CN102194300A - System with indoor navigation function and monitor - Google Patents

System with indoor navigation function and monitor Download PDF

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Publication number
CN102194300A
CN102194300A CN201010121400XA CN201010121400A CN102194300A CN 102194300 A CN102194300 A CN 102194300A CN 201010121400X A CN201010121400X A CN 201010121400XA CN 201010121400 A CN201010121400 A CN 201010121400A CN 102194300 A CN102194300 A CN 102194300A
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data
monitor
value
initial
sensor
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CN201010121400XA
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CN102194300B (en
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陈新伟
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陈新伟
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Abstract

The invention provides a system with an indoor navigation function, and a monitor. The system comprises the monitor and at least one sensor, wherein the sensor is used for sensing and obtaining movement track data of a first object, and processing the movement track data of the first object to obtain space coordinate values and direction values of the first object; and the monitor is used for receiving the space coordinate values and direction values of the first object, and processing the space coordinate values and direction values of the first object according to a preset space layout chart in the monitor so as to obtain position information of the first object in the space layout chart and displaying a position of the first object in the space layout chart. By implementing the invention, guardians can find out the positions of monitored children or pets in a current area at any time, and can be informed timely when the monitored children or pets are located in a dangerous area, so that the guardians can get to the monitored children or pets promptly and the occurrence of dangers is avoided.

Description

A kind of system and monitor with indoor navigation function

Technical field

The present invention relates to electronic technology field, relate in particular to a kind of system and monitor with indoor navigation function.

Background technology

For young child, the head of a family always can worry and uneasiness for the situation that can not recognize child at any time, and wish more to understand child's active situation.The present all kinds of monitors that occur, can be as required by the information pickup device as the information such as the first-class pictorial information that picks up the child who is guarded, acoustic information, video information of making a video recording, and the information of picking up sent to the monitor that is arranged in head of a family's hand, thereby make the active situation of recognizing the child who is guarded that the head of a family can be real-time.

The defective of existing monitor is, when the child who is guarded stays alone a Room, the head of a family can not be real-time the position of recognizing child's current active of being guarded, and it is issuable dangerous local not know whether whether the child that guarded climb near comparatively dangerous place such as door and window and child, and existing monitor can not show the child that guarded staying situation and make the head of a family recognize the child's who is guarded activity characteristic in the room.

Summary of the invention

In view of this, the invention provides a kind of system and monitor with indoor navigation function, the position of current actives such as child who the head of a family can be understood in real time guarded or pet, and know whether child that the quilt of being guarded is guarded or pet etc. are in comparatively dangerous zone and recognize the child that guarded or the activity characteristic of pet etc.

For addressing the above problem, the embodiment of the invention provides a kind of monitor system with indoor navigation function, comprises monitor and at least one sensor, wherein:

Sensor, be used for the motion trace data that sensing obtains first object, and the motion trace data of described first object handled spatial value and the direction value that obtains described first object, the motion trace data of described first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data;

Monitor, be used to receive the spatial value and the direction value of described first object, and according to the space layout figure that sets in advance in the monitor, the spatial value of described first object and direction value handled obtaining the positional information of described first object in described space layout figure, and show the position of described first object in described space layout figure according to described positional information.

Further, described sensor also is used for sensing and obtains the initial motion track data, and described initial motion track data handled obtain initial space coordinate figure and direction value, described initial motion track data comprises: initial three-dimensional acceleration data and/or initial three-dimensional gyro data;

Described monitor also is used for described initial space coordinate figure and direction value are handled span layout.

Further, the motion trace data of described first object also comprises: three-dimensional magnetometer data and/or barometer data;

Described initial motion track data also comprises: three-dimensional magnetometer data and/or barometer data.

Further, described monitor also is used to be provided with hazardous location and early-warning parameters value, and judge whether described first object is in the hazardous location, perhaps whether its spatial value and direction value are in the described early-warning parameters value of setting, if, then carry out alarm, described alarm comprises: any one or more in sounding alarm prompting, luminous alarm, the vibrations alarm.

Further, described monitor also is used to preserve the positional information of described first object.

Further, described monitor system with indoor navigation function also comprises at least one calibration device, is used for sending announcement information to described sensor;

Described sensor also is used for generating position correction information according to described announcement information;

Described monitor also is used to obtain described position correction information, and according to described position correction information the positional information of described first object in described space layout figure is proofreaied and correct.

Accordingly, the embodiment of the invention provides a kind of monitor with indoor navigation function, comprising:

Receiving element, the motion trace data that is used to receive first object that sensor obtains its sensing is handled the spatial value and the direction value of described first object that obtains, and the motion trace data of described first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data;

Data processing unit is used for according to the space layout figure that sets in advance in the monitor, the spatial value of described first object and direction value is handled obtaining the positional information of described first object in described space layout figure;

Display unit is used for showing the position of described first object at described space layout figure according to described positional information.

Further, described receiving element also is used to receive the initial motion track data that described sensor obtains its sensing and handles initial space coordinate figure and the direction value that obtains, and described initial motion track data comprises: initial three-dimensional acceleration data and/or initial three-dimensional gyro data;

Described data processing unit also is used for described initial space coordinate figure and direction value are handled span layout.

Further, the motion trace data of described first object also comprises: three-dimensional magnetometer data and/or barometer data;

Described initial motion track data also comprises: three-dimensional magnetometer data and/or barometer data.

Further, also comprise:

Described data processing unit also is used to be provided with hazardous location and early-warning parameters value;

Judging unit is used to judge whether the space of described first object is in the hazardous location, and perhaps whether its coordinate figure and direction value are in the described hazardous location of setting;

The alarm unit, be used for when described judgment unit judges result when being, carry out alarm, described alarm comprises: any one or more in sounding alarm prompting, luminous alarm, the vibrations alarm.

Further, also comprise: storage unit, the positional information that is used to preserve described first object.

Further, described receiving element also is used to receive the position correction information of sensor according to the announcement information generation of calibration device transmission;

Described monitor also comprises:

Position correction unit is used for according to described position correction information described first object being proofreaied and correct in the positional information of described space layout figure.

In embodiments of the present invention, position display by the child that will be guarded or pet etc. is in the space layout figure that sets in advance, residing positions such as child who makes the guardian to recognize at any time to be guarded or pet, and by the mode of hazardous location is set in space layout figure, when child that feasible quilt is guarded or pet etc. are positioned at the hazardous location, can notify the guardian timely, thereby child who makes the guardian to arrive in timely to be guarded or pet etc. avoid dangerous generation at one's side.In addition, when being positioned at the inferior hidden position of frame bed by the child that guarded or pet etc., the guardian also can find fast and accurately.

Description of drawings

Fig. 1 is the theory diagram of the monitor system with indoor navigation function of the embodiment of the invention;

Fig. 2 is the theory diagram of the monitor with indoor navigation function of the embodiment of the invention.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment, those of ordinary skills only are the present invention's part embodiment not making the every other example of executing that is obtained under the creative work prerequisite, rather than whole embodiment.Based on the embodiment among the present invention, all belong to the scope of protection of the invention.

Fig. 1 is that the structure of the monitor system with indoor navigation function of the embodiment of the invention is formed synoptic diagram.As shown in Figure 1, this system comprises: monitor 2 and at least one sensor 1, wherein:

Described sensor 1 is used for the motion trace data that sensing obtains first object, and the motion trace data of described first object handled spatial value and the direction value that obtains described first object, the motion trace data of described first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data.Described first object includes but not limited to child, pet, and present embodiment is that child or pet are that example describes with custodial person.In addition, can obtain the three-dimensional magnetometer data and/or the barometer data of described first object as required.

Concrete, can comprise in the described sensor 1: three dimension acceleration sensor and/or three-dimensional gyroscope, in order to make sense data more accurate, can also comprise three-dimensional magnetometer and/or barometer in the described sensor 1, wherein, three dimension acceleration sensor inside is made up of three single-axis acceleration sensors, but the linear acceleration value on the sensing X-axis, Y-axis, Z-direction, behind twice integration, can calculate straight-line displacement; And three-dimensional gyroscope inside is made up of three gyro sensors, but the angular acceleration values on the sensing X-axis, Y-axis, Z-direction behind twice integration, can obtain angular displacement; Three-dimensional magnetometer inside is made up of three magnetometer sensors, is used for the sensing geomagnetic data, and the absolute direction value can be provided; Barometer is used for sensing atmospheric pressure data, and the absolute altitude value can be provided.When using, described sensor 1 can be selected three dimension acceleration sensor and/or three-dimensional gyroscope for use, also can suitably select for use three-dimensional magnetometer and/or barometer to be used as required, and is concrete to obtain different precision, includes but not limited to following seven kinds of schemes.

Scheme one: described sensor 1 adopts three dimension acceleration sensor, three-dimensional gyroscope, three-dimensional magnetometer and barometrical combination.The X-axis that described sensor 1 senses according to three dimension acceleration sensor, Y-axis, linear acceleration value on the Z-direction, behind twice integration, calculate straight-line displacement, the X-axis of feeling according to three-dimensional gyroscope, Y-axis, angular acceleration values on the Z-direction, behind twice integration, the angular displacement that obtains, according to straight-line displacement and described angular displacement, can calculate the child that guarded or three dimensional space coordinate and the direction value of pet, simultaneously, the absolute altitude value that absolute direction value that the geomagnetic data that senses by three-dimensional magnetometer obtains and barometer sensing atmospheric pressure data obtain, can carry out drift compensation to three dimension acceleration sensor and three-dimensional gyroscope sensed data, improve the precision of the data that calculate.The spatial value that the mode of the combination of 4 kinds of sensors of employing obtains and the precision of direction value are the highest.

Scheme two: described sensor 1 adopts the combination of three dimension acceleration sensor, three-dimensional gyroscope and three kinds of sensors of three-dimensional magnetometer.The X-axis that described sensor 1 senses according to three dimension acceleration sensor, Y-axis, linear acceleration value on the Z-direction, behind twice integration, calculate straight-line displacement, the X-axis that senses according to three-dimensional gyroscope, Y-axis, angular acceleration values on the Z-direction, behind twice integration, the angular displacement that obtains, according to straight-line displacement and described angular displacement, can calculate the child that guarded or three dimensional space coordinate and the direction value of pet, and the geomagnetic data that three-dimensional magnetometer senses, the absolute direction value can be provided, can carry out drift compensation, improve the data precision that calculates three dimension acceleration sensor and three-dimensional gyroscope sensed data.

Scheme three: described sensor 1 adopts the combination of three dimension acceleration sensor and two kinds of sensors of three-dimensional gyroscope.As above-mentioned, this kind combination can access the child that guarded or spatial value and the direction value of pet, but has not had the absolute direction value that three-dimensional magnetometer provided, and may produce position excursion, and precision is not as such scheme.

Scheme four: 1 of described sensor adopts three dimension acceleration sensor.Can utilize a plurality of three dimension acceleration sensors to simulate three-dimensional gyrostatic characteristic, as, with three three dimension acceleration sensors, be placed on respectively on the positive axis of horizontal X axle, Y-axis and Z axle of certain radius, just can simulate three-dimensional gyrostatic characteristic, and then can utilize the data computation that senses to go out the movement locus that the three dimensional space coordinate in three dimensional space coordinate and the certain hour forms, at this moment, be equivalent to scheme three.

Scheme five: 1 of described sensor adopts three-dimensional gyroscope, though the rectilinear motion of three-dimensional gyroscope on can not etection theory, but in actual the use, most rectilinear motions are not to be absolute, rectilinear motion can be regarded as the very big curvilinear motion of radius, directly, then speed or displacement and direction can be obtained, three dimensional space coordinate and direction value can be drawn with respect to original coordinates point by computing according to the data of the angular acceleration values of three-dimensional gyroscope output.

Scheme six: described sensor 1 adopts the combination of three dimension acceleration sensor and three-dimensional magnetometer, this scheme has increased the absolute direction value that three-dimensional magnetometer provided on the basis of scheme four, identical with scheme four principles, data are carried out drift compensation, improved precision.

Scheme seven: described sensor 1 adopts the combination of three-dimensional gyroscope and three-dimensional magnetometer, and this scheme has increased the absolute direction value that three-dimensional magnetometer provided on the basis of scheme five, and is identical with scheme Wuyuan reason, and data are carried out drift compensation, improved precision.

Described monitor 2 is used to receive the spatial value and the direction value of described first object, and according to the space layout figure that sets in advance in the monitor, the spatial value of described first object and direction value handled obtaining the positional information of described first object in described space layout figure, and show the position of described first object in described space layout figure according to described positional information.When opening described monitor system with indoor navigation function, carry out communication between described sensor 1 and the described monitor 2, described monitor 2 shows child that described sensor 1 is promptly guarded or the position of pet in the mode of a bright spot.Concrete, the initial display position of described sensor 1 can be set by described monitor 2, when open system, the position of described sensor 1 in the space layout figure that described monitor 2 sets in advance is positioned on the described initial display position, the guardian is corresponding to the physical location (the true origin position that described sensor 1 calculates) at current described sensor 1 place, can be by moving the mode of described bright spot, described bright spot is moved to corresponding position among the described space layout figure that sets in advance, at this moment, the coordinate of relevant position is mapping relations one to one among the true origin calculated of described sensor 1 and the described space layout figure.When being moved by the child that guarded or pet, after described monitor 2 receives the spatial value and direction value of described child who is guarded that described sensor 1 sends or pet, according to mapping relations, the described child who is guarded that receives or spatial value and the direction value of pet are mapped directly to correspondence position among the space layout figure that sets in advance, the coordinate of this correspondence position is described child who is guarded or the positional information of pet in described space layout figure, and described monitor 2 can show described child who is guarded or the position of pet in described space layout figure according to described positional information.

Wherein, described monitor system with indoor navigation function can comprise a plurality of sensors, communicates with described monitor 2 respectively by unified mode of numbering, and makes described system can guard a plurality of targets simultaneously.

In addition, described monitor 2 can be realized with independent device; Also monitor and portable terminal (for example mobile phone, PDA etc.) can be linked to each other, the positional information that monitor is used to receive the spatial value and the direction value of first object and calculates first object, the mode that portable terminal then carries out the demonstration of position realizes; Can also be in the portable terminal of built-in sensors in addition the mode of supporting monitoring software realize.

The space layout that sets in advance in the described monitor 2 can realize by direct mode to described monitor 2 typing space layout figure, also can carry out the setting of space layout figure by described sensor 1 and described monitor 2, wherein, the process of carrying out the setting of space layout figure by described sensor 1 and described monitor 2 comprises:

Described sensor 1 is used for sensing and obtains the initial motion track data, and described initial motion track data handled obtain initial space coordinate figure and direction value, described initial motion track data comprises: initial three-dimensional acceleration data and/or initial three-dimensional gyro data, also can obtain initial three-dimensional magnetometer data and/or barometer data as required.Concrete, the hand-holdable sensor 1 of guardian moves along the edge of indoor wall or furniture etc., to gather the three-dimensional motion data by described sensor 1 is the initial motion track data, and the binding time value is handled described initial motion track data, the initial space coordinate figure of described sensor 1 and direction value in the time of can obtaining each time value, wherein, described initial motion track data obtain with the motion trace data of the processing and above-mentioned first object obtain and handle identical, do not give unnecessary details at this.Initial space coordinate figure and the direction value obtained are sent to described monitor 2, behind the initial space coordinate figure and direction value of gathering each location point of edge, complete room, 2 pairs of described initial space coordinate figures of described monitor and direction value are handled, as with as described in initial space coordinate figure and direction value couple together, can obtain the space layout figure in whole room, layout also can draw when collecting data.

In addition, when described space layout figure is set, can hazardous location and early-warning parameters value be set by described monitor 2, make when the child that guarded when quilt or pet arrive described hazardous location and reach the early-warning parameters value, described monitor 2 sends alarm, can also set in specific zone when described sensor 1 and sense the child that guarded or pet when rising to certain altitude, described monitor 2 sends warning, it is long-time motionless during to certain hour in certain position to work as sensor, and described monitor 2 sends warning.

Further, described monitor system with indoor navigation function can also comprise at least one calibration device 3, described calibration device 3 is used for sending announcement information to described sensor 1, and described sensor 1 sends position correction information according to described announcement information to described monitor 2.Described monitor 2 is proofreaied and correct the positional information of described first object in space layout figure according to described position correction information.

In concrete the application, described sensor 1 can be placed on one's body the patient of hospital, doctor or nurse etc. can recognize the position of the patient's who is guarded active situation and current active in real time by described monitor 2; Also described sensor 1 can be placed on the trial targets such as small white mouse, scientist can recognize the active situation of small white mouse etc. and the position of current active in real time by described monitor 2.In addition, also can be used in wireless remote control automobile, on the toys such as telecontrolled aircraft, find toy so that confirm the position of toy.

Concrete, Fig. 2 is that the structure of the monitor with indoor navigation function of the embodiment of the invention is formed synoptic diagram, as shown in Figure 2, described monitor 1 comprises:

Receiving element 11, the motion trace data that is used to receive first object that 1 pair of sensing of described sensor obtains is handled the spatial value and the direction value of described first object that obtains, the motion trace data of described first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data, in addition, the motion trace data of described first object also comprises three-dimensional magnetometer data and/or barometer data.Wherein, described first object can be child, pet or hospital patient etc.Concrete, can communicate by modes such as low-power consumption short-distance wireless communication mode or bluetooths between described monitor 2 and the described sensor 1, described receiving element 11 is low-power consumption short-distance wireless communication receiving trap or bluetooth receiving trap accordingly.

In the specific implementation,, can choose different sensors and combination thereof according to different sensing accuracy requirement for sensor 1.Choose different sensor combinations and obtain corresponding motion trace data and identical with the aforesaid mode of obtaining and handling, do not give unnecessary details at this to the processing of motion trace data.

Data processing unit 12 is used for the space layout figure that sets in advance according in the monitor 2, the spatial value of described first object and direction value is handled obtaining the positional information of described first object in described space layout figure.Concrete, the spatial value of described first object that receives and direction value can be mapped to and can obtain the positional information of described first object in described space layout figure among the space layout figure that sets in advance.Described data processing unit 12 can be single-chip microcomputer etc.

Display unit 13 is used for showing the position of described first object at described space layout figure according to described positional information.Concrete, described display unit 13 can for a LCD display in order to show the position of described first object in described space layout figure.

In addition, also can as required the described data processing unit 12 in the monitor 2 be connected with equipment such as mobile phone or navigating instruments, perhaps the described receiving element 11 in the described monitor 2 and described data processing unit 12 are integrated in the equipment such as mobile phone or navigating instrument so that the display device of equipment such as described mobile phone or navigating instrument as the described display unit 13 of described monitor 2, thereby make the display device of equipment such as mobile phone or navigating instrument show the position of described first object in space layout figure, also can directly calculate positional information accordingly as required, and accordingly carry out alarm and the storage of described positional information according to positional information by mobile phone or navigating instrument.

Further, described receiving element 11 also is used to receive the initial motion track data that 1 pair of sensing of described sensor obtains and handles initial space coordinate figure and the direction value that obtains, described initial motion track data comprises: initial three-dimensional acceleration data and/or initial three-dimensional gyro data, in addition, also can obtain initial three-dimensional magnetometer data and/or initial gas pressure counting certificate as required.

Described data processing unit 12 also is used for described initial space coordinate figure and direction value are handled span layout.Concrete, described sensor 1 sensing obtains the initial motion track data and it is handled obtaining initial space coordinate figure and direction value, the described data processing unit 12 of described monitor 2 can be according to described initial space coordinate figure and direction value span layout, concrete, the guardian can move at edges such as indoor wall or furniture by hand-held described sensor 1, but described sensor 1 sensing three-dimensional motion data at this moment are the initial motion track data, described initial motion track data handled to obtain corresponding initial space coordinate figure and direction value, described data processing unit 12 couples together each initial space coordinate figure and direction value, can obtain space layout figure.Concrete, the guardian can be as required in described space layout figure corresponding position add corresponding furniture etc.

Further, described data processing unit 12 also is used to be provided with hazardous location and early-warning parameters value.Concrete, can the hazardous location be set by the mode that coordinate range is set, for example, can space layout figure near the window certain coordinate figure scope be set to the hazardous location; The calibration device mode also can be set by the relevant position in zones such as rooms the hazardous location is set; Also can be according to coordinate figure relative set height threshold, when the height value that obtains when sensing surpasses described height threshold for dangerous; Also the regular hour length value can be set, not change in by spatial value of the child that guarded or pet and the certain hour length value of direction value in described setting, then be danger.Wherein, described calibration device is used among a small circle and described sensor 1 communicates, and makes described sensor 1 notify current being in the hazardous location such as child that the quilt at described monitor 2 described sensors 1 place guards or pet to send alarm signal to described sensor 1.In addition, described sensor 1 also can draw the positions in described space layout figure such as described child who is guarded or pet accordingly by described calibration device, revise so that described monitor 2 carries out the position.

Judging unit 14 is used for judging whether described first object is in the described hazardous location of setting.Concrete, described judging unit 14 judge described first object promptly the spatial value of the child that guarded of quilt or pet etc. and direction value whether in the coordinate range of the set hazardous location of described data processing unit 12 to judge whether described first object is in the hazardous location; The announcement information that perhaps described judging unit 14 judges whether to receive described sensor 1 is to judge whether described first object is in the hazardous location, and wherein, described announcement information is that described sensor 1 produces according to the notification signal that calibration device sends.

Alarm unit 15, be used for when described judging unit 14 judged results when being, carry out alarm, described alarm comprises: any one or more in sounding alarm prompting, luminous alarm, the vibrations alarm.Concrete, in the time of in described judging unit 14 is judged the spatial value of described first object and coordinate range that the direction value falls into described hazardous location, then judge this moment described first object be in the hazardous location, described alarm unit 15 carries out corresponding alarm; Perhaps judge when receiving the announcement information that described sensor 1 sends when described judging unit 14, then judge this moment described first object and be in the hazardous location, described alarm unit 15 carries out corresponding alarm.Wherein, described receiving element 11 in the described monitor 2 and described data processing unit 12 and described judging unit 14 can be connected with equipment such as mobile phone or navigating instruments or be integrated in the equipment such as mobile phone or navigating instrument so that the sound-producing device of equipment such as described mobile phone or navigating instrument or in light-emitting device or the shaking device any one or multiple as the alarm unit 15 in the described monitor 2, thereby make equipment such as described mobile phone or navigating instrument carry out corresponding sounding alarm prompting or luminous alarm or vibrations alarm etc.

Further, described monitor 2 also comprises:

Storage unit 16, the positional information that is used to preserve described first object.The storer of described storage unit 15 for being connected with described data processing unit 12, the guardian can check the positional information of described first object of described storage unit 16 storages as required by described display unit 13.

Description by the foregoing description, the present invention has the following advantages: the motion trace data of the child who is guarded by sensing or pet etc., and calculate described motion trace data and obtain spatial value and direction value, described spatial value and direction value are mapped among the space layout figure that sets in advance, residing position in current region such as the child who makes the guardian to recognize at any time to be guarded or pet, and by the mode of hazardous location is set, make when child who is guarded or pet etc. are in the hazardous location, can in time notify the guardian.In addition, the stop situation of child that location learning in the zone such as child who guards by the quilt of checking preservation or pet is guarded to quilt or pet etc., child who makes monitoring person intuitively clearly to know to be guarded or the activity characteristic of pet, thereby recognize the hobby of the child that guarded or pet etc., and when being positioned at the inferior hidden position of frame bed by the child that guarded or pet etc., the guardian also can find fast and accurately.

Above disclosed only is preferred embodiment of the present invention, can not limit the present invention's interest field certainly with this, and therefore the equivalent variations of doing according to claim of the present invention still belongs to the scope that invention is contained.

Claims (12)

1. the monitor system with indoor navigation function is characterized in that, comprises monitor and at least one sensor, wherein:
Sensor, be used for the motion trace data that sensing obtains first object, and the motion trace data of described first object handled spatial value and the direction value that obtains described first object, the motion trace data of described first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data;
Monitor, be used to receive the spatial value and the direction value of described first object, and according to the space layout figure that sets in advance in the monitor, the spatial value of described first object and direction value handled obtaining the positional information of described first object in described space layout figure, and show the position of described first object in described space layout figure according to described positional information.
2. the system as claimed in claim 1 is characterized in that,
Described sensor also is used for sensing and obtains the initial motion track data, and described initial motion track data handled obtain initial space coordinate figure and direction value, described initial motion track data comprises: initial three-dimensional acceleration data and/or initial three-dimensional gyro data;
Described monitor also is used for described initial space coordinate figure and direction value are handled span layout.
3. system as claimed in claim 2 is characterized in that,
The motion trace data of described first object also comprises: three-dimensional magnetometer data and/or barometer data;
Described initial motion track data also comprises: three-dimensional magnetometer data and/or barometer data.
4. system as claimed in claim 3, it is characterized in that, described monitor also is used to be provided with hazardous location and early-warning parameters value, and judge whether described first object is in the hazardous location of setting, perhaps whether its spatial value and direction value are in the described early-warning parameters value of setting, if, then carrying out alarm, described alarm comprises: any one or more in sounding alarm prompting, luminous alarm, the vibrations alarm.
5. as each described system of claim 1 to 4, it is characterized in that described monitor also is used to preserve the positional information of described first object.
6. system as claimed in claim 5 is characterized in that,
Described monitor system with indoor navigation function also comprises at least one calibration device, is used for sending announcement information to described sensor;
Described sensor also is used for generating position correction information according to described announcement information;
Described monitor also is used to obtain described position correction information, and according to described position correction information the positional information of described first object in described space layout figure is proofreaied and correct.
7. the monitor with indoor navigation function is characterized in that, comprising:
Receiving element, the motion trace data that is used to receive first object that sensor obtains its sensing is handled the spatial value and the direction value of described first object that obtains, and the motion trace data of described first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data;
Data processing unit is used for according to the space layout figure that sets in advance in the monitor, the spatial value of described first object and direction value is handled obtaining the positional information of described first object in described space layout figure;
Display unit is used for showing the position of described first object at described space layout figure according to described positional information.
8. monitor as claimed in claim 7 is characterized in that,
Described receiving element also is used to receive the initial motion track data that described sensor obtains its sensing and handles initial space coordinate figure and the direction value that obtains, and described initial motion track data comprises: initial three-dimensional acceleration data and/or initial three-dimensional gyro data;
Described data processing unit also is used for described initial space coordinate figure and direction value are handled span layout.
9. monitor as claimed in claim 8 is characterized in that,
The motion trace data of described first object also comprises: three-dimensional magnetometer data and/or barometer data;
Described initial motion track data also comprises: three-dimensional magnetometer data and/or barometer data.
10. monitor as claimed in claim 9 is characterized in that, also comprises:
Described data processing unit also is used to be provided with hazardous location and early-warning parameters value;
Judging unit is used to judge whether described first object is in the hazardous location of setting, and perhaps whether its spatial value and direction value are in the described hazardous location of setting;
The alarm unit, be used for when described judgment unit judges result when being, carry out alarm, described alarm comprises: any one or more in sounding alarm prompting, luminous alarm, the vibrations alarm.
11. as each described monitor of claim 7 to 10, it is characterized in that, also comprise:
Storage unit, the positional information that is used to preserve described first object.
12. monitor as claimed in claim 11 is characterized in that,
Described receiving element also is used to receive the position correction information of sensor according to the announcement information generation of calibration device transmission;
Described monitor also comprises:
Position correction unit is used for according to described position correction information described first object being proofreaied and correct in the positional information of described space layout figure.
CN 201010121400 2010-03-09 2010-03-09 System with indoor navigation function and monitor CN102194300B (en)

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CN102194300B CN102194300B (en) 2013-01-16

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CN103134494A (en) * 2012-12-05 2013-06-05 中国科学院深圳先进技术研究院 Method and device for vehicle navigation in indoor environment
CN103175529A (en) * 2013-03-01 2013-06-26 上海美迪索科电子科技有限公司 Pedestrian inertial positioning system based on indoor magnetic field feature assistance
CN103632494A (en) * 2013-11-06 2014-03-12 苏州市职业大学 Child indoor protection alarm device
CN104202720A (en) * 2014-08-19 2014-12-10 惠州Tcl移动通信有限公司 Method and system for realizing position monitoring alarm
CN104374387A (en) * 2014-10-31 2015-02-25 清华大学 Motion path generation method
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CN108053587A (en) * 2018-01-08 2018-05-18 京东方科技集团股份有限公司 Personal identification method and its device, carpet
CN109118713A (en) * 2018-09-28 2019-01-01 出门问问信息科技有限公司 monitoring device

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CN103134494B (en) * 2012-12-05 2015-07-29 中国科学院深圳先进技术研究院 Automobile navigation method in indoor environment and device
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CN103175529A (en) * 2013-03-01 2013-06-26 上海美迪索科电子科技有限公司 Pedestrian inertial positioning system based on indoor magnetic field feature assistance
CN103175529B (en) * 2013-03-01 2016-01-06 上海美迪索科电子科技有限公司 Based on pedestrian's inertial positioning system that indoor magnetic signature is auxiliary
CN103632494A (en) * 2013-11-06 2014-03-12 苏州市职业大学 Child indoor protection alarm device
CN104202720A (en) * 2014-08-19 2014-12-10 惠州Tcl移动通信有限公司 Method and system for realizing position monitoring alarm
CN104374387A (en) * 2014-10-31 2015-02-25 清华大学 Motion path generation method
CN104374387B (en) * 2014-10-31 2017-12-19 清华大学 A kind of motion path generation method
CN105066989A (en) * 2015-06-30 2015-11-18 上海恺希机器人有限公司 Positioning apparatus
CN105486301A (en) * 2015-11-17 2016-04-13 广东欧珀移动通信有限公司 Indoor monitoring method and apparatus thereof
CN105651283A (en) * 2016-03-14 2016-06-08 安徽斯玛特物联网科技有限公司 Precision indoor positioning method based on acceleration, magnetometer, gyroscope and pressure sensor
CN105865463A (en) * 2016-06-15 2016-08-17 北京奇虎科技有限公司 Spatial-distribution generation method and device
CN108053587A (en) * 2018-01-08 2018-05-18 京东方科技集团股份有限公司 Personal identification method and its device, carpet
CN109118713A (en) * 2018-09-28 2019-01-01 出门问问信息科技有限公司 monitoring device

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