Research On Beacon Identification Mechanism For Indoor Robots Ultrasonic Location System

The indoor robots ultrasonic location system offers important platform for accurate location and navigation of robots. The communication between fixed beacons and targets installed on robots is crucial. According to the coverage characteristic of ultrasound, this article identifies beacons selected by ultrasound, on the premise of passive beacon networks and passive localization manner, by means of the radio frequency synchronization and bit detection method of collision signals. It can save location time,and achieve the real-time character. Meanwhile, it has high location accuracy, and can ensure the privacy of the system.The main research work completed includes:1. Researching domestic and oversea situations of indoor positioning technologies and the methods of beacon identification, analyzing and comparing various positioning technologies.2. Researching the communication mechanism of the Active Bat system and Cricket system, and combining communication mechanism advantages and disadvantages of the two systems, this paper proposes the beacon identification mechanism and corresponding beacon node network for indoor positioning systems.3. Studying the radio frequency anti-collision algorithm, focusing on anti-collision algorithms based on time division multiple access methods in order to do a brief analysis, and studying bit-detection method based on the binary tree algorithm.4. Designing ultrasonic receiving and sending module with integrated ultrasonic sensor, programmable RF chip CC1101 of low costs and low power dissipation of Chipcon Company and Atmel's AT89S52 microprocessor are adopted to design radio frequency receiving and sending module. The wireless frequency of the whole system is set to 433MHz with no need to apply for frequency channel license, and beacon node or target node can be programmed by software.5. Completing the design of the ultrasonic transceiver modules, radio frequency transceiver modules, temperature testing modules and power modules about the system nodes, as well as the circuit board production. In addition, the application program and driving program are designed to program so as to achieve the RF transmission of the node coordinates, temperature and data. Meanwhile, ranging, localization, and node identification tests are undertaken.6. Analyzing the test results, and furthermore, MATLAB simulating and comparing the beacon identification mechanism in this paper with the Cricket system communication mechanism. These compares explainning that the use of the beacon identification mechanism achieve higher real-time and higher accuracy. Finally, summarizing and researching the work and issues during the course, this paper proposes corresponding improvement strategies.