重庆工商大学学报（自然科学版）2024，Vol.41Issue(4)：1-9,9.DOI:10.16055/j.issn.1672-058X.2024.0004.001
一种非视距三维超声波室内定位系统研究
Research on Non-line-of-sight 3D Ultrasonic Indoor Positioning System
摘要
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 errors 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.关键词
超声波定位/非视距/定位算法/三维定位Key words
ultrasonic positioning/non-line-of-sight/positioning algorithm/3D positioning分类
信息技术与安全科学引用本文复制引用
孙冰曼,张兴红..一种非视距三维超声波室内定位系统研究[J].重庆工商大学学报（自然科学版）,2024,41(4):1-9,9.基金项目
国家自然科学基金项目(52175454). （52175454）
