摘要室内定位相比于室外定位，在精度，范围上具有一些特殊要求，本文选用超 声波作为传感器，结合该类传感器高精度、低功耗的特点，设计了一种基于超声 波的室内移动物体定位系统。该系统测量移动物体和参照点之间的距离，通过定 位算法计算出目标位置，传统的定位算法包括三边定位算法、三角定位算法，然 而这些定位算法往往忽略了解析解不存在的情况，这样定位就会失败。68471

本文主要针对上述问题，搭建了完整的软硬件实验平台，包括系统硬件设计、 通信协议设计及软件开发等，在该平台上实现了基于超声波的室内定位，主要完 成工作如下：

1. 对三边定位算法、扩展卡尔曼滤波算法、最小二乘法进行仿真，针对实 际实验，提出了基于非线性最小二乘法的三边定位算法，同时通过仿真验证了该 算法的有效性。

2. 搭建实验平台，本文的定位系统包括超声波发射器和接收器两部分，结 合无线射频的同步，计算出移动结点到超声波接收端的距离，然后通过本文提出 的算法得到移动物体的具体位置。实际实验结果表明该方法具有较好的定位精 度，计算复杂度较低，可满足系统的实时性要求。

毕业论文关键字 超声波 室内定位 三边定位 最小二乘法

Title Researches on ultrasonic indoor positioning algorithm

Abstract

Based on the special requirements of indoor positioning, this paper uses ultrasonic sensor which has high-precision and low-power characteristics as wireless sensor and a simple positioning system based on ultrasonic has been designed; Traditional algorithms like trilateration and triangulation always ignore the situation that the analytical solution does not exist.

This paper focuses on the question above and an experimental platform is built in the paper, including system hardware design, communication protocol design and software development, to realize the purpose of ultrasonic indoor positioning. The main work of this paper as follows:

1. This paper performs some simulations with trilateration, extend Kal

-man filter and least square. Specific to the practical situation, a novel efficient trilateration algorithm is presented to estimate the position of a target object and a simulation has been done to verify the algorithm’s effectiveness.

2. A simple positioning system has been designed in this paper; a transmitting terminal and a receiving terminal are adopted. With the synchronization capabilities of RF modules, the distance between the target object and the beacons can be measured accurately. The experimental results show that the proposed algorithm has high operational robustness and low computational complexity, which satisfies the requirements of instantaneity.

Keywords ultrasonic  indoor positioning  trilateration least-square

目录

1 绪论 1

1.1 室内定位问题的研究背景和意义 1

1.2 室内定位技术的研究现状 1

1.2.1 定位技术概述 2

1.2.2 距离测量技术概述 4

1.3 本文的研究内容和目标