CN105651304A - Golf ball range-measurement system and method - Google Patents
Golf ball range-measurement system and method Download PDFInfo
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- CN105651304A CN105651304A CN201610169509.8A CN201610169509A CN105651304A CN 105651304 A CN105651304 A CN 105651304A CN 201610169509 A CN201610169509 A CN 201610169509A CN 105651304 A CN105651304 A CN 105651304A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/006—Pedometers
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The invention relates to a golf ball range-measurement system. The golf ball range-measurement system comprises a central processing module, a communication module, a positioning module, an attitude algorithm chip and a sensor module, wherein the communication module, the positioning module and the attitude algorithm chip are all connected with the central processing module; the communication module is connected with an external mobile terminal; the sensor module comprises an accelerometer used for detecting motion acceleration, a gyroscope used for detecting rotational angular velocity and a magnetometer used for detecting absolute azimuth, and the accelerometer, the gyroscope and the magnetometer are all connected with the attitude algorithm chip. The golf ball range-measurement system and the method provided by the invention have the advantages that the traveled distance can be accurately calculated by fusion of location dataand , the accuracy can reach 20cm; an MEMS accelerometer, an MEMS gyroscope and an MEMS magnetometer are adopted for detecting a player or measuring walk steps and direction, and measuring equipment of the system is very small in volume and weight, and is very low in cost.
Description
Technical field
The present invention relates to ranging technology, it is specifically related to a kind of golf ball ranging system and method.
Background technology
In people live, a lot of place needs to measure in distance, particularly various sports. Need to measure hitting of batting every time in moving such as the ball that plays golf and beat distance, traditional method adopts pace method, namely one is allowed to be subject to the ball of special training virgin from impact position walking to falling sphere position, walking step number is counted by ball child in the process of walking, and the step pitch that then walking step number is multiplied by an estimation carrys out computed range. This kind of method low precision and instability, and train a virgin cost height of experienced ball, so electronic distance measuring instrument is just used in this motion of golf ball.
What stadimeter was conventional has laser ranger, supersonic wave test instrument, GPS stadimeter. wherein its precision height of laser testing instrument, is most widely used. if Authorization Notice No. is a kind of golf tester of CN202403697U, a kind of based on GPS and laser ranging technique, comprise for provide the power supply module of working power, laser module, transceiver logic control module, for the COMOS image sensor of perception distant objects image and for receiving satellites information and produce the GPS receiver module of longitude and latitude data, master control module and there is key-press module and the liquid-crystal display of operation interface, it is by laser module, GPS receiver module and COMOS image sensor connect master control module, therefore laser measurement and GPS measuring set can be integrated, its distance-finding method is: arrive point of destination by the laser signal after transceiver logic control module makes the laser emission element in laser module be emitted through modulation, again through point of destination reflect after signal return in laser pick-off unit accurately to obtain the time difference of laser transmitting-receiving, by transceiver logic control module, measurement signal is delivered in master control module to calculate signal through distance, therefore the distance between motion person's self-position to ball hole can be obtained, GPS receiver module receives oneself coordinate information simultaneously, information is reached in master control module, the distance between motion person and ball hole is drawn by analyzing prepackage map and coordinate information, can the image of accurately perception distant objects by COMOS image sensor, the laser measurement of high precision and remote GPS are found range and combines.
Can find out that its shortcoming is more obvious describing from the patent of CN202403697U:
Adopting Laser Measuring unit unit to obtain the distance between motion person's self-position to ball hole, laser ranging monotechnics is complicated, and volume is big, cost height;
Adopting GPS to draw the distance between motion person and ball hole, common GPS accuracy is poor, measures distance out of true;
Laser ranging unit and GPS range cells are just simply integrated in that patent, it does not have real fusion two kinds of distance-finding methods, therefore also do not possess the advantage after merging two kinds of methods;
Whole equipment comprises power supply module, laser module, transceiver logic control module, COMOS image module and GPS module, its volume and weight certainly will very big and cost height, and carry the equipment that volume is big, weight is big and certainly will become burden in Gao Fuer moves, affect Consumer's Experience and sports fun.
MEMS sensor application in recent years is advanced by leaps and bounds, extensively in consumption electronic product, automobile electronics, industrial electronics. As mobile phone, panel computer, electronics bracelet etc. have the figure of MEMS sensor in the electronics that we commonly use. MEMS sensor generally comprises jerkmeter, gyrostat, magnetometer etc. three kinds, it is possible to the athletic posture of inspected object and orientation accurately. The electronics bracelet such as employing mems accelerometer can the detection of the precision step number that goes out wearer's walking or run.
GPS technology is ripe navigation location technology, and GPS positioning precision has high precision and low precision difference. High-precision GPS equipment precision can reach millimeter level, but using method is complicated, and price is very high, is generally used for the field such as military affairs, professional surveying and mapping. The little price of normal domestic GPS device volume is low, but its precision only about 10 meters. The occasion that accuracy requirement is higher cannot be directly used in.
Summary of the invention
For the problems referred to above, in order to overcome the defect of prior art, it is desirable to provide the golf ball ranging system of a kind of high precision and method.
In order to realize above-mentioned purpose, the present invention adopts following technical scheme:
Scheme one:
A kind of golf ball ranging system, comprises central processing module, communication module, locating module, attitude algorithm chip and sensing module; Described communication module, locating module and attitude algorithm chip are all connected with central processing module; Described communication module is connected with outside mobile terminal; Described sensing module comprises the jerkmeter for detecting acceleration of motion, for detecting the gyrostat of angular velocity of rotation and the magnetometer for detecting absolute azimuth, described jerkmeter, gyrostat and magnetometer are all connected with attitude algorithm chip;
Described attitude algorithm chip, for future, the original data processing of self-sensing module obtains attitude data, and attitude data and raw data are sent to central processing module; Described raw data comprises acceleration of motion, angular velocity of rotation and absolute azimuth;
Attitude data and original data processing are obtained exercise data by described central processing module, then the positioning data sent according to locating module obtains range data in conjunction with exercise data process, and by communication module, range data are sent to outside mobile terminal.
As preferably, described locating module is bluetooth module.
As preferably, described bluetooth module is BLE4.0 bluetooth module.
As preferably, described central processing module is MCU chip.
As preferably, described locating module is GPS chip.
As preferably, described attitude algorithm chip is connected with central processing module by iic bus.
As preferably, described jerkmeter is mems accelerometer, and described magnetic force counts MEMS magnetometer, described gyrostat is MEMS gyroscope.
As preferably, described jerkmeter is 3-axis acceleration meter, described magnetic force counts three axle magnetometers, and described gyrostat is three axle gyrostats.
As preferably, described exercise data comprises motion frequency and step number.
Scheme two:
A kind of golf ball distance-finding method, comprises the steps:
Step one, sensing module detection raw data, and raw data is sent to attitude algorithm chip; Described raw data comprises acceleration of motion, angular velocity of rotation and absolute azimuth;
The original data processing received is obtained attitude data by step 2, attitude algorithm chip, and attitude data and raw data are sent to central processing module;
The attitude data received and original data processing are obtained exercise data by step 3, central processing module;
Step passerby is positioned by step 4, locating module, and positioning data is sent to central processing module;
Step 5, central processing module calculate the range data of step passerby's motion according to exercise data and the positioning data process that receives, and by communication module, range data are sent to outside mobile terminal.
Compared to existing technology, the useful effect of the present invention is: by merging positioning data accurate calculation travel distance, precision can reach 20 centimetres; And adopting mems accelerometer, MEMS gyroscope, MEMS magnetometer to detect the person of playing ball or measurement row walks step number and direction, the metering facility volume and weight of native system is very little, and cost is also very low.
Accompanying drawing explanation
Fig. 1 is the function structure chart of the golf ball ranging system of the present invention;
Fig. 2 is the schema of the golf ball distance-finding method of the present invention.
Embodiment
Below, by reference to the accompanying drawings and embodiment, the present invention is described further:
The present invention provides a kind of golf ball ranging system, its object is to:
Employing MEMS sensor detects the person of playing ball automatically or step number is also accurately counted by measurer's walking, the virgin artificial counting method of replacement ball;
Adopt direction and the angle of the MEMS sensor detection person of playing ball or measurer's walking, the slant range of accurate calculation each section walking course length or any two points;
Merging gps data and the step pitch of the person of playing ball or measurer's walking is carried out accurate calculation, accurate calculation distance makes up the problem of GPS positioning precision deficiency, and returns to the person of playing ball position;
Adopt BLE4.0 bluetooth module to send data to mobile terminal and check result, such as mobile phone or panel computer, abandon volume and the huge indicating meter of power consumption makes volume can do very little;
The complicated bulky technical scheme with high costs of technology of abandoning, it is achieved the Wearable scheme of small volume low cost, allows the enjoyment that the person of playing ball really enjoys high-tech and brings.
As shown in Figure 1, the present invention comprises central processing module, communication module, locating module, attitude algorithm chip and sensing module; Described communication module, locating module and attitude algorithm chip are all connected with central processing module, and described sensing module and attitude algorithm chip connect; Described sensing module comprises gyrostat, magnetometer and jerkmeter; Described gyrostat, magnetometer and jerkmeter are all connected with central processing module by attitude algorithm chip.
Described communication module can be but be not limited to bluetooth module, and described bluetooth module is BLE4.0 bluetooth module; Described communication module is connected with outside mobile terminal; Described mobile terminal can be but be not limited to smart mobile phone or panel computer.
Described central processing module can be but be not limited to MCU chip.
Described attitude algorithm chip is connected with central processing module by iic bus; Native system is installed on it step passerby, described jerkmeter detects the acceleration of motion of step passerby by the change of Hu Keli, described gyrostat detects the angular velocity of rotation of step passerby by the change of Hu Keli, and described magnetometer detects the absolute azimuth of step passerby's motion by detecting the change in terrestrial magnetic field; The raw data detected is sent to attitude algorithm chip by gyrostat, magnetometer and jerkmeter respectively; Described raw data comprises angular velocity of rotation, absolute azimuth and acceleration of motion;
The raw data of the gyrostat received, magnetometer and jerkmeter is carried out merging calculation process and obtains attitude data by attitude algorithm chip, and by iic bus, the attitude signal comprising attitude data being sent to central processing module, the raw data of the gyrostat received, magnetometer and jerkmeter is sent to central processing module by iic bus by attitude algorithm chip simultaneously; Described attitude data comprises track angle, roll angle, the angle of pitch.
Described central processing module is for carrying out initial alignment to jerkmeter, gyrostat and magnetometer; Described jerkmeter is mems accelerometer, and described magnetic force counts MEMS magnetometer, and described gyrostat is MEMS gyroscope.
Described MEMS (MicroElectroMechanicalSystem, MEMS (micro electro mechanical system)) it is a kind of industrial technology that microelectronics and mechanical engineering are fused together, the processing technology of MEMS is transformed by semiconductor processing technology, its operating restraint is in micrometer range, so manufacture MEMS chip out all has very little volume and power consumption.
Described jerkmeter is X, Y, Z 3-axis acceleration meter, and described gyrostat is X, Y, Z tri-axle gyrostat, and described magnetic force counts X, Y, Z tri-axle magnetometer; Described jerkmeter, gyrostat, magnetometer can be integrated in a chip and form 9 axle sensing chips, and volume can be made less.
Described locating module can be but be not limited to GPS chip, and described locating module is connected with central processing module by serial ports; Step passerby is positioned by GPS chip, receives the positioning data that external GPS satellite-signal sends, and positioning data is sent to central processing module.
Described central processing module carries out process according to the raw data received and attitude data and calculates exercise data, and described exercise data comprises motion frequency and the step number of step passerby;
In step passerby's moving process, jerkmeter is walked about because of step passerby's, its each axially suffered by gravity acceleration value and frequency remain on and shake within certain limit, described central processing module according to this gravity acceleration value shake frequency, it is possible to calculate the step walking frequency of passerby and step number; Described magnetometer is by the impact in terrestrial magnetic field, it is possible to obtain basic magnetic heading angle, and described magnetic heading angle walks the basic direction of motion of passerby for determining; In whole gait processes, after jerkmeter output parameter and magnetometer output parameter project to carrier, the observed value of its value and jerkmeter and magnetometer is not inconsistent, it is thus desirable to utilize the output of gyrostat horizontal angle and track angle to be upgraded.
Central processing module obtains walking the range data of passerby's motion according to exercise data and positioning data process, and range data is sent to communication module, so that range data is sent to outside mobile terminal by communication module; Step passerby can check range data and the position residing for self by mobile terminal.
In golf sports process, when the accurate coordinates position in each ball hole known, the distance between step passerby and each ball hole can be calculated by this ranging system and method, simultaneously can the display of map on mobile terminals, determine to walk the position of passerby in court and court surrounding enviroment, so that prompting step passerby selects club according to experience, waves stick force degree and station parallactic angle degree etc.
A kind of golf ball distance-finding method, as shown in Figure 2, comprises the steps:
S1: sensing module detection raw data, and raw data is sent to attitude algorithm chip; Described sensing module comprises jerkmeter, gyrostat and magnetometer, jerkmeter is for detecting the acceleration of motion of step passerby, gyrostat is for detecting the angular velocity of rotation of step passerby, magnetometer is for detecting the absolute azimuth of step passerby, and described raw data comprises acceleration of motion, angular velocity of rotation and absolute azimuth.
S2: the raw data received is carried out merging calculation process and obtains attitude data by attitude algorithm chip, and by iic bus, attitude data and raw data are sent to central processing module; Described central processing module is MCU chip; Described attitude data comprises track angle, roll angle and the angle of pitch.
S3: the attitude data received and raw data are carried out process and calculate exercise data by central processing module; Described exercise data comprises motion frequency and the step number of step passerby.
S4: step passerby is positioned by locating module, and positioning data is sent to central processing module; Described locating module is GPS chip.
S5: central processing module calculates the range data of step passerby's motion according to exercise data and the positioning data process received, and range data is sent to communication module; The range data received is sent to outside mobile terminal by communication module; Step passerby can check range data and self position by mobile terminal.
To one skilled in the art, according to technical scheme described above and design, other various corresponding change and deformation can be made, and these all changes and deformation all should belong within the protection domain of the claims in the present invention.
Claims (10)
1. a golf ball ranging system, it is characterised in that, comprise central processing module, communication module, locating module, attitude algorithm chip and sensing module; Described communication module, locating module and attitude algorithm chip are all connected with central processing module; Described communication module is connected with outside mobile terminal; Described sensing module comprises the jerkmeter for detecting acceleration of motion, for detecting the gyrostat of angular velocity of rotation and the magnetometer for detecting absolute azimuth, described jerkmeter, gyrostat and magnetometer are all connected with attitude algorithm chip;
Described attitude algorithm chip, for future, the original data processing of self-sensing module obtains attitude data, and attitude data and raw data are sent to central processing module; Described raw data comprises acceleration of motion, angular velocity of rotation and absolute azimuth;
Attitude data and original data processing are obtained exercise data by described central processing module, then the positioning data sent according to locating module obtains range data in conjunction with exercise data process, and by communication module, range data are sent to outside mobile terminal.
2. golf ball ranging system as claimed in claim 1, it is characterised in that, described locating module is bluetooth module, and described bluetooth module is BLE4.0 bluetooth module.
3. golf ball ranging system as claimed in claim 2, it is characterised in that, described attitude data comprises track angle, roll angle and the angle of pitch.
4. golf ball ranging system as claimed in claim 1, it is characterised in that, described central processing module is MCU chip.
5. golf ball ranging system as claimed in claim 1, it is characterised in that, described locating module is GPS chip.
6. golf ball ranging system as claimed in claim 1, it is characterised in that, described attitude algorithm chip is connected with central processing module by iic bus.
7. golf ball ranging system as claimed in claim 1, it is characterised in that, described jerkmeter is mems accelerometer, and described magnetic force counts MEMS magnetometer, and described gyrostat is MEMS gyroscope.
8. golf ball ranging system as claimed in claim 1, it is characterised in that, described jerkmeter is 3-axis acceleration meter, and described magnetic force counts three axle magnetometers, and described gyrostat is three axle gyrostats.
9. golf ball ranging system as claimed in claim 1, it is characterised in that, described exercise data comprises motion frequency and step number.
10. a golf ball distance-finding method, is applied to the golf ball ranging system described in the arbitrary item of claim 1-9, it is characterised in that, comprise the steps:
Step one, sensing module detection raw data, and raw data is sent to attitude algorithm chip; Described raw data comprises acceleration of motion, angular velocity of rotation and absolute azimuth;
The original data processing received is obtained attitude data by step 2, attitude algorithm chip, and attitude data and raw data are sent to central processing module;
The attitude data received and original data processing are obtained exercise data by step 3, central processing module;
Step passerby is positioned by step 4, locating module, and positioning data is sent to central processing module;
Step 5, central processing module calculate the range data of step passerby's motion according to exercise data and the positioning data process that receives, and by communication module, range data are sent to outside mobile terminal.
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| CN201610169509.8A CN105651304A (en) | 2016-03-22 | 2016-03-22 | Golf ball range-measurement system and method |
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| CN107153210A (en) * | 2017-05-17 | 2017-09-12 | 深圳市嘉和顺信息科技有限公司 | A kind of hole range unit, coordinate measuring method and distance measurement method based on GNSS |
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| CN108286989A (en) * | 2018-04-13 | 2018-07-17 | 杭州云江科技有限公司 | A kind of method and integrated module for correcting unmanned plane two-dimensional level speed |
| CN109224404A (en) * | 2018-09-20 | 2019-01-18 | 太原科技大学 | A kind of golf |
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Application publication date: 20160608 |