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This paper studies how to achieve the accurate position by an ultrasonic positioning system, which is for locating the autonomous vehicle in a special giant spherical container. A localization method using the least squares with a plane array which consists of four elements is proposed, the reason that causes the location error is analysed, and the relationship among the target distance and the array shape and the error of the ultrasonic positioning system is studied by Monte Carlo simulations. Finnally, in order to verify the positioning effect, the positioning experiment is done in an anechoic tank, the experimental results shown that when the ranging error is less than 20 mm, the positioning accuracy of  x - y  plane is less than about 30 mm.

Research on Accurate Ultrasonic Positioning Error under the Special Environment