用改进超声波传感器实现低成本高精度室内定位
High Precision Positioning System
- 改用HC-SR04超声传感器，设备布局水平平行，减少信标密度
- 单个传感器测距可达12米，定位精度保持在毫米级
- 适合低成本、大规模部署的机器人定位场景
SAPPO是一种高精度、低成本且高度可扩展的室内定位系统。该系统以改良的HC-SR04超声波传感器为基础，用于信标与移动机器人之间的距离测量。其独特布局使信标与移动机器人上的发射阵列位于非常接近的水平平面，呈平行于地面的发射方式，单个传感器测距范围可达近12米。SAPPO在降低信标密度的同时，仍能保持毫秒级的平均定位精度，是超声波定位系统的重要进展。
原文摘要 · Abstract (English)
SAPPO is a high-precision, low-cost and highly scalable indoor localization system. The system is designed using modified HC-SR04 ultrasound transducers as a base to be used as distance meters between beacons and mobile robots. Additionally, it has a very unusual arrangement of its elements, such that the beacons and the array of transmitters of the mobile robot are located in very close planes, in a horizontal emission arrangement, parallel to the ground, achieving a range per transducer of almost 12 meters. SAPPO represents a significant leap forward in ultrasound localization systems, in terms of reducing the density of beacons while maintaining average precision in the millimeter range.
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