特殊环境下的高精度超声定位误差研究
Research on Accurate Ultrasonic Positioning Error under the Special Environment

针对在特殊球形容器环境下的内部航行器的精确定位问题，研究了基于超声波的高精度定位系统，以四元平面阵为模型设计了最小二乘定位算法，分析了导致定位误差产生的主要原因，并通过蒙特卡罗方法研究了目标距离和系统阵型分布与定位误差之间的关系，最后在消声水池进行了实验验证。实验结果表明，经声速标定后超声测距误差修正在20 mm以内时，此时x-y平面定位误差可有效控制在30 mm以内。
This paper studies how to achieve the accurate position by an ultrasonic positioning system,which is for locating the autonomous vehicle in a special giant spherical container. A localization method using the least squares with a plane array which consists of four elements is proposed, the reason that causes the location error is analysed, and the relationship among the target distance and the array shape and the error of the ultrasonic positioning system is studied by Monte Carlo simulations. Finnally, in order to verify the positioning effect, the positioning experiment is done in an anechoic tank,the experimental results shown that when the ranging error is less than 20 mm, the positioning accuracy of x-y plane is less than about 30 mm