摘要
针对Active Bat室内超声波位方法中定位精度受环境温度、硬件延时误差、时间同步误差等的影响,提出了改进的Active Bat室内超声波定位方法。该方法在Active Bat室内超声波定位系统结构基础上设立一个参考节点,通过参考节点定位坐标与实际位置坐标获取位置误差修正数,修正定位终端定位误差,以提高定位精度。室内环境下进行实验数据采集、解算、对比分析,实验验证表明,常规的Active Bat室内超声波定位定位平均误差为6.93cm;该方法定位平均误差为1.86cm。该方法可以有效提高室内定位精度,定位精度提高了接近73.16%。
In view of the influence of environment temperature,hardware delay,time synchronization and other factors on the positioning precision of active bat indoor ultrasonic positioning method,this paper proposed an improved active bat indoor ultrasonic positioning method.A reference node was set up based on the structure of active bat indoor ultrasonic positioning system,then,the position error correction was obtained through the positioning coordinate and the actual positioning coordinate of the reference node,and the positioning error of positioning terminal could be fixed to improve the positioning accuracy.The experiment of data collection,calculation,comparison and analysis were made in indoor environment,the experimental verification showed the average error of active bat indoor ultrasonic positioning method was 6.93 cm,while the average error of improved method was 1.86 cm.
出处
《探测与控制学报》
CSCD
北大核心
2017年第1期101-105,共5页
Journal of Detection & Control
基金
国家自然科学基金项目资助(41504026)
国家自然科学基金项目资助(41374039)
关键词
ACTIVE
BAT
超声波定位
误差修正
ActiveBat
active bat
ultrasonic positioning
improve
error correction
