CN107741595A - The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit - Google Patents
The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit Download PDFInfo
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- CN107741595A CN107741595A CN201711120968.8A CN201711120968A CN107741595A CN 107741595 A CN107741595 A CN 107741595A CN 201711120968 A CN201711120968 A CN 201711120968A CN 107741595 A CN107741595 A CN 107741595A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/34—Power consumption
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, by setting mode of operation control unit so that satellite positioning unit can switch between low-power consumption standby pattern and normal power consumption operational mode, be advantageous to ensure the precision of satellite navigation positioning result, and can enough reduces mobile satellite location equipment power consumption, improves battery electric quantity and uses effect.Described device, including the main control unit and satellite positioning unit in mobile satellite location equipment, it is characterized in that, Inertial Measurement Unit is provided with the mobile satellite location equipment, the Inertial Measurement Unit connects the main control unit, and the main control unit connects the satellite positioning unit by mode of operation control unit.
Description
Technical field
It is particularly a kind of to reduce mobile satellite location equipment power consumption using Inertial Measurement Unit the present invention relates to Satellite Navigation Technique
Apparatus and method, by setting mode of operation control unit so that satellite positioning unit can in low-power consumption standby pattern and just
Switched between normal power consumption operating mode, be advantageous to ensure the precision of satellite navigation positioning result, and can enough reduces
Mobile satellite location equipment power consumption, improve battery electric quantity and use effect.
Background technology
As the extensive use of GPS and the Big Dipper strengthen the perfect of high-precision the urban satellite navigation service, defend
The performance more and more higher of star navigation equipment, can carry out difference enhancing high accuracy positioning navigation equipment gradually vehicle, nobody
The industries such as machine monitoring are used, and in some harbours, garden, externally carry out interim vehicle into the later driving trace in harbour or garden
Carry out high accuracy positioning.The inventors discovered that satellite navigation or mobile satellite location equipment generally use battery powered, this has
Worked independently beneficial to being more easily arranged on vehicle, still, battery electric quantity tends not to meet demand, for example, rechargeable battery
The working time shorter deficiency of endurance in other words after once charging, will necessarily hinder continuing normally for mobile satellite location equipment
Use.Therefore, the working time length after rechargeable battery once charges is very crucial index for the user, user
Wishing stand-by time, the longer the better, meets the job requirements of longer time, still, is limited by battery capacity and repeatedly charging makes
With the decline of later battery performance so that the potential that battery can excavate is extremely limited.Inventors believe that if in satellite
The change of energy-saving aspect is carried out in the mode of operation of position equipment, then equally can effectively extend battery life.There is mirror
In this, the present inventor is by setting mode of operation control unit so that satellite positioning unit can in low-power consumption standby pattern and just
Switched between normal power consumption operating mode, so as to complete the present invention.
The content of the invention
The present invention is for defect or deficiency present in prior art, there is provided one kind reduces satellite using Inertial Measurement Unit
The apparatus and method of location equipment power consumption, by setting mode of operation control unit so that satellite positioning unit can be in low-power consumption
Switched between standby mode and normal power consumption operational mode, be advantageous to ensure the essence of satellite navigation positioning result
Degree, and can enough reduce mobile satellite location equipment power consumption, improve battery electric quantity and use effect.
Technical scheme is as follows：
The device of mobile satellite location equipment power consumption, including the master control list in mobile satellite location equipment are reduced using Inertial Measurement Unit
Member and satellite positioning unit, it is characterised in that Inertial Measurement Unit, the inertia measurement are provided with the mobile satellite location equipment
Unit connects the main control unit, and the main control unit connects the satellite positioning unit by mode of operation control unit.
The mode of operation control unit includes carrying out following mode of operation selection to the satellite positioning unit：Low-power consumption
Standby mode or normal power consumption operational mode, the low-power consumption standby pattern correspond to the Inertial Measurement Unit measure it is described
Mobile satellite location equipment remains static or the measurement result of uniform speed motion state, described in the normal power consumption operational mode correspondence
The mobile satellite location equipment that Inertial Measurement Unit measures is in the measurement result of variable motion state.
The main control unit connects positioning result output unit, and the positioning result output unit positions including normal power consumption
As a result output and the output of low-power consumption positioning result, the low-power consumption refer to described in when the satellite positioning unit is in standby mode
The power consumption of mobile satellite location equipment, the normal power consumption refer to that the satellite positioning unit is in and search luck row mode i.e. normal work
The power consumption of mobile satellite location equipment during pattern.
The low-power consumption positioning result output includes low-power consumption at the uniform velocity positioning result output and the static positioning result of low-power consumption
Output, it is described at the uniform velocity to refer to that determining that the mobile satellite location equipment is in using the measurement result of the Inertial Measurement Unit at the uniform velocity transports
Dynamic state, it is described static to refer to determine that the mobile satellite location equipment is in static using the measurement result of the Inertial Measurement Unit
State.
The Inertial Measurement Unit includes accelerometer and gyroscope, and the accelerometer obtains acceleration signal, described
Gyroscope obtains angular velocity signal.
The satellite positioning unit connects satellite earth antenna, and the main control unit connects power-supply system.
The power-supply system includes rechargeable battery and USB charge ports.
The method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, it is characterised in that be included in satellite fix
Inertial Measurement Unit is set in equipment, and the Inertial Measurement Unit connects main control unit, and the main control unit connects satellite fix
Unit, the operation after mobile satellite location equipment electrifying startup comprise the following steps：The Inertial Measurement Unit and described defend
Star positioning unit respectively starts, i.e., Inertial Measurement Unit enters Multi-thread synchronization working condition with satellite positioning unit；It is described
Main control unit determines the state of the mobile satellite location equipment according to the measurement result of the Inertial Measurement Unit, and is defended according to described
The state of star location equipment controls the mode of operation of the satellite positioning unit.
The state of the mobile satellite location equipment includes inactive state, uniform speed motion state, and variable motion state；For
The inactive state, the main control unit replicate the satellite fix result output location data before the inactive state；For described
Uniform speed motion state, the main control unit go out positioning result according to the direction and velocity simulation of the uniform motion and export positioning number
According to；For the variable motion state, the main control unit according to the satellite positioning unit to search star positioning result defeated in real time
Go out satellite real time positioning data.
The mode of operation of the satellite positioning unit includes chosen below：Low-power consumption standby pattern or normal power consumption operation mould
Formula, the low-power consumption standby pattern correspond to the mobile satellite location equipment that the Inertial Measurement Unit measures and remained static
Or the measurement result of uniform speed motion state, the normal power consumption operational mode correspond to the Inertial Measurement Unit measure it is described
Mobile satellite location equipment is in the measurement result of variable motion state.
The technique effect of the present invention is as follows：The present invention reduces the device of mobile satellite location equipment power consumption using Inertial Measurement Unit
And method, the following cognition based on the present inventor, mobile satellite location equipment are not all the time in fortune during universal use
Dynamic state or its motion state are likely to be in a kind of state of stabilization, such as uniform speed motion state or inactive state etc.,
This can carries out the change of energy-saving aspect in the mode of operation of mobile satellite location equipment, by setting mode of operation to control
Unit is so that satellite positioning unit can switch between low-power consumption standby pattern and normal power consumption operational mode, so as to have
Beneficial to the precision that can either ensure satellite navigation positioning result, and can enough reduces mobile satellite location equipment power consumption, improves battery electric quantity
Using effect or battery is set to greatly prolong working time endurance in other words after once charging.
Under normal conditions, the power consumption average value of Inertial Measurement Unit is 15mW, and satellite positioning unit normal work shape
Average power consumption 200mW~700mW under state.Therefore, by using some measurement results of Inertial Measurement Unit, for example, static shape
State or uniform speed motion state etc., satellite positioning unit can be just placed in standby mode i.e. low-power consumption mode, so as to reduce satellite
The Overall Power Consumption of bit location.Using the art of this patent, meeting in the period of condition, averagely saving energy consumption more than 80%.
During mobile satellite location equipment is the whole service of navigation equipment, power consumption can be also substantially reduced.
Brief description of the drawings
Fig. 1 is to implement a kind of structure for the device for reducing mobile satellite location equipment power consumption using Inertial Measurement Unit of the present invention to show
It is intended to.
Fig. 2 is the work original for implementing a kind of method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit of the present invention
Manage schematic diagram.
Reference lists as follows：1- Inertial Measurement Units；2- main control units；3- rechargeable batteries；4-USB charge ports；
5- normal power consumptions positioning result exports or the output of speed change positioning result or the output of normal power consumption operational mode positioning result；6- is positioned
As a result output unit；7- low-power consumption at the uniform velocity positioning result output or low-power consumption standby pattern at the uniform velocity positioning result exports；The low work(of 8-
Consume static positioning result output or the static positioning result output of low-power consumption standby pattern；9- satellite positioning units；10- satellite receptions
Antenna；11- mode of operation control units；12- low-power consumption positioning result exports or the output of low-power consumption standby Pattern localization result.
Embodiment
Below in conjunction with the accompanying drawings (Fig. 1-Fig. 2) the present invention will be described.
Fig. 1 is to implement a kind of structure for the device for reducing mobile satellite location equipment power consumption using Inertial Measurement Unit of the present invention to show
It is intended to.As shown in figure 1, the device of mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, including in mobile satellite location equipment
Main control unit 2 and satellite positioning unit 9, be provided with Inertial Measurement Unit 1, the inertia measurement in the mobile satellite location equipment
Unit 1 connects the main control unit 2, and the main control unit 2 connects the satellite fix list by mode of operation control unit 11
Member 9.The mode of operation control unit 11 includes carrying out following mode of operation selection to the satellite positioning unit 9：Low-power consumption
Standby mode or normal power consumption operational mode, the low-power consumption standby pattern correspond to the institute that the Inertial Measurement Unit 1 measures
State that mobile satellite location equipment remains static or the measurement result of uniform speed motion state, the normal power consumption operational mode correspond to institute
State the measurement result that the mobile satellite location equipment that Inertial Measurement Unit 1 measures is in variable motion state.The Working mould
Formula control unit 11 can be integrated in the main control unit 2, can also be integrated in the satellite positioning unit 9, can also
Into standalone module.
The main control unit 2 connects positioning result output unit 6, and the positioning result output unit 6 includes normal power consumption
Positioning result output 5 and low-power consumption positioning result output 12, the low-power consumption refers to that the satellite positioning unit 9 is in standby mould
The power consumption of mobile satellite location equipment during formula, the normal power consumption refer to that the satellite positioning unit 9 is in and search luck row mode
I.e. normal mode of operation when the mobile satellite location equipment power consumption.The low-power consumption positioning result output 12 includes low-power consumption at the uniform velocity
Positioning result output 7 and the static positioning result output 8 of low-power consumption, the survey at the uniform velocity referred to using the Inertial Measurement Unit 1
Amount result determines that the mobile satellite location equipment is in uniform speed motion state, described static to refer to utilize the Inertial Measurement Unit 1
Measurement result determine that the mobile satellite location equipment remains static.The Inertial Measurement Unit 1 includes accelerometer and top
Spiral shell instrument, the accelerometer obtain acceleration signal, and the gyroscope obtains angular velocity signal.The satellite positioning unit 9 connects
Satellite earth antenna 10 is connect, the main control unit 2 connects power-supply system.The power-supply system includes rechargeable battery 3 and USB fills
Power port 4.
Fig. 2 is the work original for implementing a kind of method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit of the present invention
Manage schematic diagram.As shown in Fig. 2 reducing the method for mobile satellite location equipment power consumption using Inertial Measurement Unit, it is included in satellite fix
Inertial Measurement Unit is set in equipment, and the Inertial Measurement Unit connects main control unit, and the main control unit connects satellite fix
Unit, the operation after mobile satellite location equipment electrifying startup comprise the following steps：The Inertial Measurement Unit and described defend
Star positioning unit respectively starts, i.e., Inertial Measurement Unit enters Multi-thread synchronization working condition with satellite positioning unit；It is described
Main control unit determines the state of the mobile satellite location equipment according to the measurement result of the Inertial Measurement Unit, and is defended according to described
The state of star location equipment controls the mode of operation of the satellite positioning unit.The state of the mobile satellite location equipment includes static
State, uniform speed motion state, and variable motion state；For the inactive state, the main control unit replicates the static shape
Satellite fix result output location data before state；For the uniform speed motion state, the main control unit is at the uniform velocity transported according to this
Dynamic direction and velocity simulation goes out positioning result and exports location data；For the variable motion state, the main control unit
Star positioning result output satellite real time positioning data is searched according to the satellite positioning unit in real time.The satellite positioning unit
Mode of operation includes chosen below：Low-power consumption standby pattern or normal power consumption operational mode, the low-power consumption standby pattern are corresponding
The mobile satellite location equipment that the Inertial Measurement Unit measures remains static or the measurement result of uniform speed motion state,
The normal power consumption operational mode corresponds to the mobile satellite location equipment that the Inertial Measurement Unit measures and is in variable motion
The measurement result of state.
The apparatus and method that the present invention reduces mobile satellite location equipment power consumption using Inertial Measurement Unit, utilize inertia measurement list
The characteristics of first (IMU) is low in energy consumption, is increased Inertial Measurement Unit in mobile satellite location equipment, is sentenced using the algorithm of Inertial Measurement Unit
The posture of disconnected equipment, formulates power saving strategy so that mobile satellite location equipment is on the premise of user's requirement is met, optimization is wherein
The mode of operation of satellite positioning unit, overall power is reduced, so as to extend the working time of mobile satellite location equipment.Inertia measurement list
First (IMU) is the device for measuring object three-axis attitude angle (or angular speed) and acceleration.In general, an IMU contain three
The gyro of the accelerometer of individual single shaft and three single shafts, accelerometer detection object stand the acceleration of three axles in carrier coordinate system unification and independence
Signal is spent, and gyro detection carrier is relative to the angular velocity signal of navigational coordinate system, the angle speed of measurement object in three dimensions
Degree and acceleration, and calculate with this posture of object.
Mobile satellite location equipment by main control unit, satellite positioning unit and Inertial Measurement Unit treat three big cores and its
Its peripheral devices forms.Mobile satellite location equipment is satellite navigation start work, starts satellite entering normal workflow
After positioning unit, main control unit hair control command starts Inertial Measurement Unit, that is, Inertial Measurement Unit and satellite fix list
Member enters Multi-thread synchronization working condition.When the result that main control unit exports according to Inertial Measurement Unit judges mobile satellite location equipment
When remaining static, main control unit sends out the standby mode that control command allows satellite positioning unit to enter low-power consumption, now complete machine
Power consumption can decline to a great extent.Mobile satellite location equipment exports location data according to static preceding positioning result.When main control unit is according to used
Property measuring unit output result when judging that mobile satellite location equipment is in uniform speed motion state, main control unit, which is sent out control command and allowed, to be defended
Star positioning unit enters the standby mode of low-power consumption, and now Overall Power Consumption can decline to a great extent.Mobile satellite location equipment is surveyed according to inertia
Direction and the equipment present speed of unit output are measured, positioning result is simulated by software algorithm and exported.When main control unit root
According to Inertial Measurement Unit export result judge mobile satellite location equipment into motion state i.e. variable motion state when, main control unit
Hair control command allows satellite positioning unit to start, into normal mode of operation, output satellite positioning result.It is low with standby mode
Power mode is compared, and normal mode of operation belongs to the high power consumption period.The power consumption average value of Inertial Measurement Unit is 15mW, and satellite
Average power consumption 200mW~700mW under positioning unit normal operating conditions.Using the present invention program, in the period for meeting condition
It is interior, averagely save energy consumption more than 80%.During navigation equipment whole service, power consumption certainly can be also substantially reduced.
It is hereby stated that described above contribute to skilled artisan understands that the invention, but not limit the present invention
The protection domain of creation.It is any that equivalent substitution described above, modification are improved without departing from the invention substantive content
And/or the implementation deleted numerous conform to the principle of simplicity and carried out, each fall within the protection domain of the invention.
Claims (10)
1. the device of mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, including the main control unit in mobile satellite location equipment
And satellite positioning unit, it is characterised in that Inertial Measurement Unit, the inertia measurement list are provided with the mobile satellite location equipment
Member connects the main control unit, and the main control unit connects the satellite positioning unit by mode of operation control unit.
2. the device according to claim 1 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In the mode of operation control unit includes carrying out following mode of operation selection to the satellite positioning unit：Low-power consumption standby
Pattern or normal power consumption operational mode, the low-power consumption standby pattern correspond to the satellite that the Inertial Measurement Unit measures
Location equipment remains static or the measurement result of uniform speed motion state, and the normal power consumption operational mode corresponds to the inertia
The mobile satellite location equipment that measuring unit measures is in the measurement result of variable motion state.
3. the device according to claim 1 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In the main control unit connects positioning result output unit, and the positioning result output unit includes normal power consumption positioning result
Output and the output of low-power consumption positioning result, the low-power consumption refer to the satellite when satellite positioning unit is in standby mode
The power consumption of location equipment, the normal power consumption refer to that the satellite positioning unit is in and search luck row mode i.e. normal mode of operation
The power consumption of Shi Suoshu mobile satellite location equipments.
4. the device according to claim 3 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In, the low-power consumption positioning result output includes the low-power consumption at the uniform velocity static positioning result output of positioning result output and low-power consumption,
It is described at the uniform velocity to refer to determine that the mobile satellite location equipment is in uniform motion shape using the measurement result of the Inertial Measurement Unit
State, it is described static to refer to determine that the mobile satellite location equipment is in static shape using the measurement result of the Inertial Measurement Unit
State.
5. the device according to claim 1 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In the Inertial Measurement Unit includes accelerometer and gyroscope, and the accelerometer obtains acceleration signal, the gyroscope
Obtain angular velocity signal.
6. the device according to claim 1 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In the satellite positioning unit connects satellite earth antenna, and the main control unit connects power-supply system.
7. the device according to claim 6 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In the power-supply system includes rechargeable battery and USB charge ports.
8. the method for mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, it is characterised in that be included in satellite fix and set
Standby middle setting Inertial Measurement Unit, the Inertial Measurement Unit connect main control unit, and the main control unit connects satellite fix list
Member, the operation after mobile satellite location equipment electrifying startup comprise the following steps：The Inertial Measurement Unit and the satellite
Positioning unit respectively starts, i.e., Inertial Measurement Unit enters Multi-thread synchronization working condition with satellite positioning unit；The master
Control unit determines the state of the mobile satellite location equipment according to the measurement result of the Inertial Measurement Unit, and according to the satellite
The state of location equipment controls the mode of operation of the satellite positioning unit.
9. the method according to claim 8 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In the state of the mobile satellite location equipment includes inactive state, uniform speed motion state, and variable motion state；For described
Inactive state, the main control unit replicate the satellite fix result output location data before the inactive state；For it is described at the uniform velocity
Motion state, the main control unit go out positioning result according to the direction and velocity simulation of the uniform motion and export location data；
For the variable motion state, the main control unit is defended according to the star positioning result output of searching in real time of the satellite positioning unit
Star real time positioning data.
10. the method according to claim 8 that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, its feature are existed
In the mode of operation of the satellite positioning unit is including chosen below：Low-power consumption standby pattern or normal power consumption operational mode, institute
State low-power consumption standby pattern and correspond to the mobile satellite location equipment that the Inertial Measurement Unit measures and remain static or even
The measurement result of fast motion state, the normal power consumption operational mode correspond to the satellite that the Inertial Measurement Unit measures
Location equipment is in the measurement result of variable motion state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711120968.8A CN107741595A (en) | 2017-11-14 | 2017-11-14 | The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit |
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| CN201711120968.8A CN107741595A (en) | 2017-11-14 | 2017-11-14 | The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109031384A (en) * | 2018-06-27 | 2018-12-18 | 杭州爱体科技有限公司 | A kind of low-power consumption mobile satellite location equipment |
| CN109634167A (en) * | 2018-11-30 | 2019-04-16 | 西安中科创达软件有限公司 | A kind of method and device reducing equipment GPS operation power consumption |
| WO2022116754A1 (en) * | 2020-12-02 | 2022-06-09 | 中兴通讯股份有限公司 | Low-power-consumption positioning method and apparatus, and electronic device |
| WO2023005121A1 (en) * | 2021-07-30 | 2023-02-02 | 西安广和通无线软件有限公司 | Terminal positioning method, device, storage medium, and positioning module |
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| CN103842845A (en) * | 2011-09-30 | 2014-06-04 | 电子湾有限公司 | Persistent location tracking on mobile devices and location profiling |
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| CN109031384A (en) * | 2018-06-27 | 2018-12-18 | 杭州爱体科技有限公司 | A kind of low-power consumption mobile satellite location equipment |
| CN109634167A (en) * | 2018-11-30 | 2019-04-16 | 西安中科创达软件有限公司 | A kind of method and device reducing equipment GPS operation power consumption |
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| WO2023005121A1 (en) * | 2021-07-30 | 2023-02-02 | 西安广和通无线软件有限公司 | Terminal positioning method, device, storage medium, and positioning module |
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