Research on Ultrasonic Positioning Algorithm

At present, the indoor positioning technology based on the arrival time of ultrasonic wave (TOA) in wireless sensor network (WSN) will lead to low positioning accuracy due to the location error of the beacon node, and the positioning method based on the inertial navigation principle (INS), will increase error with time. To solve this problem, a TOA/INS hybrid location algorithm is proposed by combining the gradient descent algorithm and weighted arithmetic, and the localization range is optimized by improving the ultrasonic sensor. In the system, the blind node carries on the motion sensor to perceives the current motion state, and accumulates the current position of the blind node in each direction of the unit time. At the same time, the ultrasonic signal is transmitted, and the beacon node and the controller are enable to get the current position of the blind node by the signal arrival time difference. The experimental results show that the system can improve the positioning accuracy effectively and achieve the desired effect.