In this research, for an assembly-work guide, an ultrasonic positioning system is proposed to track the positions of an indoor moving object. Composed of an ultrasonic sender (moving object) and a receiver (anchor), the system employs three ultrasonic time-off-flights (TOFs) and trilateration to estimate the positions of the moving object in real time. In addition, to remove measuring noises, a pulse debounce technique and Kalman filter have been applied to the position estimation. Ultrasonic signals are processed in full digital with a Zynq SoC, in which a hardware/software co-design is implemented where digital circuit portion is designed in the Zynq’s fpga and software portion is c-coded in the Zynq’s dual processors by using the bare-metal multiprocessing. According to the test results, it was confirmed that circular motions could be tracked with accuracy of sub-centimeter and the location of a worker’s hand was well tracked.

在这项研究中，对于组装工作指南，提出了一种超声波定位系统来跟踪室内移动物体的位置。该系统由超声发射器（移动物体）和接收器（锚）组成，采用三个超声飞行时间（TOF）和三边测量技术实时估计移动物体的位置。另外，为了消除测量噪声，已将脉冲去抖动技术和卡尔曼滤波器应用于位置估计。超声波信号通过Zynq SoC进行全数字处理，其中实现了硬件/软件协同设计，其中在Zynq的fpga中设计了数字电路部分，并通过使用裸机在Zynq的双处理器中对软件部分进行了c编码。金属多处理。根据测试结果，