基于超声波码分多址的室内定位系统的研究与实现
发布时间：2018-12-12 11:46
【摘要】：随着定位技术的提高,GPS(Global Position System)定位系统已经可以实现亚米级精度的定位。但高精度GPS成本很高,且无法用于室内定位。目前已有的定位方式大多以人为定位主体,强调在客户已有硬件的基础上进行定位,存在定位精度低、成本高等问题。而精度较高的超声波定位系统又存在定位目标容量有限和数据更新速率低的问题,无法用于较快速的移动控制或多目标编队控制场景。为了让多个目标在室内环境下获得各自准确的位置信息,本文在超声波测距的基础上实现了室内精确定位。在室内固定位置安装3个或以上的超声波发射节点向外发送超声波信号。将定位节点放入能接收到超声波信号的区域内,其自动加入定位系统的无线网络,并完成时间同步以后,即能连续获取位置信息。本系统充分结合超声波收发器的硬件特性,对相应算法以及硬件电路进行改进与优化,完成电路板设计与调试,并最终完成超声波实时定位系统实物。本文中,基于无线网络的精确时间同步以及避免多超声波发射节点相互干扰是研究的重点。在精确时间同步部分,本文采用TI的CC1101无线数字通信芯片,工作在ISM(Industrial Scientific Medical Band)规定的433 HMz频段进行无线通信。本文通过自定义通信数据结构与网络拓扑结构,在满足相互之间通信要求的情况下最大程度降低通信延迟。经实测,时间同步误差小于100 us。在防止超声波发射节点之间相互干扰方面,定位系统的所有超声波发射器按CDMA(Code Division Multiple Access)的要求把扩频后的超声波信号向地面广播。接收机在对信号进行解扩后,有效的区分开不同的超声波发射节点的同时还能获取准确超声波到达时间,避免环境因素造成的多径效应以及干扰带来的影响,从而有效提高测距系统的抗干扰性能。同时配合卡尔曼滤波器对获得的位置数据进行处理,从而获得更高的定位精度。经过测试,定位误差小于0.11 m。
[Abstract]:With the improvement of positioning technology, GPS (Global Position System) positioning system has been able to achieve sub-meter precision positioning. However, high precision GPS is very expensive and can not be used for indoor positioning. At present, most of the existing positioning methods are based on artificial positioning, which emphasizes positioning on the basis of existing hardware, which has the problems of low positioning accuracy and high cost. However, the ultrasonic positioning system with high precision has the problems of limited target capacity and low data update rate, which can not be used in fast moving control or multi-target formation control scenarios. In order to obtain accurate position information of multiple targets in indoor environment, this paper realizes indoor accurate location on the basis of ultrasonic ranging. Three or more ultrasonic transmitting nodes are installed in a fixed position in the room to send out ultrasonic signals. The location node is placed in the area where the ultrasonic signal can be received, and it automatically joins the wireless network of the positioning system, and after the time synchronization is completed, the position information can be obtained continuously. This system combines the hardware characteristic of ultrasonic transceiver, improves and optimizes the corresponding algorithm and hardware circuit, completes the circuit board design and debugging, and finally completes the ultrasonic real-time positioning system. In this paper, precise time synchronization based on wireless network and avoiding interference between multiple ultrasonic transmitting nodes are the key points of the research. In the part of precise time synchronization, the CC1101 wireless digital communication chip of TI is used to work in the 433 HMz band specified by ISM (Industrial Scientific Medical Band). In this paper, the communication delay is minimized by customizing the communication data structure and the network topology structure under the condition of satisfying the requirements of communication between each other. Measured results show that the time synchronization error is less than 100 us.. In order to prevent the interference between the ultrasonic transmitting nodes, all the ultrasonic transmitters of the positioning system broadcast the spread spectrum ultrasonic signals to the ground according to the requirements of CDMA (Code Division Multiple Access). After despreading the signal, the receiver can effectively distinguish the different ultrasonic transmitting nodes and obtain the accurate ultrasonic arrival time at the same time, to avoid the multi-path effect caused by the environmental factors and the influence of the interference. Therefore, the anti-jamming performance of ranging system is improved effectively. At the same time, the position data is processed with Kalman filter to obtain higher positioning accuracy. After testing, the positioning error is less than 0.11 m.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB559
本文编号：2374496
[Abstract]:With the improvement of positioning technology, GPS (Global Position System) positioning system has been able to achieve sub-meter precision positioning. However, high precision GPS is very expensive and can not be used for indoor positioning. At present, most of the existing positioning methods are based on artificial positioning, which emphasizes positioning on the basis of existing hardware, which has the problems of low positioning accuracy and high cost. However, the ultrasonic positioning system with high precision has the problems of limited target capacity and low data update rate, which can not be used in fast moving control or multi-target formation control scenarios. In order to obtain accurate position information of multiple targets in indoor environment, this paper realizes indoor accurate location on the basis of ultrasonic ranging. Three or more ultrasonic transmitting nodes are installed in a fixed position in the room to send out ultrasonic signals. The location node is placed in the area where the ultrasonic signal can be received, and it automatically joins the wireless network of the positioning system, and after the time synchronization is completed, the position information can be obtained continuously. This system combines the hardware characteristic of ultrasonic transceiver, improves and optimizes the corresponding algorithm and hardware circuit, completes the circuit board design and debugging, and finally completes the ultrasonic real-time positioning system. In this paper, precise time synchronization based on wireless network and avoiding interference between multiple ultrasonic transmitting nodes are the key points of the research. In the part of precise time synchronization, the CC1101 wireless digital communication chip of TI is used to work in the 433 HMz band specified by ISM (Industrial Scientific Medical Band). In this paper, the communication delay is minimized by customizing the communication data structure and the network topology structure under the condition of satisfying the requirements of communication between each other. Measured results show that the time synchronization error is less than 100 us.. In order to prevent the interference between the ultrasonic transmitting nodes, all the ultrasonic transmitters of the positioning system broadcast the spread spectrum ultrasonic signals to the ground according to the requirements of CDMA (Code Division Multiple Access). After despreading the signal, the receiver can effectively distinguish the different ultrasonic transmitting nodes and obtain the accurate ultrasonic arrival time at the same time, to avoid the multi-path effect caused by the environmental factors and the influence of the interference. Therefore, the anti-jamming performance of ranging system is improved effectively. At the same time, the position data is processed with Kalman filter to obtain higher positioning accuracy. After testing, the positioning error is less than 0.11 m.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB559
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，本文编号：2374496
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