基于TDOF的分布式激光定位系统设计与实现

摘要

According to the concept of Wireless Sensor Networks( WSN) positioning system,this paper presents an indoor location system based on TDOF( Time Difference of Flight) from a set of 905 nm narrowband infrared laser pulses,which are high-precision,high-frequency. The system collects the TDOF information from the synchronous node and the positioning node through the laser receiving module as the beacon node. The signal is transmitted to the central control host through serial port. The central control host computes the position with the TDOF signal and the spatial coordinates of the beacon nodes. The solving method of the localization equation is based on the Gauss-Newton iterative algorithm and the least square method. Theoretical analysis and experimental results show that av-erage localization error can be controlled within ± 6. 5 mm. The positioning accuracy can be further improved by more valid data.%依据无线传感器网络WSN(Wireless Sensor Networks)定位系统的理念,设计并实现了一套基于一组905 nm的窄带宽红外脉冲激光的高精度,高频率的室内定位系统.该系统利用到达分布式激光脉冲接收器的飞行时间差TDOF(Time Difference Of Flight)进行定位,激光接收模块作为信标节点采集来自同步节点和定位节点先后发出的激光脉冲,并通过串口方式发送TDOF信号到中心控制主机,中心控制主机通过TDOF信号与各信标节点的空间坐标进行定位计算,定位解算方法基于高斯牛顿迭代法(Gauss-Newton iterative algorithm)和最小二乘法(Least square method).实验结果表明,该系统的平均定位误差可优化到±6.5 mm内,并且可以通过更多有效数据,进一步提高定位精度.