CN102645221B - Locating device and using method thereof - Google Patents
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- CN102645221B CN102645221B CN201210081519.8A CN201210081519A CN102645221B CN 102645221 B CN102645221 B CN 102645221B CN 201210081519 A CN201210081519 A CN 201210081519A CN 102645221 B CN102645221 B CN 102645221B
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Abstract
Embodiments of the present invention provide a kind of locating device and using method thereof, and this locating device comprises: raw data acquisition unit, comprising: gyroscope, for gathering the angular velocity of satellite motion information of this device; Accelerometer, for gathering the movement acceleration information of this device; Barometer, for gathering the atmospheric pressure information of this device; This device also comprises wireless communication unit, 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.The using method of this locating device corrects the coordinate of other positions by the position coordinates determined.This device and method can determine the relative of object or absolute motion path not having the region of gps signal.
Description
Technical field
The embodiments of the present invention relate to locating device and localization method thereof, in particular for not having the locating device in region and the localization method thereof of gps signal.
Background technology
Along with science and technology and expanding economy, increasing field and user need to use positioning service.Current GPS (GPS) can provide point-device positioning service for user.But, use the air GPS signal that this GPS must accept by satellite or antenna transmission.This is for receiving this signal or the very poor region of signal quality, and such as tunnel, underground installation, indoor, interference shielding environment etc., cannot be located by gps signal.
And a lot of field needs to obtain locating information in the particular surroundings that cannot receive gps signal, and monitoring analysis is carried out to some index in this environment, obtain the areal distribution information of some index.
In order to locate under circumstances, and obtain the monitoring information of each position corresponding with motion path, need a kind of device and method that can obtain locating information in the environment not having gps signal.
Summary of the invention
The invention provides a kind of locating device and using method thereof, it is applicable to locate in the environment not having gps signal and obtains the interested information of various user, 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:
Raw data acquisition unit, comprising: gyroscope, for gathering the angular velocity of satellite motion information of this device; Accelerometer, for gathering the movement acceleration information of this device; Barometer, for gathering the atmospheric pressure information of this device;
Wireless communication unit, 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, the positional information for utilizing the information of raw data acquisition unit collection to calculate this device; The positional information of this device that described wireless communication unit replaces with for being calculated by data processing unit sends processing terminal to.
According to a further aspect in the invention, wherein: raw data acquisition unit also comprises magnetometer, for gathering the magnetic direction of this device present position.
According to a further aspect in the invention, wherein: also comprise function information collecting unit, for gather this device present position user interested to information; The information of this function information collecting unit collection is also sent to processing terminal by described wireless communication unit.
According to a further aspect in the invention, wherein: the information interested to described user comprises: network signal information, air quality information, radiation information, chemical concentration information.
According to a further aspect in the invention, wherein: also comprise gps signal receiving element, for receiving gps signal.
According to a further aspect in the invention, wherein: also comprise universal data interface, for providing positional information and/or the cartographic information of at least standard format.
According to a further aspect in the invention, the using method of more than one each locating devices is provided, comprises: this locating device is fixed on like this on the object moved together: represent in locating device dead ahead to coordinate axis the projection of surface level and the angle of the coordinate axis of moving object direction of motion between the projection of surface level little as much as possible.
According to a further aspect in the invention, the using method of more than one each locating devices is provided, comprise: raw data acquisition unit gathers the data of the multiple positions in locating device motion path, by calculating the relative coordinate of the data acquisition each position of each position, thus obtain the relative motion path of locating device.
According to a further aspect in the invention, wherein: raw data acquisition unit image data from the position with gps signal of this locating device, gps signal receiving element receives the gps signal of this position, then raw data acquisition unit gathers the data of the multiple positions in locating device motion path, thus based on there is the absolute coordinates of starting position of gps signal and the relative motion path of locating device and obtaining the absolute motion path of locating device.
According to a further aspect in the invention, wherein: user is by the relative co-ordinate information input processing terminal of the determination of the one or more positions in relative or absolute motion path, processing terminal corrects relative coordinate or the absolute coordinates of other positions according to the relative coordinate of the determination of this one or more position, or user is by the absolute coordinates input processing terminal of the determination of the one or more positions in relative or absolute motion path, for the situation only having relative path, processing terminal calculates the absolute coordinates of other positions according to the absolute coordinates of the determination of this one or more position thus obtains absolute path, for the situation with absolute path, processing terminal corrects the absolute coordinates of other positions according to the absolute coordinates of the determination of this one or more position.
Other features and advantages of the present invention are apparent by the following detailed description from appended claims and embodiment.
Accompanying drawing explanation
Fig. 1 diagrammatically illustrates the structural drawing of the locating device according to one embodiment of the present invention;
Fig. 2 A shows the vertical view of the fixed form of the locating device according to one embodiment of the present invention;
Fig. 2 B shows the side view of the fixed form of the locating device according to one embodiment of the present invention;
Fig. 3 shows the schematic diagram obtaining motion path according to the use locating device of one embodiment of the present invention;
Fig. 4 shows the schematic diagram in the use locating device correction of movement path according to one embodiment of the present invention.
Embodiment
Fig. 1 diagrammatically illustrates the structural drawing of the locating device according to one embodiment of the present invention.As shown in Figure 1, locating device comprises raw data acquisition unit 101, and it comprises: gyroscope 1011, for gathering the angular velocity of satellite motion information of this device; Accelerometer 1012, for gathering the movement acceleration information of this device; Barometer 1013, for gathering the atmospheric pressure information of this device.Preferably, this raw data acquisition unit also comprises magnetometer 1014, for gathering the Magnetic Field of locating device present position.Raw data acquisition unit 101 can use various existing sensor to carry out above-mentioned data acquisition.The collection of above-mentioned information has been the known technology of this area, does not thus repeat.
This locating device also comprises wireless communication unit 102, 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 communication and processing terminal to communicate to connect, such as WLAN, WWW, Ethernet, LAN (Local Area Network), bluetooth, infrared ray, WIFI etc.
In another preferred embodiment, this locating device also comprises data processing unit 103, for the positional information utilizing the information of raw data acquisition unit collection to calculate this device.And the positional information of this device that this wireless communication unit 102 replaces with for being calculated by data processing unit sends processing terminal to.
The information such as angular velocity of satellite motion, acceleration, atmospheric pressure of the locating device utilizing raw data acquisition unit 101 to gather, those skilled in the art according to information such as the direction of motion of known physical knowledge determination locating device and distances, thus can obtain the motion relative motion path of locating device.Utilize the magnetic direction of raw data acquisition unit collection can also to revise the positional information calculated.Thus the computational algorithm of above-mentioned Information locating is utilized to be that those skilled in the art easily understand.But, in order to further illustrate the feasibility utilizing above-mentioned Information locating, a kind of preferred location algorithm of introduction exemplary herein.
In a preferred location algorithm, the data that gyroscope collects are for the angle detecting in moving; The data that accelerometer collects, for carrying out the calculating of displacement, can also be used for coordinating the correction of gyroscope travel direction simultaneously; Magnetometer by detecting acquisition direction, magnetic field of the earth, thus is revised gyrostatic direction.Barometer calculates altitude info ination by detecting atmospheric pressure.By determining direction of motion, moving displacement and elevation information, just independent indoor navigation can be completed.
Should be appreciated that above-mentioned algorithm just can realize location for illustration of the raw data gathered by this locating device, and should not be construed as the one of the location algorithm that this locating device uses is limited.This locating device can use various based on 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, for gather this device present position user interested to information.Information interested to this user includes but not limited to: network signal information, air quality information, radiation information, chemical concentration information etc.Can select different sensors is installed for different information acquisition tasks.By locating information being combined with particular function information, the distributed intelligence of customizing messages on motion path can be obtained.Such as, gathered the network signal quality of diverse location by this locating device, the areal distribution information of network signal quality can be obtained.
The information of this function information collecting unit collection is also sent to processing terminal by wireless communication unit 102, analyzes, adds up for processing terminal to information, obtains result intuitively, and can export result.
Preferably, wireless communication unit 102 also receives the instruction of processing terminal, according to the various information of this instruction acquisition, data and/or transmit various information, data to processing terminal.By wireless communication unit, uploading of the various instruction of data terminal is assigned, realize the Long-distance Control to locating device.
Preferably, locating device also comprises gps signal receiving element 105, for receiving gps signal.Obtained the absolute location information of portion by the gps signal of receiving unit position, then in conjunction with the relative motion path of locating device, the absolute motion path of locating device can be obtained.The method obtaining the absolute motion path of locating device will be introduced below.
Preferably, locating device also comprises universal data interface 106, and it preferably includes general location information interface and universal map information interface.This general location information interface is used for the positional information of each position calculated to pack with the spendable general format of each application program, this universal map information interface is used for each position information resultant motion path map that will obtain, and be packaged into can for the general format of each application program.When locating device is connected with each process terminal communication, locating device by each universal data interface by the Packet Generation such as positional information, cartographic information to processing terminal, for processing terminal.By arranging universal data interface, make each software of each processing terminal can obtain positional information and the cartographic information of standard data format, thus directly obtain positional information and motion path cartographic information.
Preferably, this locating device also comprises stationary installation 107, for this locating device being fixed on the object therewith moved, thus obtains the motion path identical with moving object.This stationary installation is preferably belt, rope, buckles, sucker, magnet, fishing without hook etc.Locating device can be fixed on people's leg, waist, back, front by stationary installation, or in the moving object such as mobile robot, dolly, aircraft.
Preferably, each unit in locating device is fixed in the housing of a portable compact conformation, so that be attached in moving object.This locating device preferably arranges a reference direction, with the surveying instrument of the parameter of directional correlation, as 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 sets in the information of collection interested to user, the directional reference collected to make each instrument is consistent with the direction of motion benchmark of locating device.Preferably, be arranged on towards direction, dead ahead as reference direction after in moving object so that locating device is predetermined, and locating device towards the face in this dead ahead as reference field, above-mentioned instrument is fixed in locating device with this reference direction.
When using this locating device, this locating device is fixed on like this on the object moved together: represent in locating device dead ahead to coordinate axis be zero in the ideal value of the projection of surface level and the angle of coordinate axis between the projection of surface level of moving object direction of motion.As shown in Figure 2 A, D1 represents the direction of motion of human body.Locating device 201 is fixed on human body behind, D2 represent locating device represent dead ahead to coordinate axis (reference direction of locating device).In a top view, the direction of arrow of D1, D2 is equivalent to project to surface level, angle between after D1 and D2 projection remain zero (D1, D2 project conllinear or parallel) time, the kinematic parameter of the horizontal direction that each instrument of locating device collects is consistent with the motion of moving object horizontal direction.But, be difficult to keep this angle to be zero in actual use.In the scope that error allows, certain angle is acceptable.Angle between after D1 and D2 in use should be kept to project is little of as far as possible to obtain the measurement parameter consistent as far as possible with actual motion path.As shown in Figure 2 B, from the side, locating device 201 representative dead ahead to coordinate axis D2 there is angle in the vertical direction and between the direction of motion D1 of human body.But, fixingly so do not affect locating device to moving object motion parameter collecting in the horizontal direction, as long as the reference direction D1 of this locating device the projection of surface level and the angle of D1 between the projection of surface level little as much as possible.Certainly, this does not consider moving object motion in the vertical direction.But the atmospheric pressure that can be detected by aforesaid barometer calculates altitude info ination to obtain the movable information of the vertical direction of locating device.
It should be noted that this locating device preferably keeps the relative displacement that relative motion object is little as far as possible when using this locating device, to improve positioning precision, reducing error and interference.
The using method of this locating device is introduced below in conjunction with Fig. 3 and Fig. 4.
Fig. 3 shows the schematic diagram obtaining motion path according to the use locating device of one embodiment of the present invention.In figure 3, in order to obtain an absolute motion path of locating device, locating device first having the initial position P1 reception one of gps signal from the gps signal in gps signal source 301, obtains the absolute coordinates P1A (N39 °, E115 °) of position P1.This gps signal source can be the various source launching gps signal such as satellite or base station.Meanwhile, locating device gathers the primary data information (pdi) of this position, and to this position setting relative coordinate P1 (0,0).Then, locating device enters in company with moving object the region not having gps signal, and according to instruction, at multiple position P2, P3, P4 gather the primary data information (pdi) of this position respectively, calculates the relative coordinate of each position.These relative coordinates can be all the relative coordinates based on initial position P1, also can be the relative coordinates based on a upper record position.After the relative coordinate obtaining each position, a complete relative motion path just obtains.And in order to obtain 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, thus 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 little as much as possible, to reduce initial relative error.Preferably to have the position of gps signal as initial position near the edge without gps signal region, to shorten the distance between adjacent positioned position in the region having gps signal, thus the little as far as possible error of introducing.
Preferably, if tester does not manually start without gps signal location in certain position control, locating device automatically can start raw data acquisition unit image data immediately and position when entering and not having gps signal place.
Certainly, also can one or the several absolute coordinates having the position of gps signal to obtain this or several position in motion process, thus the absolute coordinates of each position is obtained in conjunction with each position relative coordinate.
If only in order to obtain relative motion path, then without the need to accepting gps signal.Data by means of only the collection of raw data acquisition unit can calculate the relative coordinate of each position.Certainly, gps signal receiving element also just can save.
Fig. 4 shows the schematic diagram in the use locating device correction of movement path according to one embodiment of the present invention.In order to improve positioning precision, if user knows the relative coordinate accurately of in motion path or several position by other means, such as use ruler, laser, drawing etc., manually input and the relative coordinate of position P3 is modified to P3'(9,-1), then the relative coordinate of other each position P2, P4 just can by adding the difference of P3' and P3 and correcting on the basis of former relative coordinate.Certainly, the position obtaining accurate coordinate is more, and the value be corrected is also more accurate.If what be corrected is all relative coordinate, then the initial position reference position that also can have an accurate relative coordinate as and without the need to being corrected, because the relative coordinate of other positions is all relative coordinate based on this initial position and fixed.And if what be corrected is absolute coordinates, and the absolute coordinates of initial position is not obtained by gps signal, namely initial position can not as a reference position in absolute coordinate system, and thus it also needs to be corrected.
If user knows the absolute coordinates accurately of in motion path or several position by other means, then for the relative motion path only obtained, the absolute coordinates of each position can be obtained as stated above thus obtain absolute motion path; And for obtaining the situation in absolute motion path, by the absolute coordinates of user is manually inputted or several position, and so as to obtain absolute motion path the absolute coordinates obtained by gps signal together as benchmark, just can correct the absolute coordinates of other positions.Based on the algorithm that the absolute coordinates of multiple position corrects motion path, the error correction algorithms of various known mathematics can be used.
The accurate coordinate of user one of manually inputting or several position can be inputted by the load module be positioned on processing terminal, also can arrange this load module on the positioning device and input at any time in the process of motion for user.This accurately coordinate by processing terminal computing, other position coordinateses are corrected.
Above-mentioned processing terminal can be the various general-purpose computations terminals with respective handling function, as computing machine, also may be the various data processing equipments with the supporting customization of this locating device.
Should be appreciated that the using method of above-described locating device and various locating device may be used to have completely the region of gps signal, or the region that gps signal is faint.Above-mentioned locating device and using method are particularly useful for entering indoor, underground, tunnel, the environment such as under water, be particularly useful for carrying out certain physical parameters collection in above environment, as network signal, air quality, radiation dose, chemical composition etc., thus obtain areal distribution information.By this locating device and using method thereof, making to obtain locating information under without the environment of gps signal becomes possibility, also provides effective data collector and method for various needs in the industry of particular surroundings positioning acquisition information.
Give instructions of the present invention for the object illustrated and describe, but it is not intended to be exhaustive or be limited to the invention of disclosed form.It may occur to persons skilled in the art that a lot of amendment and variant.It will be appreciated by those skilled in the art that the method and apparatus in embodiment of the present invention can realize with software, hardware, firmware or its combination.
Therefore; embodiment is to principle of the present invention, practical application are described better and enable the other staff in those skilled in the art understand following content and select and describe; namely; under the prerequisite not departing from spirit of the present invention, all modifications made and replacement all will fall in the scope of claims definition.
Claims (7)
1. a locating device, comprising:
Raw data acquisition unit, comprising:
Gyroscope, for gathering the angular velocity of satellite motion information of this device;
Accelerometer, for gathering the movement acceleration information of this device;
Barometer, for gathering the atmospheric pressure information of this device;
Magnetometer, for gathering the magnetic direction of this device present position;
Wherein the data that collect of gyroscope are for the angle detecting in moving; The data that accelerometer collects, for carrying out the calculating of displacement, can also be used for coordinating the correction of gyroscope travel direction simultaneously; Magnetometer by detecting acquisition direction, magnetic field of the earth, thus is revised gyrostatic direction; Barometer calculates altitude info ination by detecting atmospheric pressure; By determining direction of motion, moving displacement and elevation information, complete independent indoor navigation;
Wireless communication unit, 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;
Described wireless communication unit also receives the instruction of processing terminal, according to the various information of this instruction acquisition, data and/or transmit various information, data to processing terminal; By wireless communication unit, uploading of the various instruction of data terminal is assigned, realize the Long-distance Control to locating device;
Gps signal receiving element, for receiving gps signal; Obtained the absolute location information of portion by the gps signal of receiving unit position, then in conjunction with the relative motion path of locating device, the absolute motion path of locating device can be obtained;
Data-interface, described data-interface comprises general location information interface and universal map information interface; Described general location information interface is used for the positional information of each position calculated to pack with the spendable general format of each application program, described universal map information interface is used for each position information resultant motion path map that will obtain, and be packaged into can for the general format of each application program; When locating device is connected with each process terminal communication, positional information, map information data bag are sent to processing terminal, for processing terminal by each universal data interface by locating device; And
Stationary installation, for described locating device being fixed on the object therewith moved, thus obtains the motion path identical with moving object;
Wherein, described locating device also comprises function information collecting unit, for gather this device present position user interested to information; The information of this function information collecting unit collection is also sent to processing terminal by described wireless communication unit.
2. device according to claim 1, wherein:
Also comprise data processing unit, for the positional information utilizing the information of raw data acquisition unit collection to calculate this device;
The positional information of this device that described wireless communication unit replaces with for being calculated by data processing unit sends processing terminal to.
3. device according to claim 1, wherein:
Information interested to described user comprises: network signal information, air quality information, radiation information, chemical concentration information.
4., according to the using method of the locating device of one of claim 1-3, comprising:
This locating device is fixed on like this on the object moved together: represent in locating device dead ahead to coordinate axis the projection of surface level and the angle of the coordinate axis of moving object direction of motion between the projection of surface level little as much as possible.
5., according to the using method of the locating device of one of claim 1-3, comprising:
Raw data acquisition unit gathers the data of the multiple positions in locating device motion path, by calculating the relative coordinate of the data acquisition each position of each position, thus obtains the relative motion path of locating device.
6. method according to claim 5, wherein:
Raw data acquisition unit image data from the position with gps signal of this locating device, gps signal receiving element receives the gps signal of this position, then raw data acquisition unit gathers the data of the multiple positions in locating device motion path, thus based on there is the absolute coordinates of starting position of gps signal and the relative motion path of locating device and obtaining the absolute motion path of locating device.
7. the method according to claim 5 or 6, wherein:
User is by the relative co-ordinate information input processing terminal of the determination of the one or more positions in relative or absolute motion path, and processing terminal corrects relative coordinate or the absolute coordinates of other positions according to the relative coordinate of the determination of this one or more position, or
User is by the absolute coordinates input processing terminal of the determination of the one or more positions in relative or absolute motion path, for the situation only having relative path, processing terminal calculates the absolute coordinates of other positions according to the absolute coordinates of the determination of this one or more position thus obtains absolute path; For the situation with absolute path, processing terminal corrects the absolute coordinates of other positions according to the absolute coordinates of the determination of this one or more position.
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| CN103354646B (en) * | 2013-06-28 | 2017-06-27 | 北京神州泰岳软件股份有限公司 | Frequency sweeping method, system and equipment |
| US10484819B2 (en) | 2014-03-31 | 2019-11-19 | Intel IP Corporation | Method and apparatus for access point location token |
| CN104360312A (en) * | 2014-12-05 | 2015-02-18 | 歌尔声学股份有限公司 | Object locating method and object locating system |
| CN104457742B (en) * | 2014-12-05 | 2017-10-03 | 歌尔股份有限公司 | The object localization method and location equipment of object |
| JP6476925B2 (en) * | 2015-01-30 | 2019-03-06 | カシオ計算機株式会社 | INFORMATION PROCESSING APPARATUS, LOCATION UPDATE METHOD, AND PROGRAM |
| CN104848899B (en) * | 2015-05-22 | 2017-09-26 | 广州杰赛科技股份有限公司 | Environment arrangement for detecting and emergent monitoring system |
| WO2017195431A1 (en) * | 2016-05-11 | 2017-11-16 | アルプス電気株式会社 | Position measurement device |
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| CN106441360B (en) * | 2016-09-21 | 2019-08-13 | 广州视源电子科技股份有限公司 | Bearing calibration method and device |
| CN106973150B (en) * | 2017-03-16 | 2019-12-03 | Oppo广东移动通信有限公司 | Positioning accuracy level adjustment method, device and mobile terminal |
| CN108303074B (en) * | 2017-12-22 | 2022-03-11 | 康威通信技术股份有限公司 | Underground positioning navigation method and system based on electric power tunnel environment |
| WO2024000211A1 (en) * | 2022-06-29 | 2024-01-04 | 广东高驰运动科技股份有限公司 | Outdoor swimming trajectory determination method and system, and device and storage medium |
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