Ultrasonic wave based indoor three-dimensional positioning system and method

The invention provides an ultrasonic wave based indoor three-dimensional positioning system and method, which belong to the technical field of positioning and navigation. The system is a wireless sensor network system, and through combining with the radio frequency technology and the ultrasonic technology, the system can implement accurate positioning by using a TDOA (time difference of arrival) algorithm and a trilateral location algorithm. By using the system provided by the invention, the centimeter-level positioning accuracy can be achieved, and the real-time positioning of a plurality of target nodes in a passive positioning mode can be realized, so that the application of the system in positioning or navigating a plurality of targets becomes possible. The system also has the advantages of good confidentiality, low cost and low power consumption.