Self-synchronizing acoustic position sensing system

Abstract

The invention discloses a self-synchronizing acoustic position sensing system, which comprises a master base station and a plurality of slave base stations, the coordinates of the master base station and the slave base stations are known, and the master base station firstly transmits a positioning audio signal; after each slave base station detects the positioning audio signal transmitted by the master base station, the arrival time of the positioning audio signal is respectively detected, and the arrival time of the positioning audio signal transmitted by the master base station is also detected by the target to be detected; after each slave base station detects the positioning audio signal transmitted by the master base station, transmitting the positioning audio signal by delaying a set time, receiving the positioning audio signal transmitted by each slave base station by the target to be detected, and detecting the arrival time of the positioning audio signal; and the to-be-measured target is solved to obtain distance difference information between the target and each base station, and the position of the to-be-measured target is solved in real time according to the distance difference information. According to the system, self-synchronization is achieved through the acoustic device, and compared with a previous synchronization mode, complex wiring and radio frequency interference are avoided.

Description

technical field [0001] The invention relates to the technical field of positioning and navigation, in particular to a self-synchronized acoustic position perception system. Background technique [0002] According to the type of signals used for positioning, location-aware technology is mainly divided into radio frequency, motion signal, geomagnetic, image and audio, and each technology has its own characteristics. The main ones based on radio frequency are Bluetooth, WIFI, UWB, etc. Bluetooth and WIFI positioning technologies based on received signal strength indication usually use signal attenuation model ranging or fingerprint method to achieve positioning, but the disadvantages are low positioning accuracy (meter level), offline fingerprint collection and The updated workload is large, and the signal attenuation model is easily disturbed by the environment. The antenna array-based signal arrival angle, WIFI-based round-trip time and channel status information, and UWB-ba...

AI Technical Summary

Problems solved by technology

Accurate detection of TDoA is the key to ensure the performance of the acoustic position awareness system. In addition to the accurate detection of the audio arrival time of the target, it also requires high-precision synchronization between the acoustic base stations. The acoustic position awareness system in the prior art usually uses wireless Or wired to achieve synchronization, where wireless synchronization mainly uses radio frequency to achieve synchronization between base stations or between base stations and targets, and wired synchronization mainly uses connecting lines to achieve synchronization between base stations and base stations. The disadvantage of the above synchronization methods is that there is radio frequency interference in wireless , wired is difficult to deploy, and the cost of synchronization between the two is relatively high

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