CN102243315A - Mobile terminal having auxiliary positioning function and method - Google Patents

Mobile terminal having auxiliary positioning function and method Download PDF

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Publication number
CN102243315A
CN102243315A CN2011101036990A CN201110103699A CN102243315A CN 102243315 A CN102243315 A CN 102243315A CN 2011101036990 A CN2011101036990 A CN 2011101036990A CN 201110103699 A CN201110103699 A CN 201110103699A CN 102243315 A CN102243315 A CN 102243315A
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China
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mobile terminal
gps
gyroscope
altitude
positioning function
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CN2011101036990A
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Chinese (zh)
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林子华
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惠州Tcl移动通信有限公司
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Priority to CN2011101036990A priority Critical patent/CN102243315A/en
Publication of CN102243315A publication Critical patent/CN102243315A/en

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Abstract

The invention discloses a mobile terminal having an auxiliary positioning function and a method. The mobile terminal comprises a global positioning system (GPS) module, a gyroscope, an accelerometer and a microprocessor, wherein the GPS module, the gyroscope and the accelerometer are respectively connected with the microprocessor. By the mobile terminal having the auxiliary positioning function and the method provided by the invention, angular speeds and angles of the mobile terminal around an X axis, a Y axis and a Z axis are tested by using the gyroscope; the forward acceleration of the mobile terminal is measured by the accelerometer, and the current speed of the mobile terminal is calculated; and according to initial longitude and latitude coordinates, an initial altitude and an initial current speed, which are acquired by the GPS module, the final longitude and latitude, the final altitude and the final forward speed of the mobile terminal are calculated, so when a GPS signal is abnormal, the function of continuously positioning and navigating the mobile terminal is realized, a user cannot feel the change of GPS application functions completely, and a good use experience effect is achieved.

Description

具有辅助定位功能的移动终端及方法 A mobile terminal and method having an auxiliary positioning function

技术领域 FIELD

[0001] 本发明涉及GPS定位技术,特别涉及一种具有辅助定位功能的移动终端及方法。 [0001] The present invention relates to GPS technology, and particularly relates to a method for a mobile terminal having an auxiliary positioning function. 背景技术 Background technique

[0002] 人们在远行或者在不熟悉路线时,一般利用GPS(Global Positioning System,全球定位系统)技术进行定位和导航。 [0002] When people travel or are not familiar with the route, the general use of GPS (Global Positioning System, Global Positioning System) technology for positioning and navigation. 但是,在某些环境(如隧道、山路)中,GPS信号很微弱或者是无法接收到GPS信号。 However, in some environments (such as tunnels, mountain) in, the GPS signal is weak or is unable to receive GPS signals. 在这种环境下,人们就无法利用GPS进行定位和导航,给人们的行驶带来了不便。 In this environment, people can not use GPS positioning and navigation, to people traveling inconvenience.

[0003] 因而现有技术还有待改进和提高。 [0003] Thus the prior art has yet to be improved and enhanced. 发明内容 SUMMARY

[0004] 鉴于上述现有技术的不足之处,本发明的目的在于提供一种具有辅助定位功能的移动终端及方法,能在GPS信号不正常时,进行辅助定位。 [0004] In view of the above-described shortcomings of the prior art, an object of the present invention is to provide a method and a mobile terminal having an auxiliary positioning function, when the GPS signals can not properly be assisted positioning.

[0005] 为了达到上述目的,本发明采取了以下技术方案: [0005] To achieve the above object, the present invention adopts the following technical scheme:

一种具有辅助定位功能的移动终端,其中,包括=GPS模块,用于实时接收GPS数据,获取移动终端的经纬度坐标、海拔高度和当前速度;陀螺仪,用于测量移动终端绕X轴、Y轴和Z轴的旋转角度;加速度计,用于获取移动终端前进的加速度,并计算得出移动终端当前的速度;微处理器,用于控制GPS模块、陀螺仪和加速度计的启闭;其中,所述微处理器用于在GPS信号不正常时关闭GPS模块,同时开启陀螺仪和加速度计,将GPS模块获取的经纬度坐标、海拔高度和当前速度分别作为初始坐标、初始海拔高度和初始速度,并根据陀螺仪和加速度计测量的旋转角度和速度计算移动终端当前的经纬度坐标和海拔高度;所述GPS模块、陀螺仪和加速度计分别与微处理器连接。 A mobile terminal having an auxiliary positioning function, comprising = GPS module for receiving GPS data in real time, the mobile terminal acquires latitude and longitude coordinates, altitude and current speed; a gyroscope for measuring the mobile terminal about the X-axis, Y the rotation angle of the shaft and the Z-axis; accelerometer, configured to obtain acceleration of the mobile terminal proceeds and the current calculated speed of the mobile terminal; a microprocessor, opening and closing a GPS module, a gyroscope and an accelerometer for controlling; wherein a microprocessor for closing when the GPS signal is not normal GPS module, while opening a gyroscope and an accelerometer, a GPS module of the acquired latitude and longitude coordinates, altitude and speed, respectively, as the initial coordinates of the current, the initial velocity and the initial altitude, and calculate the current latitude and longitude coordinates and altitude of the mobile terminal according to the rotation angle and speed of the gyroscope and accelerometer measurements; the GPS module, a gyroscope and accelerometer are connected to the microprocessor.

[0006] 所述的具有辅助定位功能的移动终端,其中,还包括用于修正陀螺仪测量的数据的磁力计,所述磁力计与微处理器连接。 [0006] The auxiliary positioning function having a mobile terminal, further comprising a magnetometer for correcting a gyro data measured, the microprocessor is connected with the magnetometer.

[0007] 所述的具有辅助定位功能的移动终端,其中,微处理器还用于在陀螺仪和加速度计开启时,控制GPS模块每隔第一预定时间开启一次,并判断GPS信号是否恢复正常。 [0007] When the mobile terminal having a positioning function of the auxiliary, wherein the microprocessor is further configured to open the meter gyroscopes and accelerometers, GPS control module can activate a first predetermined time interval, and determines whether the GPS signal is restored to normal .

[0008] 所述的具有辅助定位功能的移动终端,其中,第一预定时间为20-60秒。 [0008] The mobile terminal having an auxiliary positioning function, wherein the first predetermined time is 20-60 seconds.

[0009] 所述的具有辅助定位功能的移动终端,其中,所述微处理器还用于控制磁力计每隔第二预定时间开启一次。 [0009] The mobile terminal having an auxiliary positioning function, wherein said microprocessor is further configured to control a second predetermined time magnetometer once every turn.

[0010] 所述的具有辅助定位功能的移动终端,其中,所述第二预定时间为20-50秒。 [0010] The mobile terminal having an auxiliary positioning function, wherein said second predetermined time is 20-50 seconds.

[0011] 一种具有辅助定位功能的移动终端实现辅助定位的方法,其中,包括: [0011] The method of assisted positioning of a mobile terminal implemented with an auxiliary positioning function, comprising:

A、由GPS模块实时接收GPS数据,获取移动终端的经纬度坐标、海拔高度和当前速度; A, the GPS module receives the real-time GPS data, acquired latitude and longitude coordinates of the mobile terminal, the current altitude and velocity;

B、判断GPS信号是否正常,如果是,则执行步骤A,否则执行步骤C ; B, determines whether the GPS signals normally, if yes, step A, otherwise step C;

C、开启陀螺仪和加速度计,同时关闭GPS模块,并将GPS模块获得的经纬度坐标、海拔高度和当前速度分别作为初始坐标、初始海拔高度和初始速度; C, gyroscopes and accelerometers open while closing the GPS module, and the longitude and latitude coordinates obtained by the GPS module, and the current altitude coordinate as the initial speeds, the initial velocity and the initial altitude;

D、由陀螺仪测量移动终端绕X轴、Y轴和Z轴的旋转角度,同时由加速度计测量移动终端前进的加速度,并计算得出移动终端当前的速度; D, the mobile terminal measured by the gyroscope around the X axis, Y axis, and the rotation angle of the Z-axis, while the accelerometer measures acceleration of the mobile terminal proceeds, and the calculated current speed of the mobile terminal;

E、根据所述旋转角度和当前的速度,并结合所述初始坐标、初始海拔高度和初始速度, 计算当前的经纬度坐标和海拔高度; E, according to the rotation angle and the current speed, combined with the original coordinates, the initial velocity and the initial altitude, latitude and longitude coordinates and calculates the current altitude;

F、判断GPS信号是否恢复正常;如果是,则开启GSP模块并执行步骤A,同时关闭陀螺仪和加速度计;否则,执行步骤D。 F, the determination whether the GPS signal is normal; and if yes, turn and step GSP module A, while closing a gyroscope and an accelerometer; otherwise, step D.

[0012] 所述的具有辅助定位功能的移动终端实现辅助定位的方法,其中,在步骤D之后所述的方法进一步包括:开启磁力计修正陀螺仪测量的数据。 [0012] The method of the auxiliary locating a mobile terminal implemented with an auxiliary positioning function, wherein, after step D, said method further comprising: opening the correction data magnetometer gyroscope measurements.

[0013] 所述的具有辅助定位功能的移动终端实现辅助定位的方法,其中,在步骤F中,微处理器控制GPS模块每隔20-60秒开启一次,并判断GPS信号是否恢复正常。 [0013] The method of the auxiliary locating a mobile terminal implemented with an auxiliary positioning function, wherein in step F, the microprocessor controls the GPS module every 20-60 seconds open time, and determines whether the GPS signal is restored.

[0014] 所述的具有辅助定位功能的移动终端实现辅助定位的方法,其中,微处理器控制磁计力每隔20-50秒开启一次。 [0014] The method of the auxiliary locating a mobile terminal implemented with an auxiliary positioning function, wherein the microprocessor controls the magnetic force gauge every 20-50 seconds open time.

[0015] 本发明提供的具有辅助定位功能的移动终端及方法,利用陀螺仪测试移动终端绕X轴、Y轴和Z轴的角速度和角度,同时通过加速度计测量移动终端前进的加速度计算得出移动终端当前的速度,并根据GPS模块获取的初始经纬度坐标、初始海拔高度和初始当前速度,计算出移动终端最终的经纬度、海拔高度和前进速度,在GPS信号不正常时,实现了给移动终端继续定位导航的功能,用户完全不会感觉到GPS应用功能的变化,具有很好的用户体验效果。 [0015] The present invention provides a method and a mobile terminal having an auxiliary positioning function using the mobile terminal test gyroscope around the X axis, Y-axis angular velocity and the angle and the Z-axis, while the mobile terminal proceeds acceleration measured by the acceleration calculated the current speed of the mobile terminal, and the initial latitude and longitude coordinates of the GPS module is acquired, the initial altitude and initial current speed, calculate the final latitude and longitude, altitude and forward speed of the mobile terminal, when the GPS signal is not normal, realized to a mobile terminal continue positioning and navigation functions, the user will not feel the change GPS application functions, it has a good user experience.

附图说明 BRIEF DESCRIPTION

[0016] 图1为本发明具有辅助定位功能的移动终端较佳实施例的结构框图。 The mobile terminal [0016] FIG. 1 of the present invention having an auxiliary positioning function block diagram of the preferred embodiment.

[0017] 图2为本发明移动终端较佳实施例中陀螺仪测量移动终端绕水平面X、Y、Z三个方向轴旋转的角度示意图。 [0017] FIG. 2 in the present embodiment an angle gyroscope measures the mobile terminal about the horizontal X, Y, Z axis directions of three schematic preferred embodiment of the invention the mobile terminal.

[0018] 图3为本发明移动终端实现辅助定位的方法较佳实施例的流程图。 A flowchart of a method [0018] mobile terminal of FIG. 3 of the present invention to achieve the secondary positioning preferred embodiment. 具体实施方式 Detailed ways

[0019] 本发明提供一种具有辅助定位功能的移动终端及方法,为使本发明的目的、技术方案及效果更加清楚、明确,以下参照附图并举实例对本发明进一步详细说明。 [0019] The present invention provides a method for having a mobile terminal and an auxiliary positioning function, for the purposes of the present invention, technical solutions and advantages clearer, explicit, the present invention will be described in further detail with reference to the accompanying drawings and examples. 应当理解, 此处所描述的具体实施例仅用以解释本发明,并不用于限定本发明。 It should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0020] 本发明实施例提供的具有辅助定位功能的移动终端包括GPS模块11、陀螺仪21、 加速度计31和微处理器41,所述GPS模块11、陀螺仪21和加速度计31分别与微处理器41 连接。 [0020] The mobile terminal having an auxiliary positioning function provided in the embodiments of the present invention comprises a GPS module 11, the gyro 21, accelerometers 31 and microprocessor 41, the GPS module 11, a gyro 21 and accelerometers 31 are micro The processor 41 is connected. 其中,GPS 模块11 通过UART (Universal Asynchronous Receiver/Transmitter,通用异步接收/发送装置)串口与微处理器41通信,陀螺仪21、加速度计31和磁力计51分别通过I2C总线微处理器41通信。 Wherein, GPS module 11 via the UART (Universal Asynchronous Receiver / Transmitter, a universal asynchronous receiver / transmitter means) Serial communication with the microprocessor 41, the gyro 21, accelerometer 31 and the magnetometer 51 are the microprocessor bus 41 through the I2C communication.

[0021] 其中,GPS模块11用于实时接收GPS数据,获取移动终端的经纬度坐标、海拔高度和当前速度。 [0021] wherein, for real-time GPS module 11 receives GPS data, the mobile terminal acquires latitude and longitude coordinates, altitude and current speed. 陀螺仪21用于测量移动终端绕X轴、Y轴和Z轴的旋转角度和角速度。 Gyroscopes for measuring the mobile terminal 21 about the X-axis, Y-axis rotational angle and the angular velocity and the Z-axis. 加速度计31用于获取移动终端前进的加速度,并计算得出移动终端当前的速度。 Accelerometers configured to obtain acceleration of the mobile terminal 31 in advance, and the calculated current speed of the mobile terminal.

[0022] 微处理器41用于控制GPS模块11、陀螺仪21和加速度计31的启闭。 [0022] GPS microprocessor 41 for controlling the opening and closing module 11, the gyro 21 and accelerometers 31. 其中,所述微处理器41用于在GPS信号不正常时关闭GPS模块11,同时开启陀螺仪21和加速度计31, 将GPS模块11获取的经纬度坐标、海拔高度和当前速度分别作为初始坐标、初始海拔高度和初始速度,并根据陀螺仪21和加速度计31测量的旋转角度和速度计算移动终端当前的经纬度坐标和海拔高度。 Wherein the microprocessor 41 for closing the GPS module is not normal when the GPS signals 11, 21 and simultaneously open the accelerometer 31, the module 11 acquires the GPS latitude and longitude coordinates, current speed, and altitude coordinates, respectively, as an initial gyro, the initial velocity and the initial altitude, latitude and longitude coordinates and to calculate a current altitude of the mobile terminal and the rotation angle and speed of the gyro 21 and accelerometers 31 measure.

[0023] 如图2所示,Z轴为垂直水平面的轴,X、Y轴为水平面的两个相互垂直轴。 [0023] As shown, Z-axis is perpendicular to the horizontal axis 2, X, Y axes of the two mutually perpendicular horizontal axes. 假设X轴为移动终端起始的前进方向轴,则Y轴为移动终端在水平面上与起始前进方向垂直的轴,Z轴为高度轴。 Advancing direction of the shaft axis X is assumed that the mobile terminal is initiated, the Y-axis perpendicular to the axis of the mobile terminal in the direction of advance of starting a horizontal plane, Z-axis height axis. 移动终端绕Z轴旋转,表示移动终端的前进方向在水平面上向左或向右的偏离,绕Z轴的旋转角度也就是移动终端向左或向右偏离的角度,绕Z轴旋转的角速度也就是偏离的速度;移动终端绕Y轴旋转,表示移动终端的前进方向相对水平面进行抬高或下降,旋转的角度也就是相对水平面抬高或下降的角度,旋转的角速度也就是抬高或下降的速度;移动终端绕X轴旋转,表示移动终端向左或向右倾斜,旋转的角度也就是向左或向右倾斜的角度,旋转的角速度就是倾斜的速度。 The mobile terminal around the Z axis, represents the forward direction of the mobile terminal in a horizontal plane offset from the left or right, the rotation angle about the Z axis is offset from the mobile terminal left or right angle, an angular velocity around the Z axis also is the speed deviation; mobile terminal about the Y axis represents the forward direction of the mobile terminal to raise or lower relative to the horizontal for the angle of rotation is an angle relative to a horizontal raised or lowered, the rotational angular velocity is raised or lowered speed; rotation about the X axis of the mobile terminal, the mobile terminal indicates the left or right, the rotation angle i.e. the left or right angle, the angular velocity is inclined speed.

[0024] 加速度计31能够测量出移动终端的加速度,在GPS模块11获取了移动终端起始位置的初始速度的情况下,根据测量到的加速度,便能计算得出移动终端当前的前进速度。 In the case [0024] The accelerometer 31 can measure the acceleration of the mobile terminal, the terminal obtaining the initial speed in the initial position of the mobile GPS module 11, based on the measured acceleration, can be calculated the current advance speed of the mobile terminal.

[0025] 本发明实施例提供的移动终端优选为GPS终端或者手机,利用陀螺仪21和加速度计31测量出移动终端的前进速度、前进方向和左右偏离的角度,通过微处理器41计算在X、 Y轴平面上,移动终端的当前位置相对于起始位置在起始方向轴(即X轴)的角度以及相对于起始位置的直线距离,从而计算得出移动终端当前位置的经纬度。 [0025] Example embodiments of the present invention to provide a mobile terminal is preferably a mobile phone or a GPS terminal, the measured forward speed of the mobile terminal, the forward direction and the lateral offset angle using a gyro 21 and accelerometers 31, is calculated by the microprocessor 41 in the X , the Y-axis plane, a current location of the mobile terminal with respect to the initial starting position in the direction of the axis angle (i.e., X axis), and the latitude and longitude linear distance with respect to the starting position, so that the calculated current position of the mobile terminal. 通过陀螺仪21测出移动终端前进方向相对水平面的抬高或下降的角度和前进的速度,能计算移动终端当前位置相对于起始位置的高度,然后结合初始的海拔高度便能计算得出移动终端当前位置的海拔高度。 Elevated or lowered relative to the horizontal angle and forward speed, the gyroscope can be calculated by the mobile terminal 21 measure the current traveling direction of the mobile terminal with respect to the height position of the starting position, then combining the initial altitude is calculated will be able to move altitude of the current location of the terminal. 此处根据陀螺仪21和加速度计31测量的数据,计算移动终端当前的经纬度坐标、海拔高度和前进速度的方法为现有技术此处不再详述。 Here accelerometers 31 and 21 in accordance with the measured gyroscope data, current latitude and longitude coordinate calculation method of the mobile terminal, altitude and forward speed of the prior art is not described in detail herein.

[0026] 由于本发明实施例采用了陀螺仪21测量移动终端前进的方向和高度,在移动终端做高速运动时,有可能存在一定的误差,为了提高陀螺仪21测量数据的精确度,本发明实施例提供的具有辅助定位功能的移动终端还包括磁力计51,所述磁力计51与微处理器41连接,用于修正陀螺仪21测量的数据。 [0026] Since the embodiment of the present invention uses a gyroscope mobile terminal advancing direction and a height of 21 measurements, when the mobile terminal to make high-speed movement, there may be some errors in order to improve the accuracy of the gyroscope 21 of the measurement data, the present invention Example embodiments provide a mobile terminal having an auxiliary positioning function 51 further includes a magnetometer, the magnetometer 41 is connected to the microprocessor 51, the correction data for the gyroscope 21 measures.

[0027] 本实施例中,所述磁力计51能精确测量地球的磁场与地球的南北方向的夹角,微处理器能计算陀螺仪21测量数据得到的方向与地球南北方向的夹角,将这两个夹角进行比较,以磁力计51得到的夹角为参考,修正物体当前的前进方向,从而提高了移动终端辅助的定位精度。 [0027] In this embodiment, the magnetometer 51 can accurately measure the angle between the north-south direction of the earth magnetic field of the earth, the microprocessor can calculate the angle between the direction of the Earth's north-south direction gyro 21 measures the data obtained, the both angle compared to the angle obtained magnetometer 51 as a reference, the current traveling direction of the correction object, thereby improving the positioning accuracy of the mobile terminal assisted.

[0028] 在陀螺仪21和加速度计31测量数据的时,微处理器41还用于控制GPS模块11 每隔第一预定时间开启一次,并判断GPS信号是否恢复正常,在GPS信号恢复正常后,开启GPS模块11的定位功能,同时关闭陀螺仪21、加速度计31和磁力计51。 After [0028] 31 when the count in the measurement data of acceleration and the gyroscope 21, the microprocessor 41 also controls the GPS module 11 for a first predetermined time once every turn, and determines whether the GPS signal is normal, the normal GPS signal , turn on GPS positioning function module 11, while closing the gyro 21, accelerometers 31 and magnetometers 51. 其中,所述第一预定时间为20-60秒,本实施例优选为30秒,且在GPS模块11关闭、陀螺仪21和加速度计31 开启时开始计时。 Wherein said first predetermined time is 20-60 seconds, a preferred embodiment of the present embodiment is 30 seconds and closes the GPS module 11 to start timing when the gyro 21 and accelerometers 31 open.

[0029] 在进一步的实施例中,在陀螺仪21和加速度计31测量数据的时,所述微处理器41 还用于控制磁力计51每隔第二预定时间开启一次,来校正陀螺仪21的测量数度。 [0029] In a further embodiment, the timer 31 measures data gyro 21 and the acceleration, the microprocessor 41 further controls the magnetometer 51 is turned on every time a second predetermined time, to correct the gyro 21 the number of measurements. 其中,所述第二预定时间为20-50秒,本实施例优选为30秒,且在GPS模块11关闭、陀螺仪21和加速度计31开启时开始计时。 Wherein said second predetermined time is 20-50 seconds, a preferred embodiment of the present embodiment is 30 seconds and closes the GPS module 11 to start timing when the gyro 21 and accelerometers 31 open.

[0030] 本发明实施例还对应提供一种具有辅助定位功能的移动终端实现辅助定位的方法,请参阅图3,其为移动终端实现辅助定位的方法流程图。 [0030] Embodiments of the invention also provides a corresponding mobile terminal having a positioning function of the auxiliary secondary positioning method implemented, see Figure 3, which is a method of assisted positioning a mobile terminal to achieve a flowchart. [0031] S110、由GPS模块实时接收GPS数据,获取移动终端的经纬度坐标、海拔高度和当前速度。 [0031] S110, the GPS module receives the real-time GPS data, the mobile terminal acquires latitude and longitude coordinates, altitude and current speed.

[0032] S120、判断GPS信号是否正常,如果是,则执行步骤Sl 10,否则执行步骤S130 ; S130、开启陀螺仪和加速度计,同时关闭GPS模块,并将GPS模块获得的经纬度坐标、海 [0032] S120, it determines whether the GPS signals normally, if yes, step Sl 10 is performed, otherwise step S130; S130, gyroscopes and accelerometers open while closing the GPS module, and the longitude and latitude coordinates obtained by the GPS module, sea

拔高度和当前速度分别作为初始坐标、初始海拔高度和初始速度。 Altitude and velocity, respectively, as the initial coordinates of the current, the initial velocity and the initial altitude.

[0033] S140、由陀螺仪测量移动终端绕X轴、Y轴和Z轴的旋转角度,同时由加速度计测量移动终端前进的加速度,并计算得出移动终端当前的速度; [0033] S140, the mobile terminal measured by the gyroscope around the X axis, Y axis, and the rotation angle of the Z-axis, while the accelerometer measures acceleration of the mobile terminal proceeds, and the calculated current speed of the mobile terminal;

S150、根据所述旋转角度和当前的速度,并结合所述初始坐标、初始海拔高度和初始速度,计算当前的经纬度坐标和海拔高度; S150, according to the rotation angle and the current speed, combined with the original coordinates, the initial velocity and the initial altitude, latitude and longitude coordinates and calculates the current altitude;

S160、判断GPS信号是否恢复正常;如果是,则开启GSP模块并执行步骤S110,同时关闭陀螺仪和加速度计;否则,执行步骤S140。 S160, determining whether the GPS signal is normal; and if yes, and turn GSP module performs step S110, the gyroscope while closing and accelerometer; otherwise, to step S140.

[0034] 为了提高陀螺仪的测量精度,在步骤S140之后,所述的方法进一步包括:开启磁力计修正陀螺仪测量的数据。 [0034] In order to improve the measuring accuracy gyroscope, after step S140, the method further comprising: opening the correction data magnetometer gyroscope measurements. 通过磁力计获取移动终端前的方向与地球南北方向的夹角, 并将该夹角与陀螺仪测量数据得到的前进方向与地球南北方向的夹角进行比较,对陀螺仪测量的数据进行修正,更新移动终端当前的前进方向。 Meter acquired by the mobile terminal before the angle of the magnetic force direction of the Earth's north-south direction, and the angle between the traveling direction of the gyro measurement data obtained is compared with the angle between the north-south direction of the earth, a gyroscope measurement data is corrected, update the current traveling direction of the mobile terminal.

[0035] 在步骤S150中,微处理器每隔20-60秒开启一次GPS模块,并判断GPS信号是否恢复正常。 [0035] In step S150, the microprocessor is turned on once every 20-60 seconds GPS module, and determines whether the GPS signal is restored. 在GPS信号恢复正常后,GPS模块回到正常工作模式。 After the GPS signal is restored, GPS module back to normal operating mode.

[0036] 综上所述,本发明实施例提供的移动终端在进行定位和导航应用时,即使GPS信号变差或者是消失,同样能够进行定位和导航应用,消除了定位导航的盲区。 [0036] In summary, the mobile terminal according to an embodiment of the present invention during positioning and navigation applications, even if the GPS signal disappears or deteriorates, the same can be positioned and navigation applications, eliminating the dead space navigation. GPS模块完全根据GPS信号的情况自动启动和关闭,用户完全不会感觉到GPS应用功能的变化,具有很好的用户体验效果。 GPS module is fully automatic startup and shutdown based on the GPS signal, the user will not feel the change GPS application functions, it has a good user experience.

[0037] 另外,在GPS信号不好时,本发明采用关闭GPS模块,让GPS模块进入低功耗状态, 避免了GPS模块在信号不好时连续搜索卫星信号,造成的不必要耗电,而陀螺仪和加速度计的耗电大大小于GPS模块的耗电,从而提高了电池使用的时间。 [0037] Further, when the GPS signal is not good, the present invention is employed to close the GPS module, so that the GPS module into a low power state, the continuous search for the GPS module to avoid bad signal when a satellite signal, resulting in unnecessary power consumption, and gyroscopes and accelerometers is significantly less than the power consumption of the GPS module, thereby increasing the use time of the battery.

[0038] 同时,本发明实施磁力计不断修正陀螺仪的误差,提高了移动终端辅助导航的精度。 [0038] Also, embodiments of the present invention, the error correcting magnetometer gyroscope continually improve the accuracy of the mobile terminal-assisted navigation.

[0039] 可以理解的是,对本领域普通技术人员来说,可以根据本发明的技术方案及其发明构思加以等同替换或改变,而所有这些改变或替换都应属于本发明所附的权利要求的保护范围。 [0039] It will be appreciated that those of ordinary skill in the art, or can be changed according to the technical equivalents of the invention and its inventive concept, and all such modifications or substitutions of the present invention should belong to the appended claims protected range.

6 6

Claims (10)

1. 一种具有辅助定位功能的移动终端,其特征在于,包括:GPS模块,用于实时接收GPS数据,获取移动终端的经纬度坐标、海拔高度和当前速度; 陀螺仪,用于测量移动终端绕X轴、Y轴和Z轴的旋转角度; 加速度计,用于获取移动终端前进的加速度,并计算得出移动终端当前的速度; 微处理器,用于控制GPS模块、陀螺仪和加速度计的启闭;其中,所述微处理器用于在GPS信号不正常时关闭GPS模块,同时开启陀螺仪和加速度计,将GPS模块获取的经纬度坐标、海拔高度和当前速度分别作为初始坐标、初始海拔高度和初始速度,并根据陀螺仪和加速度计测量的旋转角度和速度计算移动终端当前的经纬度坐标和海拔高度; 所述GPS模块、陀螺仪和加速度计分别与微处理器连接。 A mobile terminal having an auxiliary positioning function, characterized by comprising: GPS module, for receiving GPS data in real time, the mobile terminal acquires latitude and longitude coordinates, altitude and current speed; a gyroscope for measuring the mobile terminal about X axis, Y axis and Z-axis rotational angle; accelerometer, the mobile terminal proceeds to acquire an acceleration, and the calculated current speed of the mobile terminal; a microprocessor for controlling the GPS module, gyroscopes and accelerometers shutters; wherein said microprocessor for closing the GPS module when GPS signal is not normal, while opening a gyroscope and an accelerometer, a GPS module of the acquired latitude and longitude coordinates, altitude and speed, respectively, as the initial coordinates of the current, initial altitude and initial velocity, and calculate the current latitude and longitude coordinates and altitude of the mobile terminal according to the rotation angle and speed of the gyroscope and accelerometer measurements; the GPS module, a gyroscope and accelerometer are connected to the microprocessor.
2.根据权利要求1所述的具有辅助定位功能的移动终端,其特征在于,还包括用于修正陀螺仪测量的数据的磁力计,所述磁力计与微处理器连接。 The mobile terminal having a positioning function of the auxiliary claimed in claim 1, characterized in that, further comprising a magnetometer for correcting measurement data gyroscope, the magnetometer connected to the microprocessor.
3.根据权利要求1所述的具有辅助定位功能的移动终端,其特征在于,微处理器还用于在陀螺仪和加速度计开启时,控制GPS模块每隔第一预定时间开启一次,并判断GPS信号是否恢复正常。 The mobile terminal having a positioning function of the auxiliary claimed in claim 1, wherein the microprocessor is further configured to turn on when the count in gyroscopes and accelerometers, GPS control module can activate a first predetermined time interval, and determines GPS signal is back to normal.
4.根据权利要求3所述的具有辅助定位功能的移动终端,其特征在于,第一预定时间为20-60秒。 The mobile terminal having a positioning function of the auxiliary claimed in claim 3, wherein the first predetermined time is 20-60 seconds.
5.根据权利要求2所述的具有辅助定位功能的移动终端,其特征在于,所述微处理器还用于控制磁力计每隔第二预定时间开启一次。 The mobile terminal having a positioning function of the auxiliary claimed in claim 2, wherein said microprocessor is further configured to control a second predetermined time magnetometer once every turn.
6.根据权利要求5所述的具有辅助定位功能的移动终端,其特征在于,所述第二预定时间为20-50秒。 The mobile terminal having an auxiliary positioning function according to claim 5, wherein said second predetermined time is 20-50 seconds.
7. 一种采用权利要求1所述的具有辅助定位功能的移动终端实现辅助定位的方法,其特征在于,包括:由GPS模块实时接收GPS数据,获取移动终端的经纬度坐标、海拔高度和当前速度; 判断GPS信号是否正常,如果是,则执行步骤A,否则执行步骤C ; 开启陀螺仪和加速度计,同时关闭GPS模块,并将GPS模块获得的经纬度坐标、海拔高度和当前速度分别作为初始坐标、初始海拔高度和初始速度;由陀螺仪测量移动终端绕X轴、Y轴和Z轴的旋转角度,同时由加速度计测量移动终端前进的加速度,并计算得出移动终端当前的速度;根据所述旋转角度和当前的速度,并结合所述初始坐标、初始海拔高度和初始速度,计算当前的经纬度坐标和海拔高度;判断GPS信号是否恢复正常;如果是,则开启GSP模块并执行步骤A,同时关闭陀螺仪和加速度计;否则,执行步骤D。 A use of a mobile terminal having a positioning function of the auxiliary claim 1 implemented assisted positioning method, wherein, comprising: receiving GPS data in real-time by the GPS module, the mobile terminal acquires the latitude and longitude coordinates, altitude and current speed ; determining GPS signal is normal, and if so, step a, otherwise step C; gyroscopes and accelerometers open while closing the GPS module, and the longitude and latitude coordinates obtained by the GPS module, the current altitude and velocity, respectively, as the initial coordinate initial velocity and the initial altitude; mobile terminal measured by the gyroscope around the X axis, the rotation angle of the Y and Z axes, while advancing the acceleration measured by acceleration of the mobile terminal, and the current calculated speed of the mobile terminal; in accordance with the rotation angle and said current speed, combined with the original coordinates, the initial velocity and the initial altitude, latitude and longitude coordinates and calculates the current altitude; determining whether the GPS signal is normal; and if yes, turn GSP module and step a, while closing the gyroscope and an accelerometer; otherwise, step D.
8.根据权利要求7所述的具有辅助定位功能的移动终端实现辅助定位的方法,其特征在于,在步骤D之后所述的方法进一步包括:开启磁力计修正陀螺仪测量的数据。 The mobile terminal according to claim having an auxiliary positioning function of the positioning of a realization method for assisting 7, characterized in that, after step D, said method further comprising: opening the correction data magnetometer gyroscope measurements.
9.根据权利要求7所述的具有辅助定位功能的移动终端实现辅助定位的方法,其特征在于,在步骤F中,微处理器控制GPS模块每隔20-60秒开启一次,并判断GPS信号是否恢复正常。 The mobile terminal according to claim having an auxiliary positioning function according to claim 7 implemented method for assisting positioning, wherein, in step F, the microprocessor controls the GPS module every 20-60 seconds open time, and determines the GPS signal It is back to normal.
10.根据权利要求8所述的具有辅助定位功能的移动终端实现辅助定位的方法,其特征在于,微处理器控制磁计力每隔20-50秒开启一次。 The mobile terminal according to claim 10 having an auxiliary positioning function of the positioning of a realization method for assisting 8, characterized in that the microprocessor controlling the magnetic force gauge every 20-50 seconds open time.
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