the operation sequence synchronously with the Z value and Ln, converting the angle change into an operation instruction to complete the interaction between the smart device and the target device.

[0106] Furthermore, the position of the target device relative to the smart device is output, wherein the relative position is: a line connecting two transmitting ends is used as a vertical plane perpendicular to the display interface of the smart device, one side of the vertical plane (the left side of the smart phone) corresponds to a positive value of Z, and the other side (the right side of the smart phone) corresponds to a negative value of Z. The smart device outputs the position relationship between the target device and the vertical plane (left and right sides) according to the positive or negative value of Z as the position of the target device relative to the smart device;

[0107] Furthermore, while the acoustic wave is being positioned, the smart device is displaced in the vertical direction to obtain the distance L between the transmitter and the target device. n , the smart device outputs L n The direction of displacement that decreases (upward / downward).

[0108] Example 4: A fusion positioning device based on sound waves, which includes a processor and a memory, the memory is used to store executable program instructions for executing any one of the methods in Examples 1-3, and the processor is used to execute the program instructions stored in the memory.

[0109] Embodiment 5: A computer-readable storage medium stores executable program instructions, which, when executed, are used to execute the steps of any one of the methods in Embodiments 1-3 above.

[0110] Example 6: A fusion positioning method based on sound waves, based on Examples 1-5, wherein the angle directly measured by the IMU is the angle change in three-dimensional space. Projecting this angle onto the xy-axis horizontal plane can obtain the rotation direction in the horizontal plane. Since the angle change value of the smart device in the vertical direction has a very small impact on the linear model angle measurement formed by the two receiving ends / transmitting ends at angles below the θ value, the angle change in the vertical direction is ignored.

[0111] At the same time, in order to improve the correction effect, for Examples 1-5, during the continuous rotation process, the correction is maintained at the same height to improve the correction effect and avoid L n The adverse effects of large changes on correction. The same height here means that when the user holds the smart device and rotates it, it should remain stable and avoid large up and down shaking.

[0112] Example 7: A fusion positioning method based on sound waves, based on Examples 1-6, the user holds a smartphone / smart watch and enters an IoT space with a large number of interactive devices (TVs, speakers, computers, lighting equipment, projectors, air conditioners, etc.), turns on the fusion positioning function, actively rotates the smartphone, interacts with multiple target devices at the same time, corrects its relative angle and position relationship with each target device, and then enters the usage scenario, finds the corresponding target device to interact, or directly completes the interactive operation through action commands.

[0113] By adopting the above scheme, by integrating IMU into the acoustic positioning system and using the angle change value read by IMU, the acoustic positioning angle measurement is corrected to improve the angle measurement accuracy. This can not only further improve the positioning effect, but also enable the smart device to realize the positioning and angle measurement function at any angle, eliminate the untrusted interval under specific angles, and improve the applicability of acoustic positioning and angle measurement; at the same time, especially for existing smart devices, most of the usage states are handheld / wearable. In this state, the angle between the connection line of the two receiving ends / transmitting ends and the horizontal plane is within the range of IMU correction of acoustic wave angle measurement. The correction process is in line with ergonomics and meets the common state of smart devices, and is highly practical.

[0114] In addition, through the known confidence interval and unconfidence interval, the weight of the acoustic angle measurement in the confidence interval is increased, and its weight in the unconfidence interval is reduced, the Kalman coefficient is corrected, and the correction accuracy of the correction angle measurement cycle process is improved, thereby accelerating the correction speed and improving the angle measurement accuracy.

[0115] In addition, by calling the camera image recognition to obtain the relative angle between the target device and the smart device, the problem of the IMU correcting the sound wave angle measurement losing its effect when α is greater than θ is compensated, and the angle measurement effect of the smart device under various usage postures is improved.

[0116] In addition, by identifying the rotation direction, the judgment condition of whether the B value is positive or negative is further supplemented to avoid misjudgment when the Z values ​​of k and k+1 cross 0 / 180.

[0117] In addition, through the positive and negative Z value and the vertical direction L n The change in value obtains the target device relative to the smart device in the three-dimensional space of the user's perspective, and is located on the left / right side, above / below the smart device, so that the user can more intuitively obtain the positional relationship between the devices, which is convenient for use and subsequent operations.

[0118] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A fusion positioning method based on sound waves, characterized in that: The method comprises the following steps: Call the angle sensor configured in the smart device to obtain the angle α between the line connecting any two receivers / transmitters configured on the smart device and the horizontal plane; When α is not greater than θ, the receiving end continuously receives the direct acoustic positioning signal from the target device / the target device continuously receives the direct acoustic positioning signal from the transmitting end, and the angle between the line connecting the receiving end / transmitter to the target device and the line connecting the two receiving ends / transmitters is obtained as the ultrasonic angle z; At the same time, the smart device is continuously rotated, and the angle sensor is called to obtain the rotation direction and rotation angle of the smart device in the horizontal plane; In the rotation trend of the same rotation direction, when the ultrasonic angle increases with the increase of the rotation angle, the corrected ultrasonic angle Z=z; when the ultrasonic angle decreases with the increase of the rotation angle, the corrected ultrasonic angle Z=z-180; Input the corrected ultrasonic angle and the corresponding change angle obtained each time into the formula pre-written in the smart device: ①x k =A·y k-1 +B; ② ③ ④y k =x k +k k ·(Z-H·x k ); ⑤ Among them, x k is the prior estimate, A is the state transfer matrix, and A=1, y k is the posterior estimation value, k = 0, 1, 2, ..., used to characterize the fusion measurement node in the mobile process, B is the rotation angle change in the k-(k-1) time difference, when Z k -Z k-1 >0, B takes a positive value, when Z k -Z k-1 When it is less than 0, B takes a negative value. is the prior covariance matrix, P k is the posterior covariance matrix, Q is the variance of IMU angle measurement, k k is the Kalman coefficient, H is the transformation matrix, and H = 1, R is the variance of ultrasonic angle measurement; When β≤z≤ε, R tends to 0, and when z<β, z>ε, 1 / R tends to 0; Output y k As the result of angle measurement.

2. The acoustic wave-based fusion positioning method according to claim 1, characterized in that: β=60~80°, ε=100~120°.

3. The acoustic wave-based fusion positioning method according to claim 1, characterized in that: When α is greater than θ, the camera configured on the smart device is called, and image recognition is performed to obtain the relative angle between the target device and the smart device.

4. The acoustic wave-based fusion positioning method according to claim 1, characterized in that: The θ=15~45°.

5. The acoustic wave-based fusion positioning method according to claim 1, characterized in that: When Z>0 and the rotation direction of the line connecting the two receiving ends / transmitters in the horizontal plane is clockwise, B takes a positive value, and a negative value when it is counterclockwise. When Z<0 and the rotation direction of the line connecting the two receiving ends / transmitters in the horizontal plane is clockwise, B takes a negative value, and a positive value when it is counterclockwise.

6. The acoustic wave-based fusion positioning method according to claim 1, characterized in that: While positioning with acoustic waves, the smart device is displaced in the vertical direction to obtain the distance L between the receiving end / transmitting end and the target device. n , the smart device outputs L n The direction of displacement decreases.

7. The acoustic wave-based fusion positioning method according to claim 1, characterized in that: The acoustic positioning signal carries the target device / smart device identifier.

8. The acoustic wave-based fusion positioning method according to claim 1, characterized in that: The receiving end / transmitting end is installed at both ends of the display interface of the smart device.

9. The acoustic wave-based fusion positioning method according to claim 7, characterized in that: Output the position of the target device relative to the smart device. The relative position is: a line connecting the two receiving ends / transmitting ends is used as a vertical plane perpendicular to the display interface of the smart device. One side of the vertical plane corresponds to a positive value of Z, and the other side corresponds to a negative value of Z. The smart device outputs the position relationship between the target device and the vertical plane according to the positive or negative value of Z as the position of the target device relative to the smart device.

10. The acoustic wave-based fusion positioning method according to any one of claims 1 to 9, characterized in that: The receiving end is a microphone unit and the transmitting end is a speaker unit.

11. A fusion positioning device based on sound waves, characterized in that: The device includes a processor and a memory; The memory is used to store executable program instructions for executing any one of the methods of claims 1-10; The processor is configured to execute program instructions stored in the memory.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores executable program instructions, which are used to execute the steps of any one of the methods in claims 1 to 10 when executed.

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