Ultrasonic wave indoor positioning method based on CDMA-TDMA combination

The invention discloses an ultrasonic wave indoor positioning method based on CDMA-TDMA combination. A central station, a beacon node, a target node and an upper computer are involved. The ultrasonic wave indoor positioning method has the advantages of being small in computation burden, high in interference resistance, high in processing speed, capable of achieving real-time processing and the like, and is applicable to wide-range ultrasonic wave indoor positioning.