Hardware Design And Realization Of The High-Precision And Large-Scale Localization System Based On Ultrasonic Distance Measurement

With the development of science and technology, people need the higher performance postioning system which not only fits the outdoor positioning need but also achieves the indoor localization demand with higher standard localization requirement. Now the outdoor positioning technology is mature, such as the GPS, Galileo, Big Dipper positioning system. Because of the distinctiveness and the complexity about the indoor environment, it is difficult to applicate the outdoor positioning technology directly into the indoor environment. So it is necessary to design a special localization system for indoor space.The project re levants to this paper uses the ultrasonic measurement technology to realize the function about the indoor localization system. And the system equipment based on the mcu ATmega16, MAXQ7667, NRF24L01 RF module and the ultrasonic sensor has been designed. This paper expounds the principle of the system and the overall design scheme which mainly divided into two parts,the hardware design and the software design. The hardware design contains the ultrasonic emitting module and the receipting module design. The driving circuit of the ultrasonic sensor, the measurement circuit of the ultrasonic and the ultrasonic sensor array are the most important parts of hardware design work. In the software design, this paper provides the technological process which includes the method that realized the measurement technology based on the TDOA(Time Difference of Arrival) and the localization arithmetic which related the location. Additionally, the key driver software design about the ultrasonic measurement technology has been analysed in this part.Finally, the ultrasonic indoor localization system has been proved to fit the project requirement by the experimental data. And the localization system can run stably in the indoor environment. (The project requirement:1 The localization range is the 6m*11 m pool; 2 The coordinatedata refresh rate more than 10 times per sec; 3 The relative error about the coordinatedata less than 2cm.)In this paper, the indoor localization solution based on ultrasonic technology has the following advantages. The system is provided with the large localization rage and its accuracy of localization is high. More over, the system equipment is easy to realize and fix. This indoor localization system can be used in some special indoor environments such as laboratory, factory, storage ect.