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用于三维测量的超声局部定位系统的特性描述。

Characterization of an Ultrasonic Local Positioning System for 3D Measurements.

机构信息

EμE Lab, Faculty of Sciences of Monastir, National Engineer School of Tunis, University of Tunis EI Manar, B.P. 37, Le Belvédère, Tunis 1002, Tunisia.

Electronics Department, University of Alcala, Alcalá de Henares, E-28805 Madrid, Spain.

出版信息

Sensors (Basel). 2020 May 14;20(10):2794. doi: 10.3390/s20102794.

DOI:10.3390/s20102794
PMID:32423005
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7288037/
Abstract

Indoor location and positioning systems (ILPS) are used to locate and track people, as well as mobile and/or connected targets, such as robots or smartphones, not only inside buildings with a lack of global navigation satellite systems (GNSS) signals but also in constrained outdoor situations with reduced coverage. Indoor positioning applications and their interest are growing in certain environments, such as commercial centers, airports, hospitals or factories. Several sensory technologies have already been applied to indoor positioning systems, where ultrasounds are a common solution due to its low cost and simplicity. This work proposes a 3D ultrasonic local positioning system (ULPS), based on a set of three asynchronous ultrasonic beacon units, capable of transmitting coded signals independently, and on a 3D mobile receiver prototype. The proposal is based on the aforementioned beacon unit, which consists of five ultrasonic transmitters oriented towards the same coverage area and has already been proven in 2D positioning by applying hyperbolic trilateration. Since there are three beacon units available, the final position is obtained by merging the partial results from each unit, implementing a minimum likelihood estimation (MLE) fusion algorithm. The approach has been characterized, and experimentally verified, trying to maximize the coverage zone, at least for typical sizes in most common public rooms and halls. The proposal has achieved a positioning accuracy below decimeters for 90% of the cases in the zone where the three ultrasonic beacon units are available, whereas these accuracies can degrade above decimeters according to whether the coverage from one or more beacon units is missing. The experimental workspace covers a large volume, where tests have been carried out at points placed in two different horizontal planes.

摘要

室内定位和定位系统 (ILPS) 用于定位和跟踪人员以及移动和/或连接的目标，如机器人或智能手机，不仅在缺乏全球导航卫星系统 (GNSS) 信号的建筑物内，而且在覆盖范围有限的受限室外环境中。在某些环境中，室内定位应用及其兴趣正在增长，例如商业中心、机场、医院或工厂。已经有几种传感技术应用于室内定位系统，其中超声波由于其低成本和简单性而成为一种常见的解决方案。本工作提出了一种基于一组三个异步超声波信标单元的 3D 超声局部定位系统 (ULPS)，该系统能够独立传输编码信号，并且具有 3D 移动接收器原型。该提案基于上述信标单元，该单元由五个朝向相同覆盖区域的超声波发射器组成，并且已经通过应用双曲型三边测量法在 2D 定位中得到了验证。由于有三个信标单元可用，因此最终位置是通过合并每个单元的部分结果获得的，实现了最小似然估计 (MLE) 融合算法。该方法已经过特征描述和实验验证，试图最大化覆盖区域，至少对于大多数常见公共房间和大厅中的典型尺寸。该提案在三个超声波信标单元可用的区域内实现了低于分米的定位精度，对于 90%的情况而言，而根据是否缺少一个或多个信标单元的覆盖范围，这些精度可能会退化到分米以上。实验工作空间覆盖了一个很大的体积，在两个不同的水平平面上放置的点进行了测试。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a77b/7288037/a2b7a8e037fe/sensors-20-02794-g013a.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a77b/7288037/23be7b91ac96/sensors-20-02794-g009.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a77b/7288037/846b763ff493/sensors-20-02794-g011.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a77b/7288037/a2b7a8e037fe/sensors-20-02794-g013a.jpg

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