文献类型：期刊文献

英文题名：High-Precision Positioning Method for Robot Acoustic Ranging Based on Self-Optimization of Base Stations

作者：Zhang, Zekai[1];Chen, Jiayu[1];Gao, Bishu[1];Sun, Yefeng[1];Ling, Xiaofeng[2];Li, Zheyuan[2];Gong, Liang[1,3]

机构：[1]Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200240, Peoples R China;[2]East China Univ Sci & Technol, Sch Informat Sci & Engn, Shanghai 200237, Peoples R China;[3]Minist Agr & Rural Affairs, Key Lab Intelligent Agr Technol Yangtze River Delt, Shanghai 200240, Peoples R China

年份：2025

卷号：15

期号：10

外文期刊名：APPLIED SCIENCES-BASEL

收录：;EI(收录号：20252218525402);WOS:【SCI-EXPANDED(收录号:WOS:001495871300001)】；

基金：The work is supported by the Shanghai Agriculture Applied Technology Development Program, China (grant no. T2022-03-01).

语种：英文

外文关键词：acoustic positioning; time of flight (TOF); base station selection; cross-area; high-precision positioning

摘要：In response to the demand for high-precision positioning within confined or indoor environments, the application of acoustic ranging methods has been widely adopted by numerous engineers. Currently, time-of-flight (TOF)-based acoustic ranging positioning systems face challenges such as the susceptibility of sound velocity to environmental factors and the loss of acoustic signals at both short and long distances, which leads to a reduction in positioning accuracy. This paper addresses these issues by proposing a high-precision confidence interval weighting method for acoustic ranging and further introduces a method for base station deployment and self-optimization positioning within fixed indoor base station scenarios. The method is based on trilateration positioning, establishing criteria for the division of central and boundary areas. It categorizes mobile terminal nodes based on their coordinates from the previous moment, selects distance information from nearby base stations in different modes, and employs weights for decision-making and computation, ultimately yielding two-dimensional positioning coordinates. Experiments demonstrate that the proposed method can effectively enhance the positioning accuracy of acoustic positioning systems compared to traditional four-base station weighted average positioning algorithms.