Method and system of reflection-type indoor positioning

Abstract

A method and a system of reflection-type indoor positioning belong to the technical field of the wireless sensor network and positioning navigation. The system comprises a host device, a position calculation device, a moving device, beacon devices, a to-be-positioned target device and a data collector, wherein the to-be-positioned target device emits radio-frequency signals and ultrasonic wave signals, the ultrasonic wave signals reach the beacon devices placed on the ground through reflection of a flat roof, the plurality of beacon devices measure reaching time and environment temperature of the ultrasonic wave signals and transmit the measured reaching time and environment temperature to the data collector, the data collector transmits the received data to the position calculation device, and the position calculation device calculates the position of the to-be-positioned target device according to an indoor coordinate system built in advance. The method and the system have the advantages that the structure is simple, the beacon devices are low in deployment density, self-deploying of the beacon devices can be achieved conveniently, calculating amount is small, accuracy is high and the like.

Description

technical field [0001] The invention belongs to the technical field of wireless sensor networks and positioning and navigation, and in particular relates to a reflective indoor positioning method and system. Background technique [0002] Regarding the positioning system, the GPS global positioning system is widely used in daily life, which can provide positioning services with an accuracy of several meters around the world. However, in the indoor environment, the GPS signal is affected by buildings, and the signal is seriously attenuated. In addition, the targets such as people and objects in the indoor environment are generally in the size of meters. Obviously, the positioning accuracy of GPS cannot meet the requirements. In order to better distinguish objects and estimate positions, the positioning system needs to provide more High positioning accuracy, and wireless sensor network positioning technology can just meet the high-precision positioning requirements. In the sen...

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Problems solved by technology

However, each beacon transmitter needs to continuously transmit ultrasonic radio frequency signals according to its coordination mechanism, which increases the power consumption of the system; the passive detection receiver can only perform TDOA ranging with one beacon at a time, and at least three TDOA ranging are required to complete the positioning. The time for the system to complete a positioning is increased, and the positioning frequency of the system is reduced; for a receiver placed on a moving object, and different beacon transmitters for TDOA ranging, its position may move, resulting in asynchronous moving target distance samples , resulting in poor positioning accuracy for dynamic targets

[0004] In an indoor precise positioning method for tracking multiple moving targets, the TDOA ranging principle of radio frequency and ultrasonic is also used, and the badge is actively launched, and the tracking of multiple mobile badges is realized through the position calculation unit, but the description badge cannot Obtaining its own location information cannot realize the self-positioning function, its structure diagram is shown in figure 1

Autonomous Ultrasonic Indoor Positioning System, Apparatus and Method An autonomous ultrasonic indoor positioning system is described, similar to the Cricket system, which uses a method of passively receiving synchronization signals and ultrasonic signals, wherein the positioning beacon transmitter is configured to include synchronization information when transmitting After the signal, a plurality of ultrasonic signals are sent in turn at predetermined time intervals in a predetermined order, wherein the device for emitting ultrasonic signals is a plurality of ultrasonic transmitters at different positions on the beacon transmitting device; the positioning beacon receiving device is configured to detect After the synchronization information, perform time synchronization with the positioning beacon transmitter, determine the transmission sequence of each received ultrasonic signal based on the obtained synchronization time, infer the transmission time of each received ultrasonic signal according to the transmission sequence, and use the received The corresponding TDOA information is calculated based on the transmitting time and receiving time of each ultrasonic signal received, and the positioning beacon receiving device itself is determined based on the position of each ultrasonic transmitter in the positioning beacon transmitting device and the calculated TDOA information sequence position, but its beacon positioning transmitter includes multiple ultrasonic transmitters deployed in different positions, which increases the complexity and deployment difficulty of the system; similar to the Cricket system, it will increase the positioning error when locating moving targets, and its System structure diagram see figure 2

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