Based on the principle of ultrasonic ranging

a high-precision indoor positioning method is proposed.The structure of the experimental system is given.The system hardware and software are designed.The system positioning experiment is completed.The causes and solutions of the error are analyzed.In the 2 m×2 m positioning area

four coordinates known ranging nodes with radio frequency communication and ultrasonic ranging nodes are arranged to form a positioning base point.According to the ultrasonic ranging result of the mobile node and the positioning base point in the positioning area

the distance between the mobile node and each positioning base point is obtained

and these distances are then uploaded to the upper computer through radio frequency communication to be processed and calculated

the coordinates of the mobile node are obtained.Experimental results show that the measurement error does not exceed 3 cm and the dynamic response is quite good.