【正文】 編號 本科生畢業(yè)設(shè)計 基于 CDMA 室內(nèi)超聲波三維定位系統(tǒng)設(shè)計 CDMAbased indoor ultrasonic threedimensional positioning system design 長春理工大學(xué)本科畢業(yè)設(shè)計 I 摘要 本系統(tǒng)結(jié)合射頻通信低成本、低功耗的特點(diǎn)和超聲波定位精度高的特點(diǎn)，而避開它們的缺點(diǎn)，如單獨(dú)的射頻識別定位精度不高、超聲波測距的覆蓋范圍有限。提出了一種基于 CDMA 室內(nèi)超聲波三維定位系統(tǒng)，能達(dá)到較高的定位實(shí)時性和厘米級的定位精度。本系統(tǒng) 具有快速定位和定位精度高等優(yōu)點(diǎn)，并且能實(shí)現(xiàn)多個移動目標(biāo)節(jié)點(diǎn)的定位，使多目標(biāo)同時定位或?qū)Ш降膽?yīng)用成為可能，特別適用于多目標(biāo)的室內(nèi)協(xié)同工作，如井下人員的精確定位、醫(yī)療監(jiān)護(hù)、遠(yuǎn)動捕獲以及室內(nèi)無人機(jī)和機(jī)器人的航跡規(guī)劃等。 關(guān)鍵詞： CDMA 三維動態(tài) 定位 射頻同步 超聲波 長春理工大學(xué)本科畢業(yè)設(shè)計 II ABSTRACT The system bines the advantages of the radio frequency munications such as lowcost, low power consumption and high precision of the ultrasonic positioning. while avoiding their disadvantages, such as separate radio frequency identification accuracy is not high, the limited coverage of ultrasonic ranging. We proposed a threedimensional indoor ultrasonic positioning system that base on CDMA technology. It can achieve high localization and realtime centimeterlevel positioning accuracy. The system is fast positioning and high precision positioning The system can achieve the positioning of multiple mobile target nodes, so that multiobjective positioning or navigation applications also bee possible, especially for the multiobjective work in the room, such as the precise location of the underground personnel, medical care, capture the remote object, indoor UAV, and paining the path of the robot and so on. Key words: CDMA； Threedimensional dynamic； RF synchronization；Ultrasonic 長春理工大學(xué)本科畢業(yè)設(shè)計 III 目錄 摘要 ................................................................................................................................. I ABSTRACT ................................................................................................................... II 目錄 ............................................................................................................................... III 第 1 章 緒論 ...................................................................................................................1 課題研究目的和意義 ........................................................................................1 國內(nèi)外研究現(xiàn)狀和前景分析 ............................................................................1 國內(nèi)現(xiàn)狀 ..................................................................................................1 國外現(xiàn)狀 ..................................................................................................2 前景分析 ..................................................................................................3 本文主要研究內(nèi)容 ............................................................................................3 第 2 章 超聲波定位原理 ...............................................................................................4 超聲波定位系統(tǒng)實(shí)現(xiàn)方式及比較 ....................................................................4 超聲波技術(shù) ..............................................................................................4 超聲波定位系統(tǒng)實(shí)現(xiàn)方式 ......................................................................5 超聲波測距及定位算法 ....................................................................................5 TOA（到達(dá)時間）測距 ..........................................................................5 AOA（到達(dá)角度）測距 ..........................................................................6 TDOA(到達(dá)時間差 )測距 .........................................................................6 三邊定位算法 .........................................................................................7 超聲波定位系統(tǒng)組成及工作原理 ....................................................................9 第 3 章 軟件仿真 .........................................................................................................12 CDMA(碼分多址 )技術(shù) ....................................................................................12 偽隨機(jī)序列的產(chǎn)生 ..........................................................................................12 m序列與超聲載波的調(diào)制 ..............................................................................14 數(shù)字信號調(diào)制及其分類 .......................................................................14 二進(jìn)制振幅鍵控（ 2ASK） ...............................................................14 2ASK 仿真結(jié)果 .....................................................................................15 接收端載波解調(diào) .............................................................................................16 2ASK 解調(diào)器 .........................................................................................17 仿真結(jié)果 ...............................................................................................17 第 4 章 硬件設(shè)計 .........................................................................................................20 中心站 .............................................................................................................20 信標(biāo) .................................................................................................................20 目標(biāo)節(jié)點(diǎn) ...........................................