超声波室内定位导航装置的设计与实现

发布时间：2018-07-18 11:15

【摘要】：近年来,伴随着室外定位系统的逐渐完善和日趋成熟,室内定位系统的发展状况显得有些落后,但是需求量却在与日俱增,比如在大型的商场、多分室的地下停车场等多种环境下,人们更加趋于得到相应场所的位置信息和目标点的导航信息,因此,研发一种高精度、低成本的定位和导航装置是十分必要的。本文针对现有系统中,需要采用射频进行通讯、至少需要三个基站才能实现定位以及算法较复杂等不足进行了一定的改进,在超声波测距的基础上,更多的致力于基于超声波本身的通信以及对算法的简化和基站的优化等方面的研究。本文首先对室外室内定位系统的研究现状进行了深入分析,找到室内定位装置虽然需求量大但是产品转化能力低的原因,根据主要矛盾进行装置的整体研发和设计,定位算法主要通过对非接触式三边定位算法进行优化和升级,即采用两边定位算法,在不影响精度的情况下减少算法的复杂度和执行时间,以优化整个装置的运行。而后对超声波通信进行了详细的阐述,除了实现超声波的测距功能,通过扩频、编码、调制解调等设计将通信功能亦加载到超声波当中,不占用其他无线电频带资源,同时极大的降低了装置的执行成本,提高了装置的可转化性。在基站的设置中首次采用十字点状激光发射器在装置初始化过程中确定参考原点并帮助矫正整个装置,同时能够通过两个基站实现定位和导航,而传统的定位装置中,基站或节点数至少需要三个,节省了成本、提高了精度。最后,确定了硬件设计和软件平台后,通过理论结合实际的方式,基于STM32F407ZGT6的微控制器搭建超声波定位导航装置,并对装置的各项功能进行测试,定位和导航误差可控制在5cm的范围内,且误差的绝对值大多集中在1.6-3.8cm的区域内,在对误差的产生原因进行分析后提出了进一步减小误差的改进方式,总体上装置功能较为完善,精度较高。
[Abstract]:In recent years, with the gradual improvement and maturity of outdoor positioning system, the development of indoor positioning system appears to be a bit backward, but the demand is increasing, such as in large shopping malls. People tend to get the location information and the navigation information of the target point in the multi-compartment underground parking lot and so on. Therefore, it is necessary to develop a kind of positioning and navigation device with high precision and low cost. In this paper, the existing system needs to use radio frequency communication, at least three base stations are needed to achieve positioning, and the algorithm is more complex and so on. More research is devoted to the communication based on ultrasonic itself, the simplification of algorithm and the optimization of base station. In this paper, the research status of outdoor indoor positioning system is analyzed in depth, and the reasons for the low conversion capacity of indoor positioning device are found, according to the main contradiction, the overall development and design of the device are carried out. The localization algorithm mainly optimizes and upgrades the contactless triangulation algorithm, that is, the two-side localization algorithm is adopted to reduce the complexity and execution time of the algorithm without affecting the precision, so as to optimize the operation of the whole device. Then the ultrasonic communication is described in detail. In addition to realizing the ultrasonic ranging function, the communication function is also loaded into the ultrasonic wave by the design of spread spectrum, coding, modulation and demodulation, which does not occupy other radio frequency band resources. At the same time, the execution cost of the device is greatly reduced, and the transmutability of the device is improved. In the installation of base station, the cross spot laser transmitter is used for the first time to determine the reference origin during the device initialization and to help correct the whole device. At the same time, it can be used to locate and navigate through two base stations, while in the traditional positioning device, Base station or node points need at least three, cost savings, improve the accuracy. Finally, after the hardware design and software platform are determined, the ultrasonic positioning and navigation device based on STM32F407ZGT6 microcontroller is built through the combination of theory and practice, and the functions of the device are tested. The positioning and navigation error can be controlled within the range of 5cm, and the absolute value of the error is mostly concentrated in the area of 1.6-3.8cm. After analyzing the causes of the error, an improved way to further reduce the error is put forward, and the function of the device is relatively perfect. High accuracy.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TB559

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