High-Precision Positioning Method for Robot Acoustic Ranging Based on Self-Optimization of Base Stations
In response to the demand for high-precision positioning within confined or indoor environments, the application of acoustic ranging methods has been widely adopted by numerous engineers. Currently, time-of-flight (TOF)-based acoustic ranging positioning systems face challenges such as the susceptib...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/15/10/5478 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | In response to the demand for high-precision positioning within confined or indoor environments, the application of acoustic ranging methods has been widely adopted by numerous engineers. Currently, time-of-flight (TOF)-based acoustic ranging positioning systems face challenges such as the susceptibility of sound velocity to environmental factors and the loss of acoustic signals at both short and long distances, which leads to a reduction in positioning accuracy. This paper addresses these issues by proposing a high-precision confidence interval weighting method for acoustic ranging and further introduces a method for base station deployment and self-optimization positioning within fixed indoor base station scenarios. The method is based on trilateration positioning, establishing criteria for the division of central and boundary areas. It categorizes mobile terminal nodes based on their coordinates from the previous moment, selects distance information from nearby base stations in different modes, and employs weights for decision-making and computation, ultimately yielding two-dimensional positioning coordinates. Experiments demonstrate that the proposed method can effectively enhance the positioning accuracy of acoustic positioning systems compared to traditional four-base station weighted average positioning algorithms. |
|---|---|
| ISSN: | 2076-3417 |