METHOD OF ESTIMATING LOCATION OF INDOOR OBJECT BASED ON ULTRASONIC WAVE, APPARATUS AND SYSTEM FOR ESTIMATING LOCATION OF INDOOR OBJECT USING THE SAME

摘要

The present invention relates to estimation of ultrasound based location of an object in the room method, object position estimation apparatus and system using the same. Ultrasound-based object position estimation method of the indoors is to calculate the velocity of ultrasonic waves in the room using the measured at least one node and a receiving node of the plurality of receiving nodes arranged in a fixed position in the room. A plurality of receiving nodes are arranged in different positions in the room receives the first radio signal and the first ultrasonic signal. The object position estimating method of the same time from the beacon attached to the object output a first radio signal from the first ultrasonic signal is the difference between the first arrival time and the calculated arriving at the at least three receiving nodes of the plurality of receiving nodes wherein based on a ultrasonic wave velocity to calculate the respective distance to the said beacons and of the at least three different receiving nodes, and based on each distance and the calculated the beacon and the plurality of receiving nodes of the at least three receiving node It calculates the position of the beacon in the room. By in accordance with the change of the indoor environments such as temperature or humidity, obtaining the ultrasonic velocity of the fluid changes to perform the object position estimate it can improve the accuracy of the object position estimate. ; Indoors, the indoor environment estimation, temperature, humidity, object location, ultrasound, RF signal