CN102083203A - Positioning device and method for mobile device - Google Patents
Positioning device and method for mobile device Download PDFInfo
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- CN102083203A CN102083203A CN2009102471840A CN200910247184A CN102083203A CN 102083203 A CN102083203 A CN 102083203A CN 2009102471840 A CN2009102471840 A CN 2009102471840A CN 200910247184 A CN200910247184 A CN 200910247184A CN 102083203 A CN102083203 A CN 102083203A
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Abstract
The invention discloses a positioning device and method for a mobile device. The mobile device has an initial velocity, and the positioning device comprises a sensing unit, a calculation unit and a processing unit, wherein the sensing unit is used for sensing an acceleration message and a height displacement message; the calculation unit is used for calculating an angle message according to the initial velocity of the mobile device, the acceleration message, the height displacement message and a preset time period, then calculating an acceleration adjusting message according to the acceleration message and the angle message, and calculating a comprehensive displacement message according to the initial velocity massage, the acceleration adjusting message and the preset time period; and the processing unit is used for producing a more accurate location message according to the comprehensive displacement message and the height displacement message.
Description
Technical field
The invention relates to a kind of positioner and localization method that is used for a mobile device; In more detail, the invention relates to a kind of global positioning system (Global Positioning System that need not; Assisting GPS) can be obtained the positioner and the localization method of the positional information of mobile device.
Background technology
Global positioning system (Global Positioning System; GPS) be the round orbiting satellite system of a kind of middle distance, its most areas for earth surface provide accurate in locating.Because its development is quite successful, the GPS that only is provided as military use originally is also open already for use among the people, has therefore just produced some revolutionary variations in the application of daily life.For example: the electronic chart that the signal that the vehicle driver can provide by GPS and location/guider provide, and position and learn the position that it is present or further finish navigation function.
Yet because vehicle is an equipment that moves at any time, the signal that GPS provides promptly might be decayed or isolates because of covering of building, tunnel or the landform of vehicle process.If the location/guider on the vehicle can't receive the signal that GPS provides, can't position and provide vehicle present position, and then cause location/guider can't proceed navigation.
Yet, when vehicle ' when location/guider can't receive signal that GPS provides regional, for making the location/guider on the vehicle can provide vehicle present position constantly, the prior art facility solves this problem with a plurality of parameters of the further sensing of sensing cell.Specifically, the parameter that location/guider on the vehicle will sense according to sensing cell (for example accelerometer and/or gyroscope), the position of being located before can't receiving the signal that GPS provides by location/guider is with dead reckoning (Dead Reckoning; DR) mode is estimated the present position of vehicle.In view of the above, location/guider can provide vehicle present position under the situation that can't receive the signal that GPS provides constantly.
Yet the parameter that aforementioned sensing cell sensed still can reduce the accuracy that location/guider positions because of the influence of various factors.For example, when automobile during in upward slope road or descending road driving, sensing cell will sense the parameter with error because of the influence of gravity.In addition, because location/guider only can be estimated the vehicle position on the plane at present in the mode of dead reckoning, form under the situation of traffic network with various surface roads and overpass at modern city, also the accuracy that will cause location/guider to position declines to a great extent.
In view of this, under the situation that can't receive the signal that GPS provides, how a kind of more accurate localization method will be provided, make the user can learn the position that it is present, this is to make the difficulty that the manufacturer of location/guider need make great efforts to solve now, also is the intimate intelligent design of the popular ardent expectation of vast consumption.
Summary of the invention
A purpose of the present invention is to provide a kind of positioner that is used for a mobile device.This mobile device has an initial velocity.This positioner comprises a storage element, a sensing cell, a computing unit and a processing unit.This storage element is in order to save as this initial velocity one initial velocity information.This sensing cell is in order to sensing one acceleration information and a height displacement information.This computing unit calculates an angle information according to this initial velocity information, this acceleration information, this height displacement information and a preset time period, then calculate an acceleration adjustment information, and calculate a comprehensive displacement information according to this initial velocity information, this acceleration adjustment information and this preset time period according to this acceleration information and this angle information.This processing unit then produces a positional information according to this comprehensive displacement information and this height displacement information.
Another object of the present invention is to provide a kind of localization method that is used for a mobile device.This mobile device has an initial velocity.This localization method comprises the following step: make a storage element that this initial velocity is saved as an initial velocity information; Make a sensing cell sensing one acceleration information and a height displacement information; Make a computing unit calculate an angle information according to this initial velocity information, this acceleration information, this height displacement information and a preset time period; Make this computing unit calculate an acceleration adjustment information according to this acceleration information and this angle information; Make this computing unit calculate a comprehensive displacement information according to this initial velocity information, this acceleration adjustment information and this preset time period; And make a processing unit produce a positional information according to this comprehensive displacement information and this height displacement information.
In addition, for reaching the described purpose of leading portion, the present invention also provides a kind of computer program, a kind of program that is used for the localization method of a mobile device of storage in it.After this program is loaded positioner by computer, can carry out also and can finish the described localization method that is used for a mobile device of leading portion.
In sum, positioner of the present invention and localization method can calculate angle information according to initial velocity information, acceleration information, height displacement information and preset time period that sensing cell senses, and adjust acceleration information according to angle information.In view of the above, under the situation that can't receive the signal that GPS provides, the present invention more can promote the accuracy of location except the location of three-dimensional environment can be provided.
Description of drawings
Behind the execution mode of consulting accompanying drawing and describing subsequently, affiliated technical field has knows that usually the knowledgeable just can understand other purpose of the present invention, advantage and technological means of the present invention and implement aspect, wherein:
Figure 1A to Fig. 1 D is the schematic diagram of the first embodiment of the present invention; And
Fig. 2 A to Fig. 2 B is the flow chart of the localization method of the second embodiment of the present invention.
Embodiment
Below will explain content of the present invention, the invention relates to a kind of positioner, its computer program of localization method that is used for a mobile device by embodiment.Positioner can be Smart Phone, personal digital assistant (personal digital assistant; PDA) or mininet computer (netbook) etc. has the device that receives the signal that GPS provides.Mobile device then can be the equipment that vehicle, ships or airborne vehicle etc. have locomotivity.It should be noted that, only be explaination purpose of the present invention about the explanation of embodiment, is not in order to restriction the present invention, in following examples and the accompanying drawing, all omits and does not illustrate with the non-directly related element of the present invention simultaneously; And each interelement size relationship is only for asking easy understanding in the accompanying drawing, and is non-in order to the restriction actual ratio.
Below will set forth the first embodiment of the present invention by the schematic diagram that Figure 1A to Fig. 1 D illustrates, it is a kind of positioner 11 that is used for a mobile device 10, positioner 11 is in order to calculate mobile device 10 in the positional information of position k, and positioner 11 is to be arranged in the mobile device 10.
Particularly, Figure 1A to Fig. 1 C illustrates mobile device 10 in a preset time period (figure does not illustrate), moves to the schematic diagram of position k from position k-1.Wherein, the three-dimensional location coordinates of position k-1 is (x
K-1, y
K-1, z
K-1); The three-dimensional location coordinates of position k is (x
k, y
k, z
k).The θ that Figure 1A illustrates
kRepresent mobile device 10 in aforesaid preset time period, by coordinate (z
K-1) move to (z with the Z direction
k) an angle; G represents acceleration of gravity; Gsin θ
kRepresent a component of acceleration of gravity, Ax
kRepresent mobile device 10 to move to the acceleration of position k, Δ S from position k-1
kRepresent mobile device 10 to move to the comprehensive displacement of position k, Δ D from position k-1
kAnd Δ H
kRepresent mobile device 10 to move to a horizontal displacement and the height displacement of position k from position k-1 respectively.Wherein, mobile device 10 has an initial velocity (figure does not illustrate) when the k-1 of position.
On the other hand, the α that illustrates of Figure 1B
kRepresent mobile device 10 in aforesaid preset time period, by coordinate (x
K-1, y
K-1) move to (x in the mode of turn (turning to the Y direction) by directions X
k, y
k) an angle of turn.Fig. 1 C illustrates mobile device 10 moves to position k from position k-1 a three-dimensional coordinate schematic diagram.
The positioner 11 of the first embodiment of the present invention illustrates as Fig. 1 D, and it comprises a sensing cell 11a, a storage element 11b, a computing unit 11c and a processing unit 11d.Sensing cell 11a also comprises an accelerometer 111, a gyroscope 112, an altimeter 113 and a low pass filter (low-pass filter; LPF) 114.Storage element 11b is in order to store a cartographic information 126.Simultaneously, in present embodiment, when mobile device 10 is positioned at position k-1, its initial velocity of calculated signals and the three-dimensional location coordinates (x that will provide by GPS
K-1, y
K-1, z
K-1), storage element 11b will be in real time with initial velocity and the three-dimensional location coordinates (x of aforesaid mobile device 10 when the k-1 of position
K-1, y
K-1, z
K-1) save as initial velocity information 127 and initial position message 128.
Subsequently, when mobile device 10 moved to position k, accelerometer 111 was the acceleration of sensing mobile device 10, and produced an acceleration information 123.Gyroscope 112 is in order to the turning rate of sensing mobile device 10, and produces a turning rate information 124.113 height displacement of altimeter in order to sensing mobile device 10, and produce a height displacement information 125.
What need to specify is, the described altimeter 113 of present embodiment is according to the variation of air pressure, the height displacement of sensing mobile device 10, and produce height displacement information 125 by this.If air pressure is acute variation in the short time, then will have influence on the accuracy of height displacement information 125, low pass filter 114 will receive height displacement information 125, and produce an adjusted height displacement information 125 ', and then the accuracy of the height displacement information 125 of hoisting depth meter 113 generations.It should be noted that at this, the present invention is not restricted to only can use the accuracy of low pass filter 114 hoisting depth displacement informations 125, affiliated technical field has knows that usually the knowledgeable can otherwise reach the purpose of the accuracy of hoisting depth displacement information 125 according to demand, so do not repeat them here.
Simultaneously, the present invention does not also limit only can be with acceleration, turning rate and the height displacement of accelerometer 111, gyroscope 112 and altimeter 113 difference sensing mobile devices 10, under technical field have and know that usually the knowledgeable can reach the purpose of acceleration, turning rate and the height displacement of sensing mobile device 10 with other measuring instrument according to demand, so do not repeat them here.
Subsequently, computing unit 11c will calculate a temporary displacement information with equation (1) according to initial velocity information 127, acceleration information 123 and aforesaid preset time period:
Wherein, V
K-1Represent initial velocity information 127 (being the initial velocity of mobile device 10 when the k-1 of position); Δ T represents preset time period; Ax
kRepresent acceleration information 123 (being mobile device 10 moves to position k from position k-1 acceleration);
The temporary displacement information of representative.
When computing unit 11c according to initial velocity information 127, acceleration information 123 and aforesaid preset time period, calculate and also to produce after the temporary displacement information, promptly calculate an angle information with equation (2):
Wherein,
The temporary displacement information of representative; Δ H
kRepresent height displacement information 125 ' (being mobile device 10 moves to position k from position k-1 height displacement); θ
kRepresenting angle information (is that mobile device 10 is in preset time period, by coordinate (z
K-1) move to (z with the Z direction
k) angle).
Subsequently, computing unit 11c will calculate an acceleration adjustment information with equation (3) according to described acceleration information 123 of leading portion and angle information:
ax
k＝Ax
k-gsinθ
k (3)
Wherein, Ax
kRepresent acceleration information 123 (being mobile device 10 moves to position k from position k-1 acceleration); G represents acceleration of gravity; θ
kRepresenting angle information (is that mobile device 10 is in preset time period, by coordinate (z
K-1) move to (z with the Z direction
k) angle); Ax
kRepresent the acceleration adjustment information.
Similarly, computing unit 11c will calculate a turning rate adjustment information with equation (4) according to described turning rate information 124 of leading portion and angle information:
ω′
k＝ω
k/cosθ
k (4)
Wherein, ω
kBe represented as turning rate information 124 (being the turning rate of the mobile device 10 of gyroscope 112 sensings); θ
kRepresenting angle information (is that mobile device 10 is in preset time period, by coordinate (z
K-1) move to (z with the Z direction
k) angle); ω '
kRepresent the turning rate adjustment information.
Then, computing unit 11c will calculate according to acceleration adjustment information and preset time period that aforesaid initial velocity information 127, equation (3) calculate, calculate a comprehensive displacement information with equation (5):
ΔS
k＝V
k-1ΔT+ax
kΔT
2/2 (5)
Wherein, V
K-1Represent initial velocity information 127 (being the initial velocity of mobile device 10 when the k-1 of position); Δ T represents preset time period; Ax
kRepresent the acceleration adjustment information; Δ S
kRepresent comprehensive displacement information (being mobile device 10 moves to position k from position k-1 comprehensive displacement).
Computing unit 11c calculates a horizontal displacement information 129 according to aforesaid angle information and comprehensive displacement information with equation (6):
ΔD
k＝ΔS
kcosθ
k (6)
Wherein, Δ S
kRepresent comprehensive displacement information (being mobile device 10 moves to position k from position k-1 a comprehensive displacement); θ
kRepresenting angle information (is that mobile device 10 is in preset time period, by coordinate (z
K-1) move to (z with the Z direction
k) angle); Δ D
kRepresent horizontal displacement information 129 (being mobile device 10 moves to position k from position k-1 horizontal displacement).
Computing unit 11c more will calculate an angle of turn information 130 with equation (7) according to aforesaid turning rate adjustment information and preset time period:
α
k＝ω′
kΔT (7)
Wherein, ω '
kRepresent the turning rate adjustment information; Δ T represents preset time period; α
kRepresent angle of turn information 130.
It (is the three-dimensional location coordinates (x of mobile device 10 in position k-1 that processing unit 11d then receives height displacement information 125, cartographic information 126, initial position message 128
K-1, y
K-1, z
K-1)), horizontal displacement information 129 and angle of turn information 130.Subsequently, processing unit 11d will calculate a two-dimensional coordinate information with equation (8) according to initial position message 128, horizontal displacement information 129 and angle of turn information 130:
(x
k，y
k)＝(x
k-1+ΔD
kcosα
k，y
k-1+ΔD
ksinα
k) 8)
Wherein, (x
K-1, y
K-1) represent the two-dimensional position coordinate of mobile device 10 in position k-1; Δ D
kRepresent horizontal displacement information 129 (being mobile device 10 moves to position k from position k-1 horizontal displacement); α
kRepresent angle of turn information 130; (x
k, y
k) represent the two-dimensional position coordinate of mobile device 10 in position k.
Subsequently, processing unit 11d will produce positional information (figure does not illustrate) according to two-dimensional coordinate information and height displacement information 125 ', and will to indicate mobile device 10 on cartographic information 126 according to positional information (be three-dimensional location coordinates (x in a horizontal level and the height and position of position k
k, y
k, z
k)).
The second embodiment of the present invention is a kind of localization method that is used for a mobile device shown in Fig. 2 A to Fig. 2 B, for example the described mobile device 10 of first embodiment.Localization method of the present invention can be used for location device, for example described positioner 11 of first embodiment.Mobile device has an initial velocity, and positioner comprises a sensing cell, a storage element, a computing unit and a processing unit.Wherein, storage unit stores one cartographic information of positioner.
Particularly, the described localization method of second embodiment can be carried out by a computer program, when positioner is loaded this computer program and carries out a plurality of instructions that this computer program comprises by a computer after, can finish the described localization method of second embodiment.Aforesaid computer program can be stored in the computer-readable medium storing, for example read-only memory (read only memory; ROM), flash memory, floppy disk, hard disk, CD, with oneself dish, tape, can be by in the database of network access or person skilled in the art person was familiar with and have identical function any other Storage Media.
At first, execution in step 201, storage element saves as an initial velocity information with initial velocity, and by step 202 sensing cell sensing one acceleration information and a height displacement information.In step 203, sensing cell is further adjusted height displacement information.
Then, by step 204, computing unit is according to initial velocity information, acceleration information, preset time period and height displacement information calculations one angle information.Particularly, computing unit will calculate a temporary displacement information according to initial velocity information, acceleration information and preset time period, and according to temporary displacement information and height displacement information calculations angle information.
In step 205, processing unit will judge whether angle information surpasses a critical value; If not, the expression mobile device is just travelling on the surface road, does not need acceleration information is adjusted, and follows execution in step 206, and computing unit produces a comprehensive displacement information according to initial velocity information, acceleration information and preset time period.By step 207, processing unit produces a positional information according to comprehensive displacement information and height displacement information.At last, in step 208, processing unit will indicate a horizontal level and a height and position according to positional information on cartographic information.
In step 207, if processing unit is judged angle information and is surpassed critical value, the expression mobile device is just travelling on the on-plane surface road, therefore must adjust acceleration information, follow execution in step 209, computing unit calculates an acceleration adjustment information according to initial velocity information, acceleration information and angle information.By step 210, computing unit calculates comprehensive displacement information according to initial velocity information, acceleration adjustment information and preset time period.Then, in step 211, computing unit calculates a horizontal displacement information according to comprehensive displacement information and angle information.By step 212, processing unit produces positional information according to horizontal displacement information and height displacement information.At last, execution in step 208, processing unit will indicate horizontal level and height and position according to positional information on cartographic information.
Except above-mentioned steps, localization method of the present invention also can be carried out described all operations of first embodiment and function, under technical field have know usually the knowledgeable can be directly acquainted with localization method of the present invention how based on above-mentioned first embodiment to carry out these operations and function, so do not repeat them here.
In sum, positioner of the present invention, localization method and computer program thereof can calculate angle information according to initial velocity information, acceleration information, height displacement information and preset time period that sensing cell senses, and adjust acceleration information according to angle information.In view of the above, by positioner of the present invention, localization method and computer program thereof, can be under the situation that can't receive the signal that GPS provides, provide accurately and the location of three-dimensional environment timely.
The above embodiments only are used for exemplifying enforcement aspect of the present invention, and explain technical characterictic of the present invention, are not to be used for limiting protection category of the present invention.Any be familiar with this operator can unlabored change or the arrangement of the isotropism scope that all belongs to the present invention and advocated, the scope of the present invention should be as the criterion with claim.
Claims (12)
1. localization method that is used for a mobile device, this mobile device has an initial velocity, and this localization method comprises the following step:
Make a storage element that this initial velocity is saved as an initial velocity information;
Make a sensing cell sensing one acceleration information and a height displacement information;
Make a computing unit calculate an angle information according to this initial velocity information, this acceleration information, this height displacement information and a preset time period;
Make this computing unit calculate an acceleration adjustment information according to this acceleration information and this angle information;
Make this computing unit calculate a comprehensive displacement information according to this initial velocity information, this acceleration adjustment information and this preset time period; And
Make a processing unit produce a positional information according to this comprehensive displacement information and this height displacement information.
2. localization method as claimed in claim 1 is characterized in that, also comprises following steps:
Make this computing unit calculate a speed adjustment information according to this initial velocity information, this acceleration adjustment information and this preset time period; And
Make this processing unit that the initial velocity information updating of this storage unit stores is this speed adjustment information.
3. localization method as claimed in claim 1 is characterized in that, this step of calculating an angle information also comprises following steps:
Make this computing unit calculate a temporary displacement information according to this initial velocity information, this acceleration information and this preset time period;
Wherein, this angle information is calculated according to being somebody's turn to do temporary displacement information and this height displacement information.
4. localization method as claimed in claim 1 is characterized in that, this step that produces a positional information also comprises following steps:
Make this computing unit calculate a horizontal displacement information according to this comprehensive displacement information and this angle information;
Wherein, this positional information is produced according to this horizontal displacement information and this height displacement information.
5. localization method as claimed in claim 4 is characterized in that, also comprises the following step:
Make this storage element that one cartographic information is provided; And
Make this processing unit on this cartographic information, indicate a horizontal level and a height and position according to this positional information.
6. localization method as claimed in claim 1 is characterized in that, the step of this sensing one acceleration information and a height displacement information also comprises following steps:
Make a low pass filter adjust this height displacement information.
7. positioner that is used for a mobile device, this mobile device has an initial velocity, and this positioner comprises:
One storage element is in order to save as this initial velocity one initial velocity information;
One sensing cell is in order to sensing one acceleration information and a height displacement information;
One computing unit, calculate an angle information according to this initial velocity information, this acceleration information, this height displacement information and a preset time period, then calculate an acceleration adjustment information, and calculate a comprehensive displacement information according to this initial velocity information, this acceleration adjustment information and this preset time period according to this acceleration information and this angle information; And
One processing unit produces a positional information according to this comprehensive displacement information and this height displacement information.
8. positioner as claimed in claim 7, it is characterized in that, this computing unit calculates a speed adjustment information according to this initial velocity information, this acceleration adjustment information and this preset time period, and this processing unit is this speed adjustment information with the initial velocity information updating of this storage unit stores.
9. positioner as claimed in claim 7, it is characterized in that, this computing unit calculates a temporary displacement information according to this initial velocity information, this acceleration information and this preset time period, and according to this temporary displacement information and this this angle information of height displacement information calculations.
10. positioner as claimed in claim 7, it is characterized in that, this computing unit calculates a horizontal displacement information according to this comprehensive displacement information and this angle information, and this processing unit produces this positional information according to this horizontal displacement information and this height displacement information.
11. positioner as claimed in claim 10 is characterized in that, this storage element also stores a cartographic information, and this processing unit indicates a horizontal level and a height and position according to this positional information on this cartographic information.
12. positioner as claimed in claim 7 is characterized in that, this sensing cell also comprises a low pass filter, in order to adjust this height displacement information.
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|---|---|---|---|
| CN2009102471840A CN102083203A (en) | 2009-11-27 | 2009-11-27 | Positioning device and method for mobile device |
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|---|---|---|---|
| CN2009102471840A CN102083203A (en) | 2009-11-27 | 2009-11-27 | Positioning device and method for mobile device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102841345A (en) * | 2011-06-22 | 2012-12-26 | 财团法人工业技术研究院 | Electronic device, positioning method and system, computer program product and recording medium |
| CN103558617A (en) * | 2013-10-30 | 2014-02-05 | 无锡赛思汇智科技有限公司 | Positioning method and device |
| CN103808959A (en) * | 2012-11-14 | 2014-05-21 | 威润科技股份有限公司 | Sensing system and method |
| CN106324588A (en) * | 2016-08-29 | 2017-01-11 | 无锡卓信信息科技股份有限公司 | Intelligent ship environment personnel self-positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102841345A (en) * | 2011-06-22 | 2012-12-26 | 财团法人工业技术研究院 | Electronic device, positioning method and system, computer program product and recording medium |
| CN103808959A (en) * | 2012-11-14 | 2014-05-21 | 威润科技股份有限公司 | Sensing system and method |
| CN103558617A (en) * | 2013-10-30 | 2014-02-05 | 无锡赛思汇智科技有限公司 | Positioning method and device |
| CN106324588A (en) * | 2016-08-29 | 2017-01-11 | 无锡卓信信息科技股份有限公司 | Intelligent ship environment personnel self-positioning system |
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Application publication date: 20110601 |