时间补偿因子和卡尔曼滤波混合算法的超声波定位精度优化
重庆理工大学, 两江国际学院, 重庆 401135
| 摘 要： | 在超声波定位系统进行定位时，由于超声波定位系统因超声波接收端按顺序测距、系统解算时间以及信号传输时间导致的定位系统具有一定的延迟，对定位精度有较大影响，本文通过对定位算法TOA进行优化改进用以提高超声波定位系统的精度；该方案主要是设定一个针对待定位物体速度与系统单位定位时间的时间补偿因子，对误差进行弥补，使其达到待定位物体静止时相同的定位精度；再通过卡尔曼滤波算法对不同速度下的定位结果进行修正，使得超声波定位系统的定位精度进一步提高。通过MATLAB对整个定位方案进行仿真，仿真结果表明，在一定速度时，定位精度也可稳定在2cm以内，能够很好的针对具有一定速度的待定位物体进行移动定位；最后使用Arduino Uno为核心的定位系统对整个方案进行实验，实验的效果验证了仿真的结果，表明了该方案能够很好的提升对移动物体的定位精度，尤其是待定位物体匀速运动时，定位精度趋于稳定，能够很好的针对具有一定速度的待定位物体进行定位。 |
| 关 键 词： | 误差补偿; TOA算法; 卡尔曼滤波算法 |
| DOI： | 10.57237/j.se.2022.01.002 |
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收稿日期: 2022-09-09
接受日期: 2022-10-10
在线出版日期: 2022-11-01
Optimization of Ultrasonic Positioning Accuracy by Hybrid Algorithm of Time Compensation Factor and Kalman Filter
Liang-Jiang International College, Chongqing University of Technology, Chongqing 401135, China
| Abstract: | In the ultrasonic positioning system, the positioning system has a certain delay due to the sequential ranging at the ultrasonic receiver, the system's decoding time and the signal transmission time, which has a great impact on the positioning accuracy. The solution is to set a time compensation factor for the speed of the object to be positioned and the positioning time of the system unit to compensate for the error, so as to achieve the same positioning accuracy when the object to be positioned is stationary; then the Kalman filter algorithm is used to correct the positioning results at different speeds, so that the positioning accuracy of the ultrasonic positioning system can be further improved. The simulation results show that the positioning accuracy can be stabilized within 2cm at a certain speed, which is able to move and position the object to be positioned at a certain speed; finally, the experiments are conducted using the Arduino Uno as the core positioning system, and the experimental results verify the simulation results and show that the solution can The experimental results verify the simulation results and show that the solution is able to improve the positioning accuracy of moving objects, especially when the object to be positioned moves at a constant speed, the positioning accuracy tends to be stable, and the object to be positioned with a certain speed can be positioned well. |
| Keywords: | Error Compensation; TOA Algorithm; Kalman Filtering Algorithm |
基金
| 1. | 国家自然科学基金资助项目 (51875069) |
| 2. | 重庆理工大学研究生创新项目 (gzlcx20223131) |
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