CN101655553B

CN101655553B - Electronic equipment for obtaining three-dimensional movement locus of object

Info

Publication number: CN101655553B
Application number: CN 200910085305
Authority: CN
Inventors: 须清
Original assignee: Beijing Paragon Technology Co Ltd
Current assignee: Beijing Paragon Technology Co Ltd
Priority date: 2009-05-20
Filing date: 2009-05-20
Publication date: 2012-05-23
Anticipated expiration: 2029-05-20
Also published as: CN101655553A

Abstract

The invention provides electronic equipment for obtaining three-dimensional movement locus of an object, which is embedded into the object. The electronic equipment comprises an azimuth sensing component, an acceleration sensing component, an altitude sensing component, a communication component, a storage component and an information processing component. The communication component comprises a short-distance wireless communication module and/or a wire communication module, and communicates with a position reference device installed at a position reference point in a short-distance wireless manner or wire manner to obtain the position information of the position reference point. The information processing component computes the three-dimensional movement locus of the electronic equipment relative to the position reference point in accordance with the signals of a triaxial azimuth sensor, the signals of an altitude sensor and the signals of a triaxial acceleration sensor in combination with the position information of the position reference point. The azimuth sensing component, the acceleration sensing component, the communication component and the storage component are respectively connected with the information processing component. The technology of the invention can realize obtaining the position, azimuth and three-dimensional movement locus of the moving object at any moment and solve the problem of getting lost.

Description

Obtain the electronic equipment of three-dimensional movement locus of object

Technical field

The present invention relates to obtain the electronic equipment of three-dimensional movement locus of object; Particularly relate to and adopt acceleration transducer, aspect sensor, sea level elevation sensor measurement and Calculation of Three Dimensional movement locus, and adopt a plurality of position reference point correction 3 D motion traces to obtain the electronic equipment of displacement track.

Background technology

From ancient times to the present, people seeking how to locate self position and orientation, can't arrive the destination in order to avoid get lost.The appearance of early stage compass provides a kind of solution easily for people confirm the orientation, but because its function provides general orientation information, bearing accuracy is not high, can't know the information of present position yet.The appearance of compass has improved the precision of azimuth information, but still can't know the information of present position.The appearance of Maxi also combines compass, and rough location information and azimuth information that can object become main navigator in navigation.

The development of satellite technology; Set up GPS,, confirm the position with the longitude information and the latitude information of the earth for the equipment of needs location and navigation provides positional information and azimuth information; And combine electronic chart can confirm the positional information of equipment; Positional precision also reaches the order of magnitude of rice, become modern main orientation tool and navigational tool, but satellite navigation system needs high satellite system to support; Simultaneously in environment such as mountain valley, gully, cave, because blocking of object can't the perception satellite information causes the situation that can't locate.

Along with the development of mobile communication network, people have also studied the information of the fixed base stations that adopts mobile communication network and have confirmed the positional information and the movement locus of object by the triangle positioning algorithm based.But the base station of mobile communication network is very low in the too low resolution that causes of broader region distribution density.And there are a lot of blind spots in the covering of mobile base station, therefore occurs locating and the situation of definite movement locus.

Summary of the invention

Technical matters to be solved by this invention proposes a kind of method and apparatus of position and movement locus of Measuring Object to obtain moving object position and orientation and movement locus within a certain period of time at any time, and this is avoided losing one's way important with the direction ten minutes for the personnel that the tour in the field obtains operation; Understanding fully for the movement locus of moving object is very important.The present invention carries aspect sensor, acceleration transducer through moving object and combines the positional information of reference position to calculate the moving object orientation at any time and the movement locus of position and motion process, to solve or partly to solve the deficiency of existing location positioning technology or movement locus tracking technique.

Term explanation: the position of the object of indication is meant object on earth or the overhead object of the earth physical coordinates with respect to certain RP reference surface on the earth among this paper; Like longitude and latitude; Also available azimuth-range with respect to certain RP representes, like due east, Beijing direction apart from 100 kilometers places, Beijing.Can also increase the data that go up sea level elevation and come the position of directing object.

Term explanation: the orientation of the object of indication of the present invention is meant object on earth or the overhead object of the earth azimuthal coordinates with respect to certain RP reference surface on the earth; As use direction indication with respect to all directions in equator, earth south poles river, like northeast 45 degree directions.In the present invention, the orientation of object is identical implication with the locality of object.

Term explanation: indication movement locus of the present invention, be meant object from any move to another point the routing information that is connected to form of the position of each point of process; Perhaps further with object from any move to another point all the show routing information of formation of position and the orientation of each point of process.These routing informations can further be represented on plane map of sign or the electronic chart or showed that object moves to the motion process information of another point from a bit.

The term explanation: information such as the sea level elevation of indication of the present invention, position, orientation all are to be used for Measuring Object with respect to the earth environment data message of (comprise the earth itself and reach the spatial domain around the earth rotatablely moves), are that earth geography is learned described notion.

The term explanation: the aspect sensor of indication of the present invention is identical implication with direction sensor.

The term explanation: indication of the present invention reference position message processing module is identical implication with position reference device.

For addressing the above problem; The technical solution installation position sensor, the acceleration transducer etc. on said object that propose; Come the position and the movement locus of computing object according to the measurement data of sensor, and introduce position deviation and movement locus deviation that variation that at least one position reference point comes modifying factor sensor error, the error of calculation, earth magnetic drift angle etc. causes.Further describe as follows:

First kind of movement locus generation method solution:

1, a kind of three-dimensional movement locus of object method of obtaining is characterized in that comprising the steps:

The first step: set at least one fixed object as position reference point; There is a position reference point in the starting point of object of which movement; Be delivered in the object through close range wireless communication mode or wire communication mode positional information, as the current motion reference point of object position reference point;

Second step: orientation values, sea level elevation value and accekeration when using the direction sensor, sea level elevation sensor and the acceleration transducer Measuring Object that are installed on the object to move;

The 3rd step: the 3 D motion trace of the motion reference point computing object that the orientation values during with said object of which movement, sea level elevation value and accekeration and binding object are current, and the 3 D motion trace of said object is stored in the memory unit of object;

The 4th step: when the said position reference point of object process; Be delivered in the object as correction through wireless or wire communication mode positional information said three-dimensional movement locus of object with position reference point; Obtain the 3 D motion trace through revised object, and the 3 D motion trace of the revised object of process of said object is stored in the memory unit of object.

2, the positional information of above-mentioned position reference point comprises longitude information, latitude information, the sea level elevation information of position reference point; Perhaps the positional information of said position reference point comprises longitude information, latitude information, sea level elevation information and the magnetic declination information of position reference point.

3, in order further to revise the measured deviation of object space and movement locus; In the time of can further comprising the said position reference point of object process after above-mentioned the 4th step this position reference point is set at the current motion reference point of object, can further reduces and eliminate the cumulative errors of measurements and calculations like this.Because every through a position reference point, just use the RP of the positional information of this RP as object current position information and subsequent motion, the measurements and calculations error of front just can not be delivered in the measurements and calculations of back.

4, when need the positional information and the 3 D motion trace of object being displayed on another equipment to let other people know the position and the movement locus of object; Then this scheme can further be included in after the 3rd step with said 3 D motion trace through wireless communication networks and/or wire communication network delivery in remote equipment; In said remote equipment, obtain three-dimensional movement locus of object or after the 4th step, further comprise with the revised 3 D motion trace of said process through wireless communication networks and/or wire communication network delivery in remote equipment, in said remote equipment, obtain through revised three-dimensional movement locus of object.

5, in order to combine position and the 3 D motion trace of electronic chart to show said object more intuitively, said remote equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

6, be similarly position and the 3 D motion trace of combination electronic chart to show said object more intuitively, said object can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

7, increase earth's magnetic dip angle information during the movement locus of computing object in preferably above-mentioned the 3rd step and/or increase earth's magnetic dip angle information when in said the 4th step 3 D motion trace of said object being revised.

Second kind of movement locus generation method solution:

1, the three-dimensional movement locus of object method is obtained in a kind of calculating Network Based, it is characterized in that comprising the steps:

The 3rd step: object motion reference dot information that said orientation values, sea level elevation value and accekeration and object is current through wireless communication networks and/or wire communication network delivery in remote equipment; In said remote equipment, use the 3 D motion trace of the current motion reference point computing object of orientation values, sea level elevation value and the accekeration binding object received, and the 3 D motion trace of said object is stored in the memory unit of remote equipment;

The 4th step: when object when the said position reference point, be delivered in the object through wireless or wire communication mode positional information position reference point;

The 5th step: object with the positional information of said position reference point through wireless communication networks and/or wire communication network delivery in remote equipment; In said remote equipment, use the 3 D motion trace of the positional information correction object of the position reference point of being received, and the said 3 D motion trace that passes through the object of revising is stored in the memory unit of remote equipment.

2, the positional information of above-mentioned position reference point comprises longitude information, latitude information, the sea level elevation information of position reference point, and perhaps the positional information of above-mentioned position reference point comprises longitude information, latitude information, sea level elevation information and the magnetic declination information of position reference point.

3, in order further to revise the measured deviation of object space and 3 D motion trace; In the time of can further comprising the said position reference point of object process after above-mentioned the 4th step and/or the 5th step this position reference point is set at the current motion reference point of object, can further reduces and eliminate the cumulative errors of measurements and calculations like this.Because every through a position reference point, just use the RP of the positional information of this RP as object current position information and subsequent motion, the measurements and calculations error of front just can not be delivered in the measurements and calculations of back.

4, understand the position and the movement locus of object for the holder that makes object or object itself; After above-mentioned the 3rd step, can further comprise with said 3 D motion trace through wireless communication networks and/or wire communication network delivery in object, in said object, appear or store three-dimensional movement locus of object; Perhaps after above-mentioned the 5th step, can further comprise with the revised 3 D motion trace of said process through wireless communication networks and/or wire communication network delivery in object, in said object, appear or store and pass through revised three-dimensional movement locus of object.

5, in order to combine position and the 3 D motion trace of electronic chart to show said object more intuitively, said remote equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.。

7, increase earth's magnetic dip angle information during the movement locus of computing object in preferably above-mentioned the 3rd step and/or increase earth's magnetic dip angle information when in said the 5th step 3 D motion trace of said object being revised.

Can realize the electronic equipment and the object dimensional motion tracking system of tracking three-dimensional movement locus of object according to above-mentioned movement locus generation method.

First kind of scheme of the electronic equipment of tracking object movement locus is:

1, a kind of electronic equipment that obtains three-dimensional movement locus of object embeds electronic equipment in object, and said electronic equipment comprises like lower component:

The orientation sensing element comprises three aspect sensors;

The acceleration sensing parts comprise 3-axis acceleration sensor;

The sea level elevation sensing element comprises the sea level elevation sensor;

Communication component; Comprise close range wireless communication module and/or wire communication module; When object when the said position reference point, carry out the positional information of communication acquisition position reference point through close range wireless communication mode or wire communication mode and position reference device;

Memory unit;

Information processing apparatus, the positional information calculation electronic equipment of 3-axis acceleration sensor signal combination position reference point of sea level elevation sensor signal and acceleration sensing parts that is used for three aspect sensor signals, sea level elevation sensing element according to the orientation sensing element is with respect to the 3 D motion trace of position reference point and be stored in memory unit;

Said orientation sensing element, acceleration sensing parts, sea level elevation sensing element, communication component, memory unit be information processing component respectively.

Above-mentioned position reference device contains positional information and the close range wireless communication module and/or the wire communication module of memory location reference unit whereabouts.

During above-mentioned electronic equipment process position reference device position; Can revise for the 3 D motion trace of electronic equipment with the positional information of reference unit position, obtain revised electronic equipment with respect to the 3 D motion trace of position reference point and be stored in the memory unit.

2, above-mentioned electronic equipment can further comprise the information display section part, is used to show the 3 D motion trace of object, and said information display section part connects information processing apparatus.

3, the positional information of above-mentioned position reference point comprises longitude information, latitude information, the sea level elevation information of position reference point; Perhaps the positional information of said position reference point comprises longitude information, latitude information, sea level elevation information and the magnetic declination information of position reference point.

4, in order further to revise the measured deviation of object space and 3 D motion trace; Above-mentioned electronic equipment is set at the current motion reference point of electronic equipment with this position reference point during through said position reference point, can further reduce and eliminate the cumulative errors of measurements and calculations like this.Because every through a position reference point, just use the RP of the positional information of this RP as electronic equipment current position information and subsequent motion, the measurements and calculations error of front just can not be delivered in the measurements and calculations of back.

5, when need the positional information and the 3 D motion trace of electronic equipment being displayed on another equipment to let other people know the position and the 3 D motion trace of electronic equipment; Then this electronic equipment can further comprise network communication interface; Said network communication interface is connected with information processing apparatus; Under the control of information processing apparatus, be connected with remote equipment through said network communication interface; Electronic equipment with said movement locus by network communication interface through wireless communication networks and/or wire communication network delivery in remote equipment; In said remote equipment, receive three-dimensional movement locus of object or the revised 3 D motion trace of process, storage and/or displaying electronic equipment 3 D motion trace in said remote equipment.

6, in order to combine position and the 3 D motion trace of electronic chart to show said object more intuitively, said remote equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

7, be similarly position and the 3 D motion trace of combination electronic chart to show said object more intuitively, said electronic equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

8, above-mentioned close range wireless communication mode is one of following mode or combination: near-field communication (NFC; Near-FieldCommunication) mode, radio electronic label (RFID) communication modes, ZigBee communication modes, Wi-Fi communication modes, WLAN communication modes, infrared-ray communication mode.

9, above-mentioned wire communication mode is one of following mode or combination: wired local area network communication modes, intelligent card interface communication modes, USB (USB) communication modes.

10, above-mentioned wireless communication networks is one of following communication network or combination: GSM mobile communication network, CDMA mobile communication network, WCDMA third generation mobile network, CDMA2000 third generation mobile network, TD-SCDMA third generation mobile network, WIMAX mobile communication network, local area radio communication network such as WLAN, WiFi, ZIGBEE etc. and the mobile communication network of future generation studied etc.Said wire communication network is meant wired telephone network, cable data communication network etc.

11, above-mentioned wire communication network is one of following communication network or combination: wired telephone network, cable data exchange network, Ethernet, IP (internet protocol) network etc.

Second kind of scheme of the electronic equipment of tracking object movement locus is:

1, a kind of electronic equipment of tracking object movement locus comprises like lower component:

The orientation sensing element comprises three aspect sensors;

The acceleration sensing parts comprise 3-axis acceleration sensor;

Memory unit;

Network communication interface, said network communication interface is through wireless communication networks and/or wire communication network and remote equipment communication;

Information processing apparatus; Under the control of information processing apparatus, be delivered in the remote equipment through wireless communication networks and/or wire communication network positional information the 3-axis acceleration sensor signal combination position reference point of the sea level elevation sensor signal of three aspect sensor signals of orientation sensing element, sea level elevation sensing element and acceleration sensing parts by said network communication interface, by said remote equipment according to the positional information calculation electronic equipment of the 3-axis acceleration sensor signal combination position reference point of the sea level elevation sensor signal of three aspect sensor signals of orientation sensing element, sea level elevation sensing element and acceleration sensing parts with respect to the 3 D motion trace of position reference point and be stored in the remote equipment;

Said orientation sensing element, acceleration sensing parts, sea level elevation sensing element, communication component, memory unit, network communication interface be information processing component respectively.

2, above-mentioned information processing apparatus can be further under the control of information processing apparatus by said network communication interface through wireless communication networks and/or wire communication network from remote equipment electron gain equipment with respect to the 3 D motion trace of position reference point and be stored in the said memory unit.

3, above-mentioned electronic equipment can further comprise the information display section part, is used to show the movement locus of object, and said information display section part connects information processing apparatus.

4, the positional information of above-mentioned position reference point comprises longitude information, latitude information, the sea level elevation information of position reference point; Perhaps the positional information of said position reference point comprises longitude information, latitude information, sea level elevation information and the magnetic declination information of position reference point.

5, in order further to revise the measured deviation of object space and 3 D motion trace; Above-mentioned electronic equipment is set at the current motion reference point of electronic equipment with this position reference point during through said position reference point; And with the positional information of this position reference point under the control of information processing apparatus by said network communication interface through wireless communication networks and/or wire communication network delivery in remote equipment, by said remote equipment according to the positional information correction electronic equipment of the position reference point of newly receiving with respect to position reference point through the 3 D motion trace revised and be stored in the remote equipment.Can further reduce and eliminate the cumulative errors of measurements and calculations like this.Because every through a position reference point, just use the RP of the positional information of this RP as electronic equipment current position information and subsequent motion, the measurements and calculations error of front just can not be delivered in the measurements and calculations of back.

6, above-mentioned information processing apparatus can be further under the control of information processing apparatus by said network communication interface through wireless communication networks and/or wire communication network from remote equipment electron gain equipment with respect to position reference point through the 3 D motion trace revised and be stored in the said memory unit.

7, in order to combine position and the 3 D motion trace of electronic chart to show said object more intuitively, said remote equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

8, be similarly position and the 3 D motion trace of combination electronic chart to show said object more intuitively, said electronic equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

9, identical for the description of close range wireless communication mode, wire communication mode, wireless communication networks and wire communication network with first kind of scheme of the electronic equipment of tracking object movement locus.

First kind of scheme of the object of which movement tracker of tracking object movement locus is:

1, a kind of object of which movement tracker of tracking three-dimensional movement locus of object comprises following equipment:

1) at least one position reference device, said position reference device comprise positional information and the close range wireless communication module and/or the wire communication module of memory location reference unit whereabouts;

2) be installed in electronic equipment on the object, said electronic equipment comprises like the lower part

The orientation sensing element comprises three aspect sensors;

The acceleration sensing parts comprise 3-axis acceleration sensor;

Memory unit;

2, above-mentioned electronic equipment can further comprise the information display section part, is used to show the movement locus of object, and said information display section part connects information processing apparatus.

5, in order to combine position and the 3 D motion trace of electronic chart to show said object more intuitively, said electronic equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

Second kind of scheme of the object of which movement tracker of tracking object movement locus is:

2) remote equipment, said remote equipment comprise the messaging device of network communication interface, storer, controller and information display section part;

3) be installed in electronic equipment on the object, said electronic equipment comprises like the lower part

The orientation sensing element comprises three aspect sensors;

The acceleration sensing parts comprise 3-axis acceleration sensor;

Memory unit;

Said orientation sensing element, acceleration sensing parts, sea level elevation sensing element, communication component, memory unit, network communication interface be information processing component respectively;

Said network communication interface is connected with remote equipment through said network communication interface under the control of information processing apparatus; Electronic equipment with said movement locus by network communication interface through wireless communication networks and/or wire communication network delivery in remote equipment; In said remote equipment, receive movement locus of object, storage and/or displaying electronic equipment 3 D motion trace in said remote equipment.

During above-mentioned electronic equipment process position reference device position; Can further revise for the 3 D motion trace of electronic equipment, obtain revised electronic equipment with respect to the 3 D motion trace of position reference point and be stored in the memory unit with the positional information of reference unit position; And said network communication interface is connected with remote equipment through said network communication interface under the control of information processing apparatus; Electronic equipment with said revised 3 D motion trace by network communication interface through wireless communication networks and/or wire communication network delivery in remote equipment; In said remote equipment, receive object through revised 3 D motion trace, storage and/or displaying electronic equipment 3 D motion trace in said remote equipment.

6, be similarly position and the 3 D motion trace of combination electronic chart to show said object more intuitively, said electronic equipment can also comprise electronic map information and be labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

The third scheme of the object of which movement tracker of tracking object movement locus is:

The orientation sensing element comprises three aspect sensors;

The acceleration sensing parts comprise 3-axis acceleration sensor;

Memory unit;

3, above-mentioned electronic equipment can further comprise the information display section part, is used to show the 3 D motion trace of object, and said information display section part connects information processing apparatus.

Can calculate the 3 D motion trace of motion or mobile object in the above solution, know motion or mobile object positional information at any time, therefore also have the effect of location positioning is carried out in motion or mobile object.3 D motion trace with three-dimensional motion or mobile object can show or display the purpose that realizes that object is followed the tracks of in remote equipment simultaneously.

How to further describe the positional information 3 D motion trace of computing object or electronic equipment how of 3-axis acceleration sensor signal combination position reference point of sea level elevation sensor signal and the acceleration sensing parts of three aspect sensor signals according to the orientation sensing element, sea level elevation sensing element below.

Direction sensor provides the direction parameter with respect to the arctic, magnetic field of the earth: as being the Y axle with positive direction to the north pole, be the X axle with positive east.Outwards to be oriented to the Z axle from the earth's core, be called conventional coordinates.Adopt three direction of principal axis sensors, can measure the position angle of measurand with respect to this coordinate-system.For direction of motion and the move distance that calculates measurand; Measure three the axial components of acceleration of measurand by 3-axis acceleration sensor (what is called is meant orthogonal three coordinates that direction of principal axis forms of setting in the manufacture process of 3-axis acceleration sensor under the coordinate of sensor definition) under the coordinate of sensor definition; The measured value of direction of passage sensor converts the component of acceleration with respect to conventional coordinates into, thereby can calculate the move distance under the standard coordinate system.Because the variation of height is little for the variable effect of earth magnetism, need to adopt acceleration of motion and the move distance of sea level elevation test in Z-direction.In order to change between the action direction of degree of will speed up sensor and the conventional coordinates, arranged direction sensor and acceleration transducer as follows:

The direction of three axles of the direction of three axles of 3-axis acceleration sensor and three direction of principal axis sensors is consistent, and therefore three direction of principal axis sensors are exactly the angles of acceleration three direction of principal axis with respect to conventional coordinates with respect to the angle of conventional coordinates.The direction of the three direction of principal axis sensors of on electronic equipment, installing is normally defined: face up horizontal normal attitude of electronic equipment is placed, and horizontal dead ahead is an X ' direction of principal axis, and level is to the right a Y ' direction of principal axis, and vertical-horizontal faces down and is Z ' direction of principal axis.This moment, the terrestrial magnetic field can be ignored at the axial component of Z ', used X ' axle and Y ' axle component Hx and Hy can calculate the direction of magnetic north.This moment, the position angle calculating formula of earth magnetism was:

Position angle=arcTan (Hy/Hx)

Because tan is 180 to spend the cycle,, adopt following segmentation formula in order to calculate the position angle of 360 degree:

Position angle=90 degree is worked as Hx=0, Hy＜0 o'clock

Position angle=270 degree is worked as Hx=0, Hy＞0 o'clock

Position angle=180-arcTan (Hy/Hx) * 180/ π degree is when Hx＜0

Position angle=arcTan (Hy/Hx) * 180/ π degree, when Hx＞0, Hy＜0 o'clock

Position angle=360-arcTan (Hy/Hx) * 180/ π degree, when Hx＞0, Hy＞0 o'clock

Because the actual placement direction of electronic equipment is more random, portable terminal keeps horizontal direction in the time of can not guaranteeing to take measurement of an angle, and has the angle of pitch and roll angle.Roll is meant that around the rotation of X axle or working direction, pitching is meant around the rotation of Y axle or left and right directions.When having the angle of pitch and roll angle, this moment, earth magnetism produced component Hx ', Hy ', Hz ' on each direction of three direction of principal axis sensors, and computer azimuth angle need utilize three components and angle of pitch Φ and roll angle θ.Adopt following formula to convert into not have luffing angle and do not have the orientation equivalence value of roll angle:

Hx＝Hx’*cos(Φ)+Hy’*sin(θ)*sin(Φ)-Hz’*cos(θ)*sin(Φ)

Hy＝Hy’*cos(θ)+Hz’*sin(θ)

Position angle=arcTan (Hy/Hx)

And by following piecewise function confirm 360 the degree the position angle:

Position angle=90 degree is worked as Hx=0, Hy＜0 o'clock

Position angle=270 degree is worked as Hx=0, Hy＞0 o'clock

Position angle=180-arcTan (Hy/Hx) * 180/ π degree is when Hx＜0

Position angle=arcTan (Hy/Hx) * 180/ π degree, when Hx＞0, Hy＜0 o'clock

Position angle=360-arcTan (Hy/Hx) * 180/ π degree, when Hx＞0, Hy＞0 o'clock

When the direction with three axles of the direction of three axles of 3-axis acceleration sensor and three direction of principal axis sensors is consistent, can convert three axial acceleration into respect to the horizontal plane go up acceleration of motion component.Set three axial acceleration and be respectively Ax ', Ay ', Az ', the component of acceleration of surface level X ' direction representes that with Ax the component of acceleration of surface level Y ' direction is represented with Ay, calculates by following:

Ax＝Ax’*cos(Φ)+Ay’*sin(θ)*sin(Φ)-Az’*cos(θ)*sin(Φ)

Ay＝Ay’*cos(θ)+Az’*sin(θ)

In order to confirm movement locus, need further convert above-mentioned component of acceleration data under the standard coordinate component of acceleration, represent with Anx, Any.

Anx=Ax*cos (position angle)+Ay*sin (position angle)

Any=-Ax*sin (position angle)+Ay*cos (position angle)

In concrete the realization; Also need consider the influence of magnetic declination; Can the magnetic declination of position reference device such as non-moving mark position be deposited in the electronic equipment; When the interval between non-moving mark when not too remote, can think that magnetic declination does not change, with the magnetic declination at position reference device such as non-moving mark place as the magnetic declination that gets into before the next mark.

Calculate range ability and path in addition and also need obtain initial position coordinate and initial velocity.The initial position coordinate adopts the position coordinates of desired location reference unit such as non-moving mark as the initial position coordinate.The non-moving mark that can be used as the initial position coordinate comprises buildings, machine room of general headquarters' buildings of tissue, each branch etc.; In these non-moving marks, position reference device is arranged; In the said position reference device radio frequency induction/emitter is installed; Each position reference device has been stored the coordinate figure of its place mark; Can carry out communication with the communication component of electronic equipment through radio frequency induction/emitter, in case electronic equipment near non-moving mark, corresponding position reference device will send to electronic equipment to the position coordinates of mark through radio frequency induction/emitter; This moment electronic equipment with this coordinate as new reference coordinate, thereby avoid the accumulation of error; Further; Corresponding position reference device will send to electronic equipment to the magnetic declination information of mark through radio frequency induction/emitter; This moment electronic equipment with this magnetic declination as new magnetic declination modified value, thereby avoid the accumulation of the variation of magnetic declination for the error of calculation.And the RP of the position coordinates of all non-moving marks can be selected as required, a kind of method for selecting be general headquarters with tissue as true origin, another kind is that the famous building with the location is masked as true origin.Need to calculate the position coordinates of other buildings sign then with respect to the specified coordinate initial point for other sign buildings with reference to the coordinate that reads institute's demarcation buildings in national numerical map of issuing or the commercial digital map.When object got within the communication context of a new RP, the positional information of introducing RP was as the starting point of calculating, and initial velocity is the component of speed in conventional coordinates of last moment of having moved of object, is set at V0x and V0y.The calculating of V0x and V0y can be calculated with each acceleration and sum of products of time in acceleration SI constantly that object has moved.The level run path that then begins from this reference position to calculate portable terminal is by following calculating, and establishing the reference coordinate value is Xref, Yref, and the displacement that is located in the conventional coordinates is Sx, Sy then:

V0x＝∑Ax(j)*T(j)

V0y＝∑Ay(j)*T(j)

Each acceleration sampling time point sequence of having moved for object of T (j) wherein.

Sx＝Xref+∑Ax(i)*T(i)*T(i)/2+V0x*T(i)

Sy＝Yref+∑Ay(i)*T(i)*T(i)/2+V0y*T(i)

Wherein Ax (i), Ay (i) are the acceleration component values that the i time sampling calculates, and T (i) is the time in SI.Here because the time in SI is Millisecond, think that the acceleration between the SI do not have to change for general moving object, to be fine.Thereby obtain the movement locus of object.

For the stereo-motion track of computing object, promptly mobile object is when the high mountain on ground and low-lying motion, with the motion track that produces the third dimension.A kind of preferable methods is directly to adopt the sea level elevation survey sensor, normally tests sea level elevation through measuring atmospheric variation.

Through measuring atmospheric pressure, just can measure change of elevation, as adopting INTERSEMA numeral baroceptor, can obtain the sea level elevation of particular location through converting through the atmospheric pressure value that measures.

This sea level elevation numerical value can be obtained the 3 D stereo movement locus with the position coordinates of surface level.

Beneficial effect of the present invention: adopt technology of the present invention can realize obtaining moving object position and orientation and 3 D motion trace within a certain period of time at any time, solve personnel that the tour in the field the obtains operation problem with direction of avoiding losing one's way; Can realize understanding fully for the movement locus of moving object.The present invention carries aspect sensor, acceleration transducer, sea level elevation sensor through moving object and combines the positional information of reference position to calculate the moving object orientation at any time and the 3 D motion trace of position and motion process; Can realize following the tracks of in any one position on earth, not need the support of position location satellite to accomplish.

Description of drawings:

Fig. 1 is that the present invention realizes the self-metering system works principle schematic of movement locus for first kind.

Fig. 2 is that the present invention realizes the self-metering system works principle schematic of movement locus for second kind.

Fig. 3 is the self-metering system works principle schematic of the third realization movement locus of the present invention.

Fig. 4 is that the present invention realizes the self-metering system works principle schematic of movement locus for the 4th kind.

Fig. 5 is that the present invention realizes the self-metering high-level schematic functional block diagram of movement locus on mobile electronic device.

Fig. 6 is the present invention provides reference position information in position reference point a functions of the equipments module diagram.

Fig. 7 is that the present invention realizes the system function module synoptic diagram that movement locus shows on remote equipment.

Fig. 8 is that first kind of the present invention realizes moving object tracking system of movement locus network topology synoptic diagram.

Fig. 9 is that second kind of the present invention realizes moving object tracking system of movement locus network topology synoptic diagram.

Figure 10 the present invention is based on network calculations on mobile electronic device, to realize the self-metering high-level schematic functional block diagram of movement locus.

Embodiment:

Core point of the present invention is; Adopt built-in acceleration transducer and aspect sensor for motion or mobile device; Handle movement locus or the path that obtains motion or mobile device through message handler for acceleration sensing signal and orientation transducing signal; While, because the error that the error of calculation of acceleration transducer and aspect sensor measuring error and message handler produces is involved movement locus or the too big problem of path deviation that effect causes calculating, the positional information that increases the reference position was carried out the correction of result of calculation as the movement locus that calculates or the reference information in path in order to solve.In order to realize this purpose, need increase reference unit in reference position, the mode through wire communication or wireless telecommunications is sent to the calculating of participating in movement locus or path in motion or the mobile device with the positional information of reference position.The present invention is except the measurement that realizes motion or mobile device displacement track or path; Also can realize moving or the location positioning of mobile device in conjunction with numerical map; The movement locus or the path that also can the acceleration sensing signal and the orientation transducing signal of measurement perhaps be calculated simultaneously are sent to remote equipment through wire communication network or wireless communication networks; Position, movement locus or the path of motion or mobile device in remote equipment, shown or show or calculate, thereby motion or the remote location location of mobile device or the tracking in movement locus or path realized.

Further describe specific embodiments of the present invention below in conjunction with accompanying drawing.

Fig. 1 is that the present invention realizes the self-metering system works principle schematic of movement locus for first kind.In the figure; Three direction of principal axis transducing signals, sea level elevation transducing signal and 3-axis acceleration transducing signal that three direction of principal axis sensors 101, sea level elevation sensor 122 and the 3-axis acceleration sensor 102 that measurement system certainly on the object installs gathered change digital signal into through signal digitalized module 104, then digital signal transfers are calculated the positional information of current time object to message processing module 105.According to the needs of practical application, can further adopt position coordinates converting unit 107 to convert positional information in the preferred coordinate system positional information, such as being transformed in the earth conventional coordinates.Each positional information constantly is delivered to 3 D motion trace or the path that calculates object behind the path calculation module 110, stores into then in the motion path memory bank 111.In order to solve because the error that the error of calculation of acceleration transducer, sea level elevation sensor and aspect sensor measuring error and message handler produces is involved movement locus or the too big problem of path deviation that effect causes calculating; In system, increase the reference position collection and from the reference position device of reference position, obtain the positional information of reference position through wire communication or wireless communication mode with update module 106; Adopt wireless communication mode in the present embodiment, adopt rf receiver and transmitter 103 to gather and be connected with update module 106 with the reference position.Rf receiver and transmitter 103 adopts the close range wireless communication mode: near-field communication (NFC; Near-Field Communication) mode, radio electronic label (RFID) communication modes, ZigBee communication modes, Wi-Fi communication modes, WLAN communication modes, infrared-ray communication mode.Then the positional information that the reference position information that obtains with update module 106 is delivered to participation calculating current time object in the message processing module 105 is gathered in the reference position, simultaneously the calculating that the reference position information that obtains with update module 106 is delivered to path calculation module 110 participation 3 D motion traces or path is gathered in the reference position.In this specific embodiment; When adopt three direction of principal axis sensors 101, sea level elevation sensor 122 and 3-axis acceleration sensor 102 have been digitizing output; Signal digitalized module 104 can be removed, and is directly delivered in the message processing module 105 by the transducing signal output of three direction of principal axis sensors 101, sea level elevation sensor 122 and 3-axis acceleration sensor 102.

Because the actual placement direction of motion or mobile object is more random, portable terminal keeps horizontal direction in the time of can not guaranteeing to take measurement of an angle, and has the angle of pitch and roll angle.Therefore need the acquisition angle of pitch and roll angle information could calculate positional information and the movement locus or the path of current time object more accurately.Therefore need to increase gradient sensor.Referring to Fig. 3.Fig. 3 is the self-metering system works principle schematic of the third realization movement locus of the present invention.Unique difference of scheme shown in Figure 3 and scheme shown in Figure 1 is to have increased gradient sensor 121.

In concrete the realization; Also need consider the influence of magnetic declination; Can the magnetic declination of position reference device such as non-moving mark position be deposited in the electronic equipment; When the interval between non-moving mark when not too remote, can think that magnetic declination does not change, with the magnetic declination at position reference device such as non-moving mark place as the magnetic declination that gets into before the next mark.Therefore can be further with the update information of earth's magnetic dip angle compensated information as the positional information that calculates the current time object and movement locus or path.Referring to Fig. 2.Fig. 2 is that the present invention realizes the self-metering system works principle schematic of movement locus for second kind.Be to have increased earth's magnetic dip angle compensation meter 123 in scheme shown in Figure 2 on the basis of Fig. 1; Canned data can be to be stored in the system in advance in the earth's magnetic dip angle compensation meter 123; Also can be when motion or mobile object during, gather to receive through rf receiver and transmitter 103, reference position and obtain with update module 106 through the reference position.In order further to optimize this scheme, sine function look-up table 124 and the computing velocity of cosine function look-up table 125 have also been increased simultaneously with raising message processing module 105.Because in realization of the present invention, relate to a large amount of sine functions, the calculating of cosine function, therefore store sine function look-up table 124 in advance and can accelerate computing velocity with cosine function look-up table 125.

Fig. 4 is that the present invention realizes the self-metering system works principle schematic of movement locus for the 4th kind.Scheme shown in Figure 4 has combined the scheme of Fig. 2 and Fig. 3; Both solved because the actual placement direction of motion or mobile object is more random; Portable terminal keeps horizontal direction in the time of can not guaranteeing to take measurement of an angle, and has the angle of pitch and roll angle problem, has solved the problem that influences that needs to consider magnetic declination again.

Can be with reference to following information about used product sensor in the realization instance of the present invention:

About gradient sensor: ADIS16209 twin shaft inclinometer able to programme; integrated micro-electron machinery system kernel based on ADI company; When it is in the level installation, can be with error measure bi-axial tilt in ± 30 degree measurement ranges less than 0.1 degree.Because its unique twin shaft mode of operation, this new sensors also support vertically arranged single shaft to detect in whole 360 degree scopes.Adjustable digital sensor device data are Serial Peripheral Interface (SPI) (SPI) output through industrial standard, and this interface can insert degree of tilt (0.025 degree resolution), acceleration (0.244mg resolution), temperature and supply voltage.

About direction sensor: three intelligent digital magnetometers (HMR) of Honeywell can be surveyed the intensity and the direction in magnetic field, simultaneously with x, and y and z parameter input computing machine.Three independently bridge circuit be used to respond to x, y, three axial magnetic fields of z.Also can use three compass detector assemblies to constitute, the external member of combining like the HMC1051Z single shaft that adopts Honeywell Inc. and HMC1052 twin shaft twin shaft magnetoresistive transducer and biaxial MEMS IC MXS3334UL is as three compass detectors.

About 3-axis acceleration sensor, the MEMS acceleration transducer that now in numerous electronic equipments, uses promptly can be used in the concrete realization of the present invention.

Fig. 5 is that the present invention realizes the self-metering high-level schematic functional block diagram of movement locus on mobile electronic device.Sensor 501 comprises three aspect sensors, 3-axis acceleration sensor, sea level elevation sensor; Deliver in the processor 503 after converting the transducing signal of sensor 501 into digital signal through analog-to-digital conversion module 502; Simultaneously RF receiving and transmission module 506 with the reference position message pick-up to after be sent in the processor 503, move according to transducing signal and reference position information calculations or the 3 D motion trace or the path of mobile object by processor 503.Processor 503 deposits reference position information in the reference position memory bank 504 in, and 3 D motion trace or path are deposited in the path memory bank 505.Further; Processor 503 can send to movement locus or path in the electronic equipment of reference position through RF receiving and transmission module 506, also can increase other wire communication module and obtain wireless communication module (not drawing in the drawings) and through existing wire communication network or wireless communication networks 3 D motion trace or path are delivered in the remote equipment.

Figure 10 the present invention is based on network calculations on mobile electronic device, to realize the self-metering high-level schematic functional block diagram of movement locus.Sensor 501 comprises three aspect sensors, 3-axis acceleration sensor, sea level elevation sensor; Deliver in the processor 503 after converting the transducing signal of sensor 501 into digital signal through analog-to-digital conversion module 502, simultaneously RF receiving and transmission module 506 with the reference position message pick-up to after be sent in the processor 503.Under the control of processor 503, be delivered in the remote equipment through wireless communication networks and/or wire communication network positional information the 3-axis acceleration sensor signal combination position reference point of the sea level elevation sensor signal of three aspect sensor signals of orientation sensing element, sea level elevation sensing element and acceleration sensing parts through said network communication interface 1006, by said remote equipment according to the positional information calculation electronic equipment of the 3-axis acceleration sensor signal combination position reference point of the sea level elevation sensor signal of three aspect sensor signals of orientation sensing element, sea level elevation sensing element and acceleration sensing parts with respect to the 3 D motion trace of position reference point and be stored in the remote equipment; Then under the control of said processor 503 through said network communication interface 1006 through wireless communication networks and/or wire communication network from remote equipment electron gain equipment with respect to the 3 D motion trace of position reference point and be stored in the said memory unit.Processor 503 deposits reference position information in the reference position memory bank 504 in, and 3 D motion trace is deposited in the path memory bank 505.

Fig. 6 is the present invention provides reference position information in position reference point a functions of the equipments module diagram.The reference position message processing module need be installed or be called reference unit in each position reference point; The reference position message processing module comprises processor 601 and communication module, and communication module can adopt wire communication module or wireless communication module according to concrete realization needs.Adopt RF receiving and transmission module 602 through communication between wireless communication mode and motion or the mobile object in this realization instance.

Fig. 7 is that the present invention realizes the system function module synoptic diagram that movement locus shows on remote equipment.When needs will move or far-end is carried out when showing in the movement locus of the object that moves or path, need move or the movement locus or the path of mobile object are delivered in the remote equipment.Fig. 7 is the realization instance of remote equipment, comprises the network access gateway 701, database 702, the path drawing program 707 that are connected with processor 703.Wherein network access gateway 701 can be the IAD of wireless communication networks according to the needs of realizing; Also can be the IAD of wire communication network, completion will be moved or the movement locus of the object that moves or path pass to processor 703 after receiving through wireless communication networks or wire communication network.Path drawing program 707 accomplish will move or the movement locus of mobile object or path drawing in the display unit of remote equipment, show with visual way.Database 702 is for the trace information of realizing a plurality of motions or mobile object or retrieval, the management of routing information.In concrete the realization, can further increase numerical map memory bank 704, the storage digital map information, thus can the trace information or the routing information of motion or the object that moves be combined with digital map information, can show the movement locus of object more intuitively.Simultaneously institute's movement locus of object soldier information that obtains can also further be delivered in other equipment through WEB server 706, is obtained or quilt is visited by a plurality of equipment.

Fig. 8 is that first kind of the present invention realizes moving object tracking system of movement locus network topology synoptic diagram.Be provided with four reference positions be respectively first with reference to buildings 801, second with reference to buildings 802, the 3rd with reference to buildings 803, the 4th with reference to buildings 804, each is with reference to reference position message processing module 811,812,813,814 is installed respectively in the buildings.Can adopt wire signal to be connected between reference position message processing module 811,812,813,814 and the management server 805, also can connect through wireless signal like signal conductor or optical fiber etc.Simultaneously reference position message processing module 811,812,813, also can adopt wire signal to connect between 814 like signal conductor or optical fiber etc., also can be through the wireless signal connection.Motion or the object that moves be when starting point 806 moves to position 807 from the position, assumed position starting point 806 second with reference to buildings 802 near, motion or the object that moves can be from the reference position message processing module 812 obtain the positional information of start positions.Motion or mobile object calculate track or path in the motion process by the sensor of self installing, processor in motion process then; When moving to position 807; Assumed position 807 first with reference to buildings 801 near, motion or the object that moves can be from the reference position message processing module 811 obtain positional informations and revise for the track or the path of calculating.And motion or the object that moves during with reference to buildings, receive track or routing information in the object that be stored in motion or move through the reference position message processing module in the corresponding buildings through each.Also be provided with management server 805 in this system.Management server 805 can through be arranged at each with reference between the reference position message processing module in the buildings be connected that communication obtains motion or the object that moves in track or routing information, thereby realize track or the remote exhibition of routing information and the tracking of object in the object.

Fig. 9 is that second kind of the present invention realizes moving object tracking system of movement locus network topology synoptic diagram.Similar with scheme shown in Figure 8; Be provided with four reference positions be respectively first with reference to buildings 901, second with reference to buildings 902, the 3rd with reference to buildings 903, the 4th with reference to buildings 904, each is with reference to reference position message processing module 911,912,913,914 is installed respectively in the buildings.Being connected between different is reference position message processing module 911,912,913,914 and the management server 905 is through existing communication network 920, like wired communication network or mobile communications network.Motion or the object that moves be when starting point 906 moves to position 907 from the position, assumed position starting point 906 second with reference to buildings 902 near, motion or the object that moves can be from the reference position message processing module 912 obtain the positional information of start positions.Motion or mobile object perhaps are delivered to track or the path that management server 905 calculates in the motion processes with sensor signal by track or path that the sensor of self installing, processor calculate in the motion process in motion process then; When moving to position 907; Assumed position 907 first with reference to buildings 901 near, motion or the object that moves can be from the reference position message processing module 911 obtain positional informations and revise for the track or the path of calculating.And sensor information, track or routing information in motion or the object that moves remove and can be delivered to management server 905 through the reference position message processing module; Also can directly be delivered to management server 905, thereby realize track or the remote exhibition of routing information and the tracking of object in the object through existing communication network 920.

Claims

1. an electronic equipment that obtains three-dimensional movement locus of object embeds electronic equipment in object, it is characterized in that said electronic equipment comprises like lower component:

The orientation sensing element comprises three aspect sensors, is used for the position angle of Measuring Object with respect to coordinate-system;

The acceleration sensing parts comprise 3-axis acceleration sensor;

Communication component comprises close range wireless communication module and/or wire communication module, when object when the position reference point, carry out the positional information of communication acquisition position reference point through close range wireless communication mode or wire communication mode and position reference device;

Memory unit;

Network communication interface; Said network communication interface is connected with information processing apparatus; Under the control of information processing apparatus, be connected with remote equipment through said network communication interface, said 3 D motion trace is passed through wireless communication networks and/or wire communication network delivery in remote equipment by said network communication interface;

Said position reference device comprises positional information and the close range wireless communication module and/or the wire communication module of memory location reference unit whereabouts; Said orientation sensing element, acceleration sensing parts, sea level elevation sensing element, communication component, memory unit be information processing component respectively;

When object process position reference point, be stored in 3 D motion trace or the routing information in the said object through the position reference device reception that is arranged on said position reference point.

2. electronic equipment according to claim 1 when it is characterized in that said electronic equipment through the position reference device position, is set at the current motion reference point of electronic equipment with this position reference point; Positional information with the reference unit position is revised for the 3 D motion trace of electronic equipment, obtains revised electronic equipment with respect to the 3 D motion trace of position reference point and be stored in the memory unit.

3. electronic equipment according to claim 1 is characterized in that said electronic equipment further comprises the information display section part, is used to show the 3 D motion trace of object, and said information display section part connects information processing apparatus.

4. electronic equipment according to claim 1 is characterized in that the positional information of said position reference point comprises the longitude information of position reference point, latitude information, sea level elevation information; Perhaps the positional information of said position reference point comprises longitude information, latitude information and magnetic declination information, the sea level elevation information of position reference point.

5. electronic equipment according to claim 1 is characterized in that in said remote equipment, receiving three-dimensional movement locus of object and storage and/or displaying electronic equipment 3 D motion trace in said remote equipment.

6. electronic equipment according to claim 2 is characterized in that in said remote equipment, receiving three-dimensional movement locus of object or the revised 3 D motion trace of process and storage and/or displaying electronic equipment 3 D motion trace in said remote equipment.

7. electronic equipment according to claim 5 is characterized in that said remote equipment also comprises electronic map information and said 3 D motion trace is labeled in indication or the displaying of said electronic map information acquisition object on electronic chart.

8. electronic equipment according to claim 6 is characterized in that said remote equipment also comprises electronic map information and is labeled in indication or the displaying of said electronic map information acquisition object on electronic chart with said 3 D motion trace and/or through revised 3 D motion trace.

9. according to each described electronic equipment in the claim 1 to 8, it is characterized in that said electronic equipment also comprises electronic map information and said 3 D motion trace is labeled in indication or the displaying of said electronic map information acquisition object on electronic chart.

10. according to each described electronic equipment in the claim 2,6,8, it is characterized in that said electronic equipment also comprises electronic map information and the revised 3 D motion trace of said process is labeled in indication or the displaying of said electronic map information acquisition object on electronic chart.

11. according to each described electronic equipment in the claim 1 to 8; It is characterized in that said close range wireless communication mode is one of following mode or combination: near-field communication mode, radio electronic label communication modes, ZigBee communication modes, Wi-Fi communication modes, WLAN communication modes, infrared-ray communication mode; Said wire communication mode is one of following mode or combination: wired local area network communication modes, intelligent card interface communication modes, USB communication modes.

12. according to each described electronic equipment in the claim 5 to 8; It is characterized in that said wireless communication networks is one of following communication network or combination: GSM mobile communication network, CDMA mobile communication network, WCDMA third generation mobile network, CDMA2000 third generation mobile network, TD-SCDMA third generation mobile network, WIMAX mobile communication network, local area radio communication network, mobile communication network of future generation, said local area radio communication network are one of following communication network or combination: WLAN, WiFi, ZIGBEE; Said wire communication network is one of following communication network or combination: wired telephone network, cable data exchange network, Ethernet, IP network.