基于时延差和频分复用的节点定位系统

摘要

In the applications of underwater robots, it is very important to determine the relative position of the robots in order to obtain a variety of parameters and data. So, for the transmittal safe and reduce production costs, relative position of sensor network node can be obtained by using TDOA (Time Difference of Arrival) location algorithm and the FDM (frequency- division multiplexing) technology. The positioning System, including transmission and reception, uses acoustic transducer to convert electricity to sound and sound to electricity. By the test, the relative position of underwater robots has been located by the time interval available between transmitting and receiving, and the Positioning accuracy can be satisfied.%在机器人的广泛应用中，为了获取各种参数和数据，确定各机器人基站的相对位置是极为重要的。为了安全和节省成本，对传感器网络采用了时延差定位算法和频分复用传输模式，即可获得传感器网络节点的相对位置。定位系统的搭建包括发射和接收两部分，并采用了水声换能器进行电一声转换和声一电转换。通过测试，该定位系统利用测试发射和接收信号之间的时间间隔，得到水下机器人传感器网络的相对位置，且满足一定的定位精度。