摘要
定位系统是智能空间位置感知计算的基础部件,它不仅要能较精确定位多目标,而且在方向性、可携带性等方面也要满足要求.文中设计了一种室内定位系统Cicada,该系统基于射频和超声波到达时间差来测量距离,并采用滑窗滤波和卡尔曼滤波的方法计算位置.实验表明它对静止和移动目标都能提供平均5cm的定位精度,拥有全向型的工作区域,便于携带,具有较好的规模伸缩度以及易部署性,能较全面地满足智能空间定位的需求.
The location sensing system （also called positioning system） is an underlying component for location-aware computing in Smart Space, which not only demands the location sensing system to locate multiple objects with desirable precision, but also superimposes the requirements, such as directional characteristic and portability etc, on it. This paper presents an indoor location sensing system, Cicada. This system is based on the TDoA （Time Difference of Arrival） between radiofrequency and ultrasound to estimate distance, and employs a technology integrating Slide Window Filter and Extended Kalman Filter to calculate location. As the experiments prove, Cicada can provide the average 5cm location precision both for static objects and for mobile objects, owns a nearly omni-directional working area ranging from -90 degree to ＋90 degree. Besides, it is able to run independently, mini and light so that it is convenient to be portable and even embedded into people′s paraphernalia. Further, it is also flexible in scalability, for neither quantity range nor constraint of structure form is demanded on its infrastructure. Last, it is fairly facile to be employed, attributing to the wireless connectivity in its infrastructure. Those advantages illuminate that it is able to be competent for all-round location sensing requirements of Smart Space.
出处
《计算机学报》
EI
CSCD
北大核心
2007年第9期1603-1611,共9页
Chinese Journal of Computers
基金
国家自然科学基金(60672066)
国家"八六三"高技术研究发展计划项目基金(2006AA01Z131)资助
关键词
普适计算
位置感知计算
定位系统
扩展卡尔曼滤波
滑窗滤波器
pervasive/ubiquitous computing
location-aware computing
positioning system
extended Kalman filter
slide window filter
