一种用于智能空间的多目标跟踪室内定位系统_谷红亮

第30卷 第9期2007年9月

计 算 机 学 报

CH INESE JOURNA L OF COM PU TERS

Vo l.30N o.9

Sept.2007

收稿日期:2005-11-12;修改稿收到日期:2007-01-21.本课题得到国家自然科学基金(60672066)和国家 八六三 高技术研究发展计划项目基金(2006AA01Z131)资助.谷红亮,男,1977年生,博士,讲师,研究方向为位置感知计算、嵌入式系统、分布式多媒体.E -mail:hlgu @.史元春,女,1967年生,教授,博士生导师,研究领域为人机交互、分布式多媒体、普适计算.申瑞民,男,1967年生,教授,博士生导师,研究领域为E -Learning 网络教育技术、多媒体网络协同工作.陈 渝,男,1972年生,博士,讲师,研究方向为嵌入式系统、操作系统.

一种用于智能空间的多目标跟踪室内定位系统

谷红亮1) 史元春2) 申瑞民1) 陈 渝

2)

1)(上海交通大学网络教育学院 上海 200030)

2)

(清华大学计算机科学与技术系 北京 100084)

摘 要 定位系统是智能空间位置感知计算的基础部件,它不仅要能较精确定位多目标,而且在方向性、可携带性等方面也要满足要求.文中设计了一种室内定位系统Cicada,该系统基于射频和超声波到达时间差来测量距离,并采用滑窗滤波和卡尔曼滤波的方法计算位置.实验表明它对静止和移动目标都能提供平均5cm 的定位精度,拥有全向型的工作区域,便于携带,具有较好的规模伸缩度以及易部署性,能较全面地满足智能空间定位的需求.关键词 普适计算;位置感知计算;定位系统;扩展卡尔曼滤波;滑窗滤波器中图法分类号T P 391

A Mult-i O bject Tracking Indoor Positioning System for Smart Space

GU H ong -Liang 1) SH I Yuan -Chun 2) SH EN Ru-i M in 1) CH EN Yu 2)

1)

(Ne tw ork Ed ucation Colleg e ,S hang hai Jiaoton g Univ er sity ,S hang hai 200030)

2)

(Dep artment of Comp uter S cience and T echnolog y ,T singh ua Univ er sity ,B eij ing 100084)

Abstract T he location sensing sy stem (also called po sitio ning system )is an underlying co mpo -nent for location -aw are computing in Smart Space,w hich not only dem ands the location sensing system to locate m ultiple o bjects w ith desirable precision,but also super im poses the require -m ents,such as dir ectio nal char acteristic and portability etc,on it.This paper presents an indoo r location sensing system,Cicada.This system is based on the T DoA (Time Difference of Arr iv al)betw een radiofrequency and ultraso und to estimate distance,and em plo ys a technolog y integ ra -ting Slide Window Filter and Ex tended Kalman Filter to calculate location.As the ex periments pro ve,Cicada can pro vide the average 5cm location precision both for static objects and for mo bile objects,ow ns a nearly o mn-i directional w orking area r anging from -90degree to +90degree.

Besides,it is able to run independently,mini and light so that it is co nvenient to be po rtable and ev en embedded into people s parapher nalia.Further,it is also flex ible in scalability,for neither quantity range nor co nstraint of structure form is demanded on its infrastructur st,it is fairly facile to be em plo yed,attributing to the w ireless co nnectivity in its infrastructur e.Those advan -tages illuminate that it is able to be co mpetent fo r al-l r ound location sensing requirements of Sm art Space.Keywords

pervasive/ubiquitous computing;location -aw are com puting;po sitioning system;

ex tended Kalman filter;slide w indow filter