An ultrasonic sensor array using for indoor camera position of the moving objects is proposed

and it is realized by programmable software and hardware for robot learning.The array can be programmed to 11 pairs of transmission/receiver sensor.By the way of comparing the data collected in both static environment and unstable environment

combining with the impossible probability of the events and normal distribution of the sampled data and intersecting location ideological of the geometry.The system can compute the polar orientation based on the programming mechanisms of the maximum likelihood estimation

and the weighted average operator

as well as the calculation of minimum variance.Experiments show that the precise angle of the horizontal positioning up to 7.5°.Flexible zoom and focus is realized.It can meet the requirements of indoor camera positioning.