Indoor positioning by using scanning infrared laser and ultrasonic technology

WU Jun1 YU Zhi-jing2 ZHUGE Jing-chang2 XUE Bin3

(1.College of Aeronautical Engineering, Civil Aviation University of China, Tianjin, China 300300)
(2.College of Electronic Information and Automation, Civil Aviation University of China, Tianjin, China 300300)
(3.School of Marine Science and Technology, Tianjin University, Tianjin, China 300072)

【Abstract】Because traditional positioning methods can not satisfy its requirements for high accuracy, high integration, multi-task and real-time, an indoor positioning method by using laser ranging technology is proposed for industrial manufacturing fields. This method transmits rotation scanning plane laser signals and ultrasonic pulse signals through a measurement base station. It uses rotation scanning plane infrared laser to form a multi-plane constraint, and uses high precision ultrasonic ranging to form a distance constraints. Then the plane constraint and distance constraint are fused to obtain a nonlinear constraint equation set. Finally, the nonlinear optimal algorithm is used to calculate and obtain the accurate 3D coordinates of the target bar. The method achieves omnidirectional, multi-task and real-time positioning by using a total station. A laser tracker is taken as standard to verify the measuring accuracy and reliability of the proposed method. The experiment results show that the positioning measurement error of the method is less than 0.3 mm within a 5 m range, which meets the most industrial fields. As compared with that of the traditional indoor positioning methods, the proposed method improves the integration level and measuring efficiency and provides a new way for whole station positioning methods.

【Keywords】 indoor positioning method; scanning infrared laser; ultrasonic ranging; laser ranging; non-linear constraint;


【Funds】 Joint Funds of National Natural Science Foundation of China and Civil Aviation Administration of China (U1533111, U1333105) National Natural Science Foundation of China (61405246, 61505140)

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(Translated by caizhijian)


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This Article


CN: 22-1198/TH

Vol 24, No. 10, Pages 2417-2423

October 2016


Article Outline


  • 1 Introduction
  • 2 Mathematical model of the measurement system
  • 3 Solution of the laser plane equations
  • 4 Solving the constraint equations
  • 5 Experiment verification
  • 6 Conclusions
  • References