高精度超声波室内定位系统的设计
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摘要
随着智能化的不断普及,业内对于高精度高可靠的室内定位技术的需求越来越迫切。本文通过对超声波定位技术的改进研究,设计了一种基于超声波传感器的高精度定位系统。通过改造超声波发射头,采用多个发射头呈花瓣状布置,同时每个接收头往中心区域倾斜45度,实现更大覆盖范围。使用Si4432无线透传模块实现数据通信和时间同步,采用TOA算法计算定位点和节点间的距离,通过三点定位法求得目标点坐标,并通过数据筛选和均值滤波获得更稳定更高精度的定位结果。
With the continuous popularization of intelligence,the demand for highprecision and highly reliable indoor positioning technology has become increasingly urgent.In this paper,through the improvement of ultrasonic positioning technology,a high-precision positioning system based on ultrasonic sensors is designed.By transforming the ultrasonic transmitter head,multiple emitters are arranged in a petal shape,and each receiver head is inclined 45 degrees to the center area to achieve a greater coverage.Using Si4432 wireless transmission module to achieve data communication and time synchronization,the use of TOA algorithm to calculate the distance between the positioning point and the node,through the three-point positioning method to obtain the target point coordinates,and through data filtering and mean filtering to obtain a more stable and high precision Positioning results.
With the continuous popularization of intelligence,the demand for highprecision and highly reliable indoor positioning technology has become increasingly urgent.In this paper,through the improvement of ultrasonic positioning technology,a high-precision positioning system based on ultrasonic sensors is designed.By transforming the ultrasonic transmitter head,multiple emitters are arranged in a petal shape,and each receiver head is inclined 45 degrees to the center area to achieve a greater coverage.Using Si4432 wireless transmission module to achieve data communication and time synchronization,the use of TOA algorithm to calculate the distance between the positioning point and the node,through the three-point positioning method to obtain the target point coordinates,and through data filtering and mean filtering to obtain a more stable and high precision Positioning results.
引文
[1]李成勇,王泽芳.基于超声波辅助测距的可见光室内定位系统[J].无线光通信,2018(1):53-55.[1]Li Chengyong,Wang Zefang.Visible indoor positioning system based on ultrasonic assisted ranging[J].Wireless Optical Communications,2018(1):53-55.
[2]李昌禄,苏寒松.超声波定位系统的研究[J].实验室研究与探索,2013,32(02):39-44.[2]Li Changlu,Su Hansong.Study on Ultrasonic Positioning System[J].Laboratory Research and Exploration,2013,32(02):39-44.
[3]周先赞.基于超声波的室内导航定位方法研究[D].南昌:南昌大学,2016.[3]Zhou Xianzhan.Research on indoor navigation and positioning method based on ultrasound[D].Nanchang:Nanchang University,2016.
[4]丁锐,钱志鸿,王雪.基于TOA和DOA联合估计的UWB定位方法[J].电子与信息学报,2010(2):313-317.[4]Ding Rui,Qian Zhihong,Wang Xue.UWB Localization Method Based on Joint Estimation of TOA and DOA[J].Journal of Electronics&Information Technology,2010,(2):313-317.
[5]周全,邹华东,刘领.基于STC单片机的超声波测距系统设计[J].六盘水师范学院学报,2014,26(03):63-66.[5]ZHOU Quan,ZOU Huadong,LIU Ling.Design of Ultrasonic Distance Measuring System Based on STC Single Chip Microcomputer[J].Journal of Liupanshui Teachers College,2014,26(03):63-66.
[6]田华.新型超声换能器与辐射器的研究[D].陕西师范大学,2013.[6]Tian Hua.Research on a New Ultrasonic Transducer and Radiator[D].Shaanxi Normal University,2013.
[7]李云龙.超声波物位传感器设计与测距算法研究[D].南京理工大学,2012.[7]Li Yunlong.Research on ultrasonic level sensor design and ranging algorithm[D].Nanjing University of Science and Technology,2012.
[8]李正民,王建辉,刘伟伟.基于Si4432的无线射频通信模块的设计与实现[J].测控技术,2012,31(04):40-43.[8]Li Zhengmin,Wang Jianhui,Liu Weiwei.Design and Implementation of Wireless Communication Module Based on Si4432[J].Measurement&Control Technology,2012,31(04):40-43.
[9]李强,胡泽,葛亮.基于惯性导航与UWB_的联合定位算法[J].安徽大学学报(自然科学版),2017(3):90-96.[9]Li Qiang,Hu Ze,Ge Liang.Joint positioning algorithm based on inertial navigation and UWB[J].Journal of Anhui University(Natural Science),2017(3):90-96.
[10]刘海霞.基于多传感器行为融合基础上的AGV导航研究[D].合肥:合肥工业大学,2006.[10]Liu Haixia.AGV navigation based on multi-sensor behavior fusion[D].Hefei:Hefei University of Technology,2006.
[2]李昌禄,苏寒松.超声波定位系统的研究[J].实验室研究与探索,2013,32(02):39-44.[2]Li Changlu,Su Hansong.Study on Ultrasonic Positioning System[J].Laboratory Research and Exploration,2013,32(02):39-44.
[3]周先赞.基于超声波的室内导航定位方法研究[D].南昌:南昌大学,2016.[3]Zhou Xianzhan.Research on indoor navigation and positioning method based on ultrasound[D].Nanchang:Nanchang University,2016.
[4]丁锐,钱志鸿,王雪.基于TOA和DOA联合估计的UWB定位方法[J].电子与信息学报,2010(2):313-317.[4]Ding Rui,Qian Zhihong,Wang Xue.UWB Localization Method Based on Joint Estimation of TOA and DOA[J].Journal of Electronics&Information Technology,2010,(2):313-317.
[5]周全,邹华东,刘领.基于STC单片机的超声波测距系统设计[J].六盘水师范学院学报,2014,26(03):63-66.[5]ZHOU Quan,ZOU Huadong,LIU Ling.Design of Ultrasonic Distance Measuring System Based on STC Single Chip Microcomputer[J].Journal of Liupanshui Teachers College,2014,26(03):63-66.
[6]田华.新型超声换能器与辐射器的研究[D].陕西师范大学,2013.[6]Tian Hua.Research on a New Ultrasonic Transducer and Radiator[D].Shaanxi Normal University,2013.
[7]李云龙.超声波物位传感器设计与测距算法研究[D].南京理工大学,2012.[7]Li Yunlong.Research on ultrasonic level sensor design and ranging algorithm[D].Nanjing University of Science and Technology,2012.
[8]李正民,王建辉,刘伟伟.基于Si4432的无线射频通信模块的设计与实现[J].测控技术,2012,31(04):40-43.[8]Li Zhengmin,Wang Jianhui,Liu Weiwei.Design and Implementation of Wireless Communication Module Based on Si4432[J].Measurement&Control Technology,2012,31(04):40-43.
[9]李强,胡泽,葛亮.基于惯性导航与UWB_的联合定位算法[J].安徽大学学报(自然科学版),2017(3):90-96.[9]Li Qiang,Hu Ze,Ge Liang.Joint positioning algorithm based on inertial navigation and UWB[J].Journal of Anhui University(Natural Science),2017(3):90-96.
[10]刘海霞.基于多传感器行为融合基础上的AGV导航研究[D].合肥:合肥工业大学,2006.[10]Liu Haixia.AGV navigation based on multi-sensor behavior fusion[D].Hefei:Hefei University of Technology,2006.