CN102194300B - System with indoor navigation function and monitor - Google Patents
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- CN102194300B CN102194300B CN 201010121400 CN201010121400A CN102194300B CN 102194300 B CN102194300 B CN 102194300B CN 201010121400 CN201010121400 CN 201010121400 CN 201010121400 A CN201010121400 A CN 201010121400A CN 102194300 B CN102194300 B CN 102194300B
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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
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 at any time child, and wish more to understand child's active situation.All kinds of monitors that occur at present, can be as required by the information pickup device such 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 so that the head of a family can be real-time the active situation of recognizing the child who is guarded.
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 the 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 the current actives such as the 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 the first object, and the motion trace data of described the first object processed spatial value and the direction value that obtains described the first object, the motion trace data of described the first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data;
Monitor, be used for receiving spatial value and the direction value of described the first object, and according to the space layout figure that sets in advance in the monitor, the spatial value of described the first object and direction value processed obtaining the positional information of described the first object in described space layout figure, and show the position of described the 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 processed 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 processed span layout.
Further, the motion trace data of described the 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 for arranging hazardous location and early-warning parameters value, and judge whether described the 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 prompting, the vibrations alarm.
Further, described monitor is also for the positional information of preserving described the 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 for obtaining described position correction information, and according to described position correction information the positional information of described the 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 be used for to receive the first object that sensor obtains its sensing is processed spatial value and the direction value of described the first object that obtains, and the motion trace data of described the 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 the first object and direction value is processed obtaining the positional information of described the first object in described space layout figure;
Display unit is used for showing that according to described positional information described the first object is in the position of described space layout figure.
Further, described receiving element also is used for receiving the initial motion track data that described sensor obtains its sensing and processes 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 processed span layout.
Further, the motion trace data of described the 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 for arranging hazardous location and early-warning parameters value;
Judging unit is used for judging whether the space of described the 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 the alarm pointed out, shaken to sounding alarm prompting, luminous alarm.
Further, also comprise: storage unit is used for the positional information of preserving described the first object.
Further, described receiving element also is used for receiving sensor according to the position correction information of 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 the 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, so that the guardian can recognize the residing positions such as the child that guarded or pet at any time, and by the mode of hazardous location is set in space layout figure, so that when being positioned at the hazardous location by the child that guarded or pet etc., can notify timely the guardian, thereby avoid dangerous generation at one's side so that the guardian can arrive in the child that guarded or pet etc. timely.In addition, when the child who is guarded or pet etc. were positioned at the inferior hidden position of frame bed, 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 obtains 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 forms 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 the first object, and the motion trace data of described the first object processed spatial value and the direction value that obtains described the first object, the motion trace data of described the first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data.Described the first object includes but not limited to child, pet, present embodiment take the custodial person as child or pet describe as example.In addition, can as required, obtain three-dimensional magnetometer data and/or the barometer data of described the first object.
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 comprised 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 comprised 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 comprised 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, also can suitably select as required three-dimensional magnetometer and/or barometer to be used, 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 the 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 the data of three dimension acceleration sensor and three-dimensional gyroscope sensing, 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 to the data of three dimension acceleration sensor and three-dimensional gyroscope sensing, improve the data precision that calculates.
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 the absolute direction value that has not had three-dimensional magnetometer to provide 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 axis of certain radius, just can simulate three-dimensional gyrostatic characteristic, and then can utilize the data that sense to calculate 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, although 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 large curvilinear motion of radius, directly according to the data of the angular acceleration values of three-dimensional gyroscope output, then speed or displacement and direction can be obtained by computing, three dimensional space coordinate and direction value with respect to original coordinates point can be drawn.
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 provides 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 provides 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 for receiving spatial value and the direction value of described the first object, and according to the space layout figure that sets in advance in the monitor, the spatial value of described the first object and direction value processed obtaining the positional information of described the first object in described space layout figure, and show the position of described the first object in described space layout figure according to described positional information.Described when having the monitor system of indoor navigation function when opening, carry out communication between described sensor 1 and the described monitor 2, described monitor 2 shows child that described sensor 1 is namely 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 the mode of mobile 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 the 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 the described child who is guarded or the positional information of pet in described space layout figure, and described monitor 2 can show the 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, and the mode by Unified number communicates with described monitor 2 respectively, so that described system can guard a plurality of targets simultaneously.
In addition, described monitor 2 can be with independently device realization; Also monitor and portable terminal (for example mobile phone, PDA etc.) can be linked to each other, the positional information that monitor is used for receiving spatial value and the direction value of the first object and calculates the 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, the process of wherein, 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 processed 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 as required initial three-dimensional magnetometer data and/or barometer data.Concrete, the hand-holdable sensor 1 of guardian moves along the edge of indoor wall or furniture etc., be the initial motion track data to gather the three-dimensional motion data by described sensor 1, and the binding time value is processed 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, obtaining of described initial motion track data and obtaining and processing identically of the motion trace data of processing and above-mentioned the first object are not repeated herein.Initial space coordinate figure and the direction value obtained are sent to described monitor 2, behind the initial space coordinate figure and direction value that gather each location point of edge, complete room, 2 pairs of described initial space coordinate figures of described monitor and direction value are processed, as with as described in initial space coordinate figure and direction value couple together, can obtain the space layout figure in whole room, also can when collecting data, draw layout.
In addition, when described space layout figure is set, can hazardous location and early-warning parameters value be set by described monitor 2, so that when being arrived described hazardous location and reaching the early-warning parameters value by the child that guarded or pet, described monitor 2 sends alarm, can also set in specific zone when described sensor 1 senses the child that guarded or pet and rises 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 the first object in space layout figure according to described position correction information.
In concrete the application, described sensor 1 can be placed with it the patient of hospital, doctor or nurse etc. can recognize in real time by described monitor 2 position of the patient's who is guarded active situation and current active; 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 forms synoptic diagram, as shown in Figure 2, described monitor 1 comprises:
Receiving element 11, the motion trace data that is used for receiving the first object that 1 pair of sensing of described sensor obtains is processed spatial value and the direction value of described the first object that obtains, the motion trace data of described the first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data, in addition, the motion trace data of described the first object also comprises three-dimensional magnetometer data and/or barometer data.Wherein, described the 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, for sensor 1, can according to different sensing accuracy requirement, choose different sensors and combination thereof.Choose different sensor combinations and obtain corresponding motion trace data and obtain identically with the mode of processing to the processing of motion trace data with aforesaid, be not repeated herein.
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 the equipment such as described mobile phone or navigating instrument as the described display unit 13 of described monitor 2, thereby so that the display device of the equipment such as mobile phone or navigating instrument shows the position of described the first object in space layout figure, also can directly calculate accordingly positional information by mobile phone or navigating instrument as required, and accordingly carry out alarm according to positional information and to the storage of described positional information.
Further, described receiving element 11 also is used for receiving the initial motion track data that 1 pair of sensing of described sensor obtains and processes 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 as required initial three-dimensional magnetometer data and/or initial gas pressure counts.
Described data processing unit 12 also is used for described initial space coordinate figure and direction value are processed span layout.Concrete, described sensor 1 sensing obtains the initial motion track data and it is processed 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 processed 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 for arranging 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 the 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 in and described sensor 1 communicates, with to described sensor 1 transmission alarm signal so that described sensor 1 is notified current being in the hazardous location such as child that the quilt at described monitor 2 described sensors 1 place guards or pet.In addition, described sensor 1 also can draw the positions in described space layout figure such as the 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 the first object is in the described hazardous location of setting.Concrete, described judging unit 14 judge described the first object namely 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 the first object is in the hazardous location; Perhaps described judging unit 14 announcement information that judges whether to receive described sensor 1 is to judge whether described the 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 the alarm pointed out, shaken to sounding alarm prompting, luminous alarm.Concrete, in the time of in described judging unit 14 is judged the spatial value of described the first object and coordinate range that the direction value falls into described hazardous location, then judge this moment described the 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 the 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 the 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 so that the equipment such as described mobile phone or navigating instrument carry out corresponding sounding alarm prompting or luminous alarm prompting or vibrations alarm etc.
Further, described monitor 2 also comprises:
Description by above-described embodiment, 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, so that the guardian can recognize the residing position in current region such as the child that guarded or pet at any time, and by the mode of hazardous location is set, so that when the child who is guarded or pet etc. are in the hazardous location, can in time notify the guardian.In addition, the stop situation of the child that the location learning in the zone such as the child who guards by the quilt of checking preservation or pet is guarded to quilt or pet etc., so that monitoring person can intuitively clearly know the child that guarded or the activity characteristic of pet, thereby recognize the hobby of the child that guarded or pet etc., and when the child who is guarded or pet etc. were positioned at the inferior hidden position of frame bed, the guardian also can find fast and accurately.
Above disclosed only is preferred embodiment of the present invention, certainly can not limit with this interest field of the present invention, and the equivalent variations of therefore doing according to claim of the present invention still belongs to the scope that invention is contained.
Claims (10)
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 the first object, and the motion trace data of described the first object processed spatial value and the direction value that obtains described the first object, the motion trace data of described the first object comprises: three-dimensional acceleration data and/or three-dimensional gyro data;
Monitor, be used for receiving spatial value and the direction value of described the first object, and according to the space layout figure that sets in advance in the monitor, the spatial value of described the first object and direction value processed obtaining the positional information of described the first object in described space layout figure, and show the position of described the first object in described space layout figure according to described positional information;
Described sensor also is used for sensing and obtains the initial motion track data, and described initial motion track data processed 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 processed span layout.
2. the system as claimed in claim 1 is characterized in that,
The motion trace data of described the 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.
3. system as claimed in claim 2, it is characterized in that, described monitor also is used for arranging hazardous location and early-warning parameters value, and judge whether described the 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 prompting, the vibrations alarm.
4. such as each described system of claims 1 to 3, it is characterized in that described monitor is also for the positional information of preserving described the first object.
5. system as claimed in claim 4 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 for obtaining described position correction information, and according to described position correction information the positional information of described the first object in described space layout figure is proofreaied and correct.
6. the monitor with indoor navigation function is characterized in that, comprising:
Receiving element, the motion trace data that be used for to receive the first object that sensor obtains its sensing is processed spatial value and the direction value of described the first object that obtains, and the motion trace data of described the 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 the first object and direction value is processed obtaining the positional information of described the first object in described space layout figure;
Display unit is used for showing that according to described positional information described the first object is in the position of described space layout figure;
Described receiving element also is used for receiving the initial motion track data that described sensor obtains its sensing and processes 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 processed span layout.
7. monitor as claimed in claim 6 is characterized in that,
The motion trace data of described the 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.
8. monitor as claimed in claim 7 is characterized in that, also comprises:
Described data processing unit also is used for arranging hazardous location and early-warning parameters value;
Judging unit is used for judging whether described the 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 the alarm pointed out, shaken to sounding alarm prompting, luminous alarm.
9. such as each described monitor of claim 6 to 8, it is characterized in that, also comprise:
Storage unit is used for the positional information of preserving described the first object.
10. monitor as claimed in claim 9 is characterized in that,
Described receiving element also is used for receiving sensor according to the position correction information of 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 the first object being proofreaied and correct in the positional information of described space layout figure.
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| CN 201010121400 CN102194300B (en) | 2010-03-09 | 2010-03-09 | System with indoor navigation function and monitor |
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| CN 201010121400 CN102194300B (en) | 2010-03-09 | 2010-03-09 | System with indoor navigation function and monitor |
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| CN102194300B true CN102194300B (en) | 2013-01-16 |
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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 |
| 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 |
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