Position and orientation data are critical for guiding and managing cooperative robot tasks in the greenhouse. Errors, however, associated with current positioning and orientation systems, such as indoor GPS compasses or the sensitivity of magnetic direction sensors to magnetic materials, limit their application in greenhouses. In this research, we develop and evaluate a positioning and orientation system using a sound signal and two different receiver architectures in a greenhouse. The results obtained: a positioning accuracy of 23.0 ± 5.5 mm and average orientation accuracy of 3.43 ± 1.67° and 1.58 ± 0.86° for these two methods, demonstrate this spread spectrum sound based system has the potential to be deployed on small distributed greenhouse robots.

中文翻译：

---

使用扩频声音的温室机器人位置和方向测量系统

位置和方向数据对于指导和管理温室中的协作机器人任务至关重要。然而，与当前定位和定向系统相关的误差，例如室内 GPS 罗盘或磁性方向传感器对磁性材料的敏感性，限制了它们在温室中的应用。在这项研究中，我们在温室中使用声音信号和两种不同的接收器架构开发和评估定位和定向系统。获得的结果：这两种方法的定位精度为 23.0 ± 5.5 mm，平均定向精度为 3.43 ± 1.67° 和 1.58 ± 0.86°，表明这种基于扩频声音的系统具有部署在小型分布式温室机器人上的潜力。