| 摘要: |
| 目的 针对超声波室内定位系统在非视距定位中精度较低的问题,为减少非视距环境误差与时钟同步等硬
件误差,从定位系统整体出发提出一种非视距环境下基于对射式测距的超声波定位系统。 方法 利用差分修正
Chan-Taylor 算法结合 Chan 算法与 Taylor 级数展开算法的优势,通过 Chan-Taylor 算法估计空间中已知坐标点并
记录其误差信息,以实际坐标为参考点,运用相邻范围内参考点对未知点差分加权,修正该点经 Chan-Taylor 算法
的初始估计坐标,得到最终位置。 为简化定位系统复杂度,提高视距环境定位精度,提出改进差分修正 Chan -
Taylor 算法,减少初始参考点密度,将符合参考点最小间隔条件的待测点经差分修正后的估计坐标记为新参考点,
优化原参考点体系误差信息分布情况。 结果 算法仿真实验结果表明:在非视距环境下,差分修正 Chan-Taylor 算
法在不同参考点分布区域的平均误差与 Chan 算法和 Chan-Taylor 算法相比减小 6. 43%到 37. 46%;改进差分修正
Chan-Taylor 算法在视距定位中平均定位误差减少至少 11. 15%,均方根误差值 FRMSE 降低 22. 59%。 搭建超声波室
内定位系统以验证改进差分修正算法的定位精度,实验结果表明:定位误差范围在 3 ~ 7. 5 cm,其中 90%的误差值
小于 6 cm,与 Chan-Taylor 算法相比提高 28. 23%。 结论 该超声波室内定位系统在非视距定位中精度有明显提高,
在视距定位中提升较小。 可通过提高 Chan-Taylor 算法精度和改进参考点加权函数以优化定位算法;通过优化超
声波接收端信号识别方法,增大发射端信号范围以在硬件方面进一步提升该系统定位精度。 |
| 关键词: 超声波定位 非视距 定位算法 三维定位 |
| DOI： |
| 分类号: |
| 基金项目: |
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| Research on Non-line-of-sight 3D Ultrasonic Indoor Positioning System |
|
SUN Bingman；ZHANG Xinghong
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Liangjiang International College Chongqing University of Technology Chongqing 401135 China
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| Abstract: |
| Objective In response to the issue of low precision of ultrasonic indoor positioning system in non-line-of-sight
positioning a novel ultrasonic positioning system based on retroreflective ranging in non-line-of-sight environments was
proposed starting from the overall positioning system to reduce errors in non-line-of-sight environments and hardware er
sror such as clock synchronization. Methods Utilizing the advantages of the differential corrected Chan-Taylor algorithm
combined with the Chan algorithm and Taylor series expansion algorithm the Chan-Taylor algorithm was used to estimate
the known coordinate points in space and record their error information with actual coordinates as reference points. By
differentially weighting unknown points with neighboring reference points within a certain range the initially estimated
coordinates obtained by the Chan-Taylor algorithm were corrected to obtain the final position. In order to simplify the
complexity of the positioning system and improve the positioning accuracy in line-of-sight environments an improved
differential corrected Chan-Taylor algorithm was proposed. This involved reducing the initial density of reference points
and marking the estimated coordinates of target points that meet the minimum interval conditions for reference points after differential correction as new reference points to optimize the distribution of error information in the original reference point system. Results Simulation experiments of the algorithm showed that in non-line-of-sight environments the average error
in different reference point distribution areas of the differential corrected Chan-Taylor algorithm was reduced by 6. 43% to
37. 46% compared with the Chan algorithm and Chan-Taylor algorithm. The improved differential corrected Chan-Taylor
algorithm reduced the average positioning error in line-of-sight positioning by at least 11. 15% with a decrease of 22. 59%
in root mean square error. The positioning accuracy of the improved differential corrected algorithm was validated through
the construction of an ultrasonic indoor positioning system with experimental results showing a positioning error range of
3 cm to 7. 5 cm where 90% of the errors were less than 6 cm representing a 28. 23% improvement compared with the
Chan-Taylor algorithm. Conclusion The ultrasonic indoor positioning system shows a significant improvement in accuracy
in non-line-of-sight positioning with a smaller improvement in line-of-sight positioning. The positioning algorithm can be
optimized by improving the accuracy of the Chan-Taylor algorithm and enhancing the reference point weighting function.
Hardware improvements such as optimizing the ultrasonic receiver signal recognition method and increasing the signal
range at the transmission end can further enhance the positioning accuracy of the system. |
| Key words: ultrasonic positioning non-line-of-sight positioning algorithm 3D positioning |
