CN102645221A - Locating device and use method thereof - Google Patents
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- CN102645221A CN102645221A CN2012100815198A CN201210081519A CN102645221A CN 102645221 A CN102645221 A CN 102645221A CN 2012100815198 A CN2012100815198 A CN 2012100815198A CN 201210081519 A CN201210081519 A CN 201210081519A CN 102645221 A CN102645221 A CN 102645221A
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Abstract
The embodiment of the invention provides a locating device and a use method thereof, the locating device comprises an original data acquisition unit, wherein the original data acquisition unit comprises a gyroscope, an accelerometer and a barometer, the gyroscope is used for acquiring the movement angular speed information of the device; the accelerometer is used for acquiring the movement acceleration information of the device; the barometer is used for acquiring the atmospheric pressure information of the device; and the device further comprises a wireless communication unit, the wireless communication unit is used for transferring the information which is acquired by the original data acquisition unit to a processing terminal, and the processing terminal calculates the location information of the device. The use method of the locating device is that other location coordinates are corrected through determined location coordinates. The device and the method can determine the relative or absolute movement path of an object in an area without a global positioning system (GPS) signal.
Description
Technical field
Each embodiment of the present invention relates to locating device and localization method thereof, in particular for locating device and the localization method thereof in the zone that does not have gps signal.
Background technology
Along with science and technology and expanding economy, growing field and user need use positioning service.GPS (GPS) can provide point-device positioning service for the user at present.Yet, use this GPS must accept wireless gps signal by satellite or antenna emission.This be for receiving the very poor zone of this signal or signal quality, and for example tunnel, underground installation, indoor, interference shielding environment etc. can't be located through gps signal.
And a lot of fields need obtain locating information in the particular surroundings that can't receive gps signal, and some index in this environment is carried out monitoring analysis, obtain the areal distribution information of some index.
In order under various environment, to locate, and the monitoring information of acquisition each position corresponding with motion path, need a kind of device and method that can in not having the environment of gps signal, obtain locating information.
Summary of the invention
The present invention provides a kind of locating device and method of application thereof, and it is applicable in having the environment of gps signal the location and obtains various user's interest information, and obtains the areal distribution information of motion path and this information thus.
According to an aspect of the present invention, a kind of locating device is provided, comprises:
The raw data acquisition unit comprises: gyroscope is used to gather the motion angular velocity information of this device; Accelerometer, the acceleration of motion information that is used to gather this device; Barometer, the atmospheric pressure information that is used to gather this device;
Wireless communication unit is used for sending the information of raw data acquisition unit collection to processing terminal, is calculated the positional information of this device by this processing terminal.
According to a further aspect in the invention, wherein: also comprise data processing unit, be used to utilize the positional information of this device of information calculations that the raw data acquisition unit gathers; The positional information that said wireless communication unit replaces with this device that is used for data processing unit is calculated sends processing terminal to.
According to a further aspect in the invention, wherein: the raw data acquisition unit also comprises magnetometer, is used to gather the magnetic direction of this device present position.
According to a further aspect in the invention, wherein: also comprise the function information collecting unit, be used to gather the user institute information of interest of this device present position; Said wireless communication unit also sends to processing terminal with the information of this function information collecting unit collection.
According to a further aspect in the invention, wherein: said user institute information of interest comprises: network signal information, air quality information, radiation information, chemical constitution concentration information.
According to a further aspect in the invention, wherein: also comprise the gps signal receiving element, be used to receive gps signal.
According to a further aspect in the invention, wherein: also comprise universal data interface, be used to provide the positional information and/or the cartographic information of standard format at least.
According to a further aspect in the invention; The method of application of more than one each locating devices is provided, comprises: with this locating device be fixed on like this and the synkinematic object of one of which on: represent in the locating device dead ahead to the angle of coordinate axis between the projection of coordinate axis at surface level of the projection of surface level and moving object direction of motion as much as possible little.
According to a further aspect in the invention; The method of application of more than one each locating devices is provided; Comprise: the data of a plurality of positions in the locating device motion path are gathered in the raw data acquisition unit; Obtain the relative coordinate of each position through the data of calculating each position, thereby obtain the relative motion path of locating device.
According to a further aspect in the invention; Wherein: the raw data acquisition unit of this locating device begins image data from the position with gps signal; The gps signal receiving element receives the gps signal of this position; The raw data acquisition unit is gathered the data of a plurality of positions in the locating device motion path then, thereby based on the relative motion path of the absolute coordinates of the starting position with gps signal and locating device and obtain the absolute motion path of locating device.
According to a further aspect in the invention; Wherein: the user is with the relative coordinate information of the confirming input processing terminal of the one or more positions in relative or the absolute motion path; Processing terminal is proofreaied and correct the relative coordinate or the absolute coordinates of other positions according to the relative coordinate of confirming of these one or more positions; Or the user is with the absolute coordinates of the confirming input processing terminal of the one or more positions in relative or the absolute motion path; For the situation of having only relative path, thereby processing terminal calculates the absolute coordinates acquisition absolute path of other positions according to the absolute coordinates of confirming of these one or more positions; For the situation with absolute path, processing terminal is proofreaied and correct the absolute coordinates of other positions according to the absolute coordinates of confirming of these one or more positions.
Other features and advantages of the present invention will be from the following detailed description of appended claims and embodiment and obvious.
Description of drawings
Fig. 1 has schematically shown the structural drawing according to the locating device of one embodiment of the present invention;
Fig. 2 A shows the vertical view according to the fixed form of the locating device of one embodiment of the present invention;
Fig. 2 B shows the side view according to the fixed form of the locating device of one embodiment of the present invention;
Fig. 3 shows the synoptic diagram that obtains motion path according to the use locating device of one embodiment of the present invention;
Fig. 4 shows the synoptic diagram according to the use locating device correction of movement path of one embodiment of the present invention.
Embodiment
Fig. 1 has schematically shown the structural drawing according to the locating device of one embodiment of the present invention.As shown in Figure 1, locating device comprises raw data acquisition unit 101, and it comprises: gyroscope 1011 is used to gather the motion angular velocity information of this device; Accelerometer 1012, the acceleration of motion information that is used to gather this device; Barometer 1013, the atmospheric pressure information that is used to gather this device.Preferably, this raw data acquisition unit also comprises magnetometer 1014, is used to gather the Magnetic Field of locating device present position.Raw data acquisition unit 101 can use various existing sensors to carry out above-mentioned data acquisition.The collection of above-mentioned information has been the known technology of this area, thereby does not do and give unnecessary details.
This locating device also comprises wireless communication unit 102, is used for sending the information of raw data acquisition unit collection to processing terminal, is calculated the positional information of this device by this processing terminal.Wireless communication unit 102 can use various communications to communicate by letter with processing terminal to be connected, WLAN for example, WWW, Ethernet, LAN, bluetooth, infrared ray, WIFI etc.
In another preferred embodiment, this locating device also comprises data processing unit 103, is used to utilize the positional information of this device of information calculations that the raw data acquisition unit gathers.And this wireless communication unit 102 replaces with the positional information of this device that is used for data processing unit is calculated and sends processing terminal to.
Utilize the information such as motion angular velocity, acceleration, atmospheric pressure of the locating device that raw data acquisition unit 101 gathers; Those skilled in the art can confirm the information such as direction of motion and distance of locating device according to known physical knowledge, thereby obtain the motion relative motion path of locating device.Utilize the magnetic direction of raw data acquisition unit collection to revise to the positional information of calculating.Thereby the computational algorithm that utilizes above-mentioned information location is that those skilled in the art are clear easily.Yet, in order to further specify the feasibility of utilizing above-mentioned information location, exemplary introduce a kind of preferred location algorithm here.
In a preferred location algorithm, the direction that the data that gyroscope collects are used for moving detects; The data that accelerometer collects are used to carry out calculation of displacement, can also be used to cooperate simultaneously the correction of gyroscope travel direction; Magnetometer obtains direction through detecting the magnetic field of the earth, thereby gyrostatic direction is revised.Barometer calculates sea level elevation information through detecting atmospheric pressure.Through confirming direction of motion, moving displacement and elevation information, just can accomplish independent indoor navigation.
Should be appreciated that above-mentioned algorithm is used to just explain that the raw data through this locating device collection can realize the location, and should not be construed as a kind of restriction the employed location algorithm of this locating device.This locating device can use various based on the known physical rule, utilizes the algorithm of the above-mentioned data of this locating device collection to position.
Preferably, this locating device also comprises function information collecting unit 104, is used to gather the user institute information of interest of this device present position.This user institute information of interest includes but not limited to: network signal information, air quality information, radiation information, chemical constitution concentration information etc.Can select that to different information acquisition tasks different sensor is installed gets final product.Through locating information is combined with particular function information, can obtain the distributed intelligence of customizing messages on motion path.For example, through the network signal quality of this locating device collection diverse location, can obtain the areal distribution information of network signal quality.
Preferably, wireless communication unit 102 also receives the instruction of processing terminal, transmits various information, data according to the various information of this instruction acquisition, data and/or to processing terminal.Through wireless communication unit uploading of the various instructions in data terminal assigned, realize Long-distance Control locating device.
Preferably, locating device also comprises gps signal receiving element 105, is used to receive gps signal.Gps signal through the receiving unit position obtains the absolute location information of part position, combines the relative motion path of locating device again, can obtain the absolute motion path of locating device.The absolute motion route method that gets locating device will be introduced below.
Preferably, locating device also comprises universal data interface 106, and it preferably includes universal location information interface and universal map information interface.This universal location information interface is used for the positional information of each position that calculates is packed with the spendable general format of each application program; This universal map information interface is used for each the positional information resultant motion path map that obtains, and is packaged into the general format that can supply each application program to use.When locating device and each were handled terminal communication and be connected, locating device sent to processing terminal through each universal data interface with packets such as positional information, cartographic informations, supplies the processing terminal use.Through universal data interface is set, makes each software of each processing terminal can obtain the positional information and the cartographic information of standard data format, thereby directly obtain positional information and motion path cartographic information.
Preferably, this locating device also comprises stationary installation 107, is used for this locating device is fixed on the therewith object of motion, thereby obtains the motion path identical with moving object.This stationary installation is preferably belt, rope, buckles, sucker, magnet, fishing without hook etc.Can locating device be fixed on people's leg, waist, back, front through stationary installation, or in the moving object such as mobile robot, dolly, aircraft.
Preferably, each unit in the locating device is fixed in the housing of a portable compact conformation, so that attached in the moving object.This locating device preferably is provided with a reference direction; Surveying instrument with the parameter of directional correlation; Like gyroscope 1011, accelerometer 1012, magnetometer 1014; And the reference direction of other instruments of the information relevant with direction is alignd with the reference direction that this locating device is set in the collection user institute information of interest, so that the directional reference that each instrument collects is consistent with the direction of motion benchmark of locating device.Preferably, with locating device predetermined be installed in the moving object back towards the dead ahead direction as reference direction, and locating device towards the face in this dead ahead as reference field, above-mentioned instrument is fixed in the locating device with this reference direction.
When using this locating device, with this locating device be fixed on like this and the synkinematic object of one of which on: represent in the locating device dead ahead to the ideal value of the angle of coordinate axis between the projection of coordinate axis at surface level of the projection of surface level and moving object direction of motion be zero.Shown in Fig. 2 A, D1 representes the direction of motion of human body.Locating device 201 is fixed on human body behind, D2 represent locating device represent the dead ahead to coordinate axis (reference direction of locating device).In vertical view; The direction of arrow of D1, D2 is equivalent to the surface level projection; When the angle between after D1 and D2 projection remained zero (D1, D2 projection conllinear or parallel), the kinematic parameter of the horizontal direction that each instrument of locating device collects was consistent with the motion of moving object horizontal direction.Yet being difficult to keep this angle in actual the use is zero.In the scope that error allows, certain included angle is an acceptable.Angle between in use should keeping after D1 and the D2 projection is as far as possible little of to obtain and the consistent as far as possible measurement parameter of actual motion path.Shown in Fig. 2 B, see from the side, the representative dead ahead of locating device 201 to coordinate axis D2 between the direction of motion D1 of vertical direction and human body, have angle.Yet fixing does not so influence locating device to moving object motion parameter collecting in the horizontal direction, as long as the reference direction D1 of this locating device is as much as possible little at the projection and the angle between the projection of D1 at surface level of surface level.Certainly, this is not consider the motion of moving object in vertical direction.Yet, can calculate the movable information of sea level elevation information through the atmospheric pressure that aforesaid barometer detects with the vertical direction of acquisition locating device.
It should be noted that this locating device preferably keeps the as far as possible little relative displacement of relative motion object when using this locating device,, reduce sum of errors and disturb to improve bearing accuracy.
To combine Fig. 3 and Fig. 4 to introduce the method for application of this locating device below.
Fig. 3 shows the synoptic diagram that obtains motion path according to the use locating device of one embodiment of the present invention.In Fig. 3, in order to obtain an absolute motion path of locating device, locating device receives a gps signal from gps signal source 301 at the initial position P1 with gps signal earlier, obtains the absolute coordinates P1A (N39 °, E115 °) of position P1.This gps signal source can be the various sources that can launch gps signal such as satellite or base station.Simultaneously, locating device is gathered the primary data information (pdi) of this position, and to this set positions relative coordinate P1 (0,0).Then, locating device enters into the zone that does not have gps signal in company with moving object, and according to instruction, at a plurality of position P2, P3, P4 gather the primary data information (pdi) of this position respectively, calculate the relative coordinate of each position.These relative coordinates can all be based on the relative coordinate of initial position P1, also can be based on the relative coordinate of a record position.After the relative coordinate that obtains each position, a complete relative motion path has just obtained.And in order to obtain the absolute motion path, only need add on the basis of the relative coordinate of each position and can obtain the absolute coordinates P1A of initial position P1 the absolute coordinates of each position, thereby obtain complete absolute motion path.
Preferably, the next one that initial position is adjacent does not have the distance between the collection position of gps signal should be as much as possible little, to reduce initial relative error.Preferably with near the position that gps signal is arranged at the edge in no gps signal zone as initial position, shortening the distance in the zone of gps signal is arranged between the adjacent positioned position, thus the as far as possible little error of introducing.
Preferably, if the tester does not manually begin not have the gps signal location in certain position control, locating device can start raw data acquisition unit image data automatically immediately and position when entering does not have the gps signal place.
Certainly, also can be in motion process one or several have the position of gps signal to obtain the absolute coordinates of this or several positions, thereby combine each position relative coordinate and obtain the absolute coordinates of each position.
If be merely acquisition relative motion path, then need not to accept gps signal.Only can calculate the relative coordinate of each position through the data of raw data acquisition unit collection.Certainly, the gps signal receiving element also just can save.
Fig. 4 shows the synoptic diagram according to the use locating device correction of movement path of one embodiment of the present invention.In order to improve bearing accuracy; If the user can be known one or the relative coordinate accurately of several positions in the motion path through other means; For example use ruler, laser, drawing etc., the relative coordinate of position P3 is modified to P3' (9 ,-1) through manual input; Other each position P2 then, the relative coordinate of P4 just can be proofreaied and correct through the difference that on the basis of former relative coordinate, adds P3' and P3.Certainly, the position that obtains accurate coordinate is many more, and the value that is corrected is also just accurate more.If what be corrected all is relative coordinate, then initial position also can be used as one and has the reference position of accurate relative coordinate and need not to be corrected, because the relative coordinate of other positions all is based on the relative coordinate of this initial position and is fixed.And if what be corrected is absolute coordinates, and the absolute coordinates of initial position do not obtain through gps signal, and promptly initial position can not be as a reference position in absolute coordinate system, thereby it also need be corrected.
If the user can be known one or the absolute coordinates accurately of several positions in the motion path through other means, then for the relative motion path that only obtains, thereby the absolute coordinates that can obtain each position as stated above obtains the absolute motion path; And for the situation that obtains the absolute motion path; Through or the absolute coordinates of several positions that the user is manually imported; And so as to the absolute coordinates that pass through the gps signal acquisition that obtains the absolute motion path together as benchmark, just can proofread and correct the absolute coordinates of other positions.Based on the algorithm that the absolute coordinates of a plurality of positions is proofreaied and correct motion path, can use the error correction algorithms of various known mathematics.
One of the manual input of user or the accurate coordinate of several positions can be imported through the load module that is positioned on the processing terminal, also can this load module confession user input at any time in the process of motion be set on the locating device.This accurately coordinate through the processing terminal computing other position coordinateses are proofreaied and correct.
Above-mentioned processing terminal can be various general-purpose computations terminals with handled function, like computing machine, also possibly be the various data processing equipments with the supporting customization of this locating device.
Should be appreciated that the method for application of above-described locating device and various locating devices may be used to have fully the zone of gps signal, or the faint zone of gps signal.Above-mentioned locating device and method of application are particularly useful for that inlet chamber is interior, underground, the tunnel, wait environment under water; Be particularly useful in above environment, carrying out the certain physical parameters collection; Like network signal, air quality, radiation dose, chemical constitution etc., thereby obtain areal distribution information.Through this locating device and method of application thereof, make under the environment of no gps signal to obtain locating information and become possibility, also need active data harvester and method be provided in the industry that particular surroundings is located Information Monitoring for various.
Provided instructions of the present invention from illustrating with purpose of description, but itself and be not intended to and be exhaustive or be limited to the invention of disclosed form.It may occur to persons skilled in the art that a lot of modifications and variant.It will be appreciated by those skilled in the art that the method and apparatus in the embodiment of the present invention can be with software, hardware, firmware or its combination realization.
Therefore; Embodiment is in order principle of the present invention, practical application to be described better and to be made other staff among those skilled in the art can understand following content and select and describe; Promptly; Under the prerequisite that does not break away from spirit of the present invention, all modifications of making all will fall in the protection domain of the present invention of accompanying claims definition with replacement.
Claims (11)
1. locating device comprises:
The raw data acquisition unit comprises:
Gyroscope is used to gather the motion angular velocity information of this device;
Accelerometer, the acceleration of motion information that is used to gather this device;
Barometer, the atmospheric pressure information that is used to gather this device;
Wireless communication unit is used for sending the information of raw data acquisition unit collection to processing terminal, is calculated the positional information of this device by this processing terminal.
2. device according to claim 1, wherein:
Also comprise data processing unit, be used to utilize the positional information of this device of information calculations that the raw data acquisition unit gathers;
The positional information that said wireless communication unit replaces with this device that is used for data processing unit is calculated sends processing terminal to.
3. device according to claim 1 and 2, wherein:
The raw data acquisition unit also comprises magnetometer, is used to gather the magnetic direction of this device present position.
4. device according to claim 1 and 2, wherein:
Also comprise the function information collecting unit, be used to gather the user institute information of interest of this device present position; Said wireless communication unit also sends to processing terminal with the information of this function information collecting unit collection.
5. device according to claim 4, wherein:
Said user institute information of interest comprises: network signal information, air quality information, radiation information, chemical constitution concentration information.
6. device according to claim 1 and 2, wherein: also comprise the gps signal receiving element, be used to receive gps signal.
7. device according to claim 1 and 2, wherein: also comprise universal data interface, be used to provide the positional information and/or the cartographic information of standard format at least.
8. according to the method for application of the locating device of one of claim 1-7, comprising:
With this locating device be fixed on like this and the synkinematic object of one of which on: represent in the locating device dead ahead to the angle of coordinate axis between the projection of coordinate axis at surface level of the projection of surface level and moving object direction of motion as much as possible little.
9. according to the method for application of the locating device of one of claim 1-7, comprising:
The data of a plurality of positions in the locating device motion path are gathered in the raw data acquisition unit, obtain the relative coordinate of each position through the data of calculating each position, thereby obtain the relative motion path of locating device.
10. method according to claim 9, wherein:
The raw data acquisition unit of this locating device begins image data from the position with gps signal; The gps signal receiving element receives the gps signal of this position; The raw data acquisition unit is gathered the data of a plurality of positions in the locating device motion path then, thereby based on the relative motion path of the absolute coordinates of the starting position with gps signal and locating device and obtain the absolute motion path of locating device.
11. according to claim 9 or 10 described methods, wherein:
The user is with the relative coordinate information of the confirming input processing terminal of the one or more positions in relative or the absolute motion path; Processing terminal is proofreaied and correct the relative coordinate or the absolute coordinates of other positions according to the relative coordinate of confirming of these one or more positions; Or the user is with the absolute coordinates of the confirming input processing terminal of the one or more positions in relative or the absolute motion path; For the situation of having only relative path, thereby processing terminal calculates the absolute coordinates acquisition absolute path of other positions according to the absolute coordinates of confirming of these one or more positions; For the situation with absolute path, processing terminal is proofreaied and correct the absolute coordinates of other positions according to the absolute coordinates of confirming of these one or more positions.
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