An Indoor Positioning Method Based on Acoustic Signal
Aiming at the positioning problem of indoor robots,an indoor positioning method based on acoustic signals is pro-posed.This method uses four microphone arrays to receive Chrip acoustic signals generated by the same sound source,and uses fast Fourier transform to solve the acoustic signal cross-correlation coefficient of each microphone array,which can be used to design the corresponding method to obtain the position and orientation information of the microphone array.Finally the cross-correlation co-efficient solving process is simulated and verified,and the microphone array system based on the single-chip microcomputer is de-signed to verify the positioning method experimentally.The results show that,this method is effective and feasible,and achieves centimeter-level positioning accuracy.
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