POSITIONING USING MULTI-FREQUENCY ULTRASOUND AND ALGORITHM OF TIME DIFFERENCE OF ARRIVAL

V danem diplomskem delu je bil razvit in izveden sistem za pozicioniranje v prostorih. Sistem za ta namen uporablja ultrazvočno merjenje razdalj med znanimi stacionarnimi točkami in neznanimi točkami. Pozicijo posamezne neznane točke sistem določa z uporabo namenskega algoritma, ki lahko njeno pozicijo določi že iz znanih razlik oddaljenosti od znanih točk. Preverjena je bila tudi izvedljivost sočasnega merjenja oddaljenosti do več znanih točk. Za ta namen bi naj vsak ultrazvočni oddajnik oddajal ultrazvočne pulze drugačne frekvence, sprejemniki pa bi naj te frekvence razločili in tako prepoznali kateri impulz je od katerega oddajnika.In this thesis a system meant for defining positions inside of rooms was developed and build. For this purpose the system uses ultrasonic measuring of distances between known and unknown points. It determines the position of unknown points with the use of a dedicated algorithm, which can determine the position of unknown points just from the known differences between distances from known points. The practicability of simultaneous measuring of distances from known points has been also verified. For this purpose each ultrasonic transmitter should send an ultrasonic pulse of different frequency and ultrasonic receivers should distinct those frequencies between which pulse is from which transmitter