文献类型：会议论文

英文题名：Indoor Ultrasonic Positioning System of Mobile Robot Based on TDOA Ranging and Improved Trilateral Algorithm

作者：Ehen, Xingqi[1];Gao, Zhi[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China

会议论文集：2nd International Conference on Image, Vision and Computing (ICIVC)

会议日期：JUN 02-04, 2017

会议地点：Chengdu, PEOPLES R CHINA

语种：英文

外文关键词：indoor positioning system; TDOA; improved trilateral algorithm; wireless communication; visualization

摘要：Positioning is the base of automatie movement for an indoor mobile robot. To realize its accurate positioning and real-time visualization, an indoor ultrasonic positioning system is proposed with 1 unknown node and 4 beacon nodes. The transmitting module is fixed on the mobile robot as the unknown node and represents where the mobile robot is. 4 receiving modules are fixed on the ceiling as beacon nodes. Ultrasonic and radio-frequency (RF) signals are used to achieve time difference of arrival (TDOA) ranging. After the distance values from the unknown node to fixed nodes are obtained, improved trilateral algorithm is applied to get the coordinates of the unknown node. The transmitting control module, the receiving control module and personal computer (PC) realize real-time wireless communication via RF signals. The position of the mobile robot is displayed visually on the Processing program and will be updated in every half second. Experimental results show that the corrected accuracy of the positioning system reaches 1 cm and the system is of good stability.