Determining position inside non-industrial buildings using ultrasound transducers

The position determination inside a building where no GPS signal is being received can be ascertained using laser transmitters in industrial situations where there are no people or using triangulation of the signal strength, normally electro-magnetic signals, if the required accuracy is more than a metre. Our solution is aimed at situations where people are present and where the required accuracy is less than 30 cm, such as in shopping precincts or supermarkets. To achieve this, a network of ultrasonic transmitters is fitted into the ceiling which receives a synchronised time signal. Each transmitter has a unique identifier code and emits its code with a delay with respect to the common time signal which is proportional to its code number with an ASK modulation over the ultrasonic band centred on 40 KHz. The receivers circulating beneath the transmitters receive the codes of those within their detection range, translate the time delays into distances and then obtain their position by triangulation since the receivers know the position of every transmitter. Since the receivers are not synchronised with the common time signal or the actual speed of the sound, whose value varies appreciably with temperature, relative humidity and atmospheric pressure, a consecutive approximation algorithm has been introduced. This is based on the fact that the Z coordinator of the receiver is known and constant and thus it is possible, with only three different identifiers received, to deduce the phase of the common time signal and estimate the speed of the sound with a fourth identifier.