基于TOA与AOA算法的室内定位方法  

Indoor Positioning Method Based on TOA and AOA Algorithms

作　　者：郭立新[1] 王云鹏 GUO Li-xin;WANG Yun-peng(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报（自然科学版）》2024年第8期1115-1122,共8页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(52275283)。

摘　　要：为了解决传统室内定位技术成本较高、稳定性差以及难于部署等问题,提出一种将到达时间(time of arrival,TOA)与到达角(angle of arrival,AOA)相结合的室内定位系统.该系统由定位基站与被控定位单元组成,其特征在于使用对射式布置的超声波传感器获取定位基站与被控定位单元之间的距离特征,利用角度传感器获取被控定位单元相对于定位基站的角度特征,以单基站就实现了精确的室内定位过程.分析了该系统基本结构与原理,建立定位与控制模型,在一定范围内对其定点定位精度与跟随定位精度进行了实验验证.实验结果表明:该系统结构简单,易于安装布置,鲁棒性强,在测试范围内的最大定点定位误差不超过5 cm,跟随定位误差不超过15 cm.To solve the problems of high cost,poor stability,and difficulty in deployment,a new indoor positioning system combining time of arrival(TOA)and angle of arrival(AOA)is proposed.The system is composed of the positioning base station and the controlled positioning unit.It is characterized by using the ultrasonic sensor arranged in the firing type to obtain the distance characteristics between the positioning base station and the controlled positioning unit,and using the angle sensor to obtain the angle characteristics of the controlled positioning unit relative to the positioning base station.A single base station is used to realize the accurate indoor positioning process.The basic structure and principle of the system are analyzed,the positioning model is established,and the fixed point positioning accuracy and tracking positioning accuracy are experimentally verified in a certain range.The experimental results show that the system has a simple structure,easy installation and strong robustness.The maximum fixed-point positioning error within the test range is less than 5 cm,and the tracking positioning error is less than 15 cm.

关 键 词：室内定位 超声波 AOA算法 TOA算法 传感器 

分 类 号：TN98[电子电信—信息与通信工程]