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为了研究猪只运动轨迹与行为之间的关系,试验设计了一种基于CC2530模块的超声波室内定位系统。该系统利用CC2530强大的无线通信功能构建发射与接收节点,利用超声波信号与射频信号传播速度的不同,通过到达时间差法(TDOA)测量发射与接收节点之间的距离,并利用相交园弦线法进行定位计算;为了减小定位误差,引入一元线性回归拟合TDOA与距离的关系,提高了测距的精度;并引入距离滤波算法,减小了定位出现较大误差的概率。结果表明:该定位系统定位精度在3 cm左右。
In order to study the relationship between the locomotion and behavior of pigs, an ultrasonic indoor positioning system based on CC2530 module was designed. The system uses CC2530’s powerful wireless communication function to construct the transmitting and receiving nodes. By using the difference of the propagation speed of the ultrasonic signal and the radio frequency signal, the distance between the transmitting and receiving nodes is measured by TDOA, In order to reduce the positioning error, a linear regression was introduced to fit the relationship between TDOA and distance to improve the accuracy of ranging. The distance filtering algorithm was introduced to reduce the probability of large errors in positioning. The results show that the positioning accuracy of the positioning system is about 3 cm.