CN102759355A - Positioning estimation method and positioning system - Google Patents
Positioning estimation method and positioning system Download PDFInfo
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Abstract
The invention discloses a positioning estimation method and a positioning system, wherein the positioning estimation method is used for a positioning system with a plurality of inertial sensors, the plurality of inertial sensors are arranged on an object, and the positioning estimation method comprises the steps of sensing the motion state of the object by using the plurality of inertial sensors to generate a plurality of sensing signals; selecting a plurality of candidate sensing signals within an error range from the plurality of sensing signals according to a fault tolerance threshold; and calculating an estimated position of the object according to the candidate sensing signals.
Description
Technical field
The present invention relates to a kind of location estimation method and located in connection system, relate in particular to a kind of location estimation method and located in connection system that promotes fiduciary level.
Background technology
Three dimensions (Three Dimension, 3D) location technology has been widely used in the application of various electronic products, and known locator meams can use the two or more different mutual collocation of inertial sensors to reach the effect of object localization usually.Yet because different types of inertial sensor has different reaction velocitys, the reaction time is different thereupon certainly, and thus, it is consistent that the signal output time of each inertial sensor will be difficult for reaching.For instance; If be every degree 1/720 second gyrostatic detection time; And gravity sensor is every degree 1/1600 second, in the case, with cause object the locating information of a certain position by different time sensing signal estimated and produce wrong positioning result.
On the other hand, because inertial sensor ties up to usually under the motion state (time is continuous) and carries out sensing, that is to say the signal value that sensing signal is extrapolated through the computing to time integral.Moreover inertial sensor itself can have a little sensing error usually, in the case; Along with the growth of time, the sensing error is also constantly accumulated with the person time, therefore; Time, the error that is then caused more of a specified duration was also huger through the resulting numerical value of integral operation; Thus, if inertial sensor is used in sensing uses for a long time, will produce inaccurate sensing result.
Summary of the invention
Therefore, fundamental purpose of the present invention promptly is to provide a kind of location estimation method and located in connection system.
The present invention discloses a kind of location estimation method; Be used to have a location system of a plurality of inertial sensors; Wherein these a plurality of inertial sensors are arranged on the object, and this location estimation method includes the motion state of utilizing these a plurality of these objects of inertial sensor sensing, to produce a plurality of sensing signals; According to a fault-tolerant threshold value, select a plurality of candidate's sensing signals that close in error range certainly in these a plurality of sensing signals; And, calculate an estimated position of this object according to these a plurality of candidate's sensing signals.
The present invention also discloses a kind of positioning system, is used for estimating the position of an object, and it includes a plurality of inertial sensors, a signal processing unit and a position arithmetic element.These a plurality of inertial sensors are arranged on this object, are used for the motion state of this object of sensing, to produce a plurality of sensing signals.This signal processing unit includes a signal receiving unit and a fault-tolerant detecting unit.This signal receiving unit is coupled to this a plurality of inertial sensors, is used for receiving these a plurality of sensing signals.This fault-tolerant detecting unit is coupled to this signal receiving unit, is used for according to a fault-tolerant threshold value, selects a plurality of candidate's sensing signals that close in error range certainly in these a plurality of sensing signals.This position arithmetic element is coupled to this fault-tolerant detecting unit, is used for calculating an estimated position of this object according to these a plurality of candidate's sensing signals.
Description of drawings
Fig. 1 is the synoptic diagram of a location system of the embodiment of the invention.
Fig. 2 is the synoptic diagram of a flow process of the embodiment of the invention.
Fig. 3 is the signal waveforms of the sensing signal among Fig. 1.
Synoptic diagram when Fig. 4 is applied to electronic pen for the positioning system among Fig. 1.
[main element symbol description]
10 positioning systems
102 signal processing units
104 position arithmetic elements
106 signal receiving units
108 fault-tolerant detecting units
110 reset cells that make zero
20 flow processs
200、202、204、206、
208 steps
IS1～IS3 inertial sensor
The OB object
S1～S3 sensing signal
The unusual sensing signal of SAB1
SC1～SC2 candidate sensing signal
Embodiment
Please refer to Fig. 1, Fig. 1 is the synoptic diagram of a location system 10 of the embodiment of the invention.Positioning system 10 is used for estimating the position of an object OB.Positioning system 10 includes inertial sensor IS1～IS3, a signal processing unit 102, a position arithmetic element 104.Inertial sensor IS1～IS3 is set at respectively on the object OB, is used for the motion state of object sensing OB, to produce sensing signal S1～S3.Signal processing unit 102 includes a signal receiving unit 106, one fault-tolerant detecting unit 108 and a reset cell 110 that makes zero.Signal receiving unit is coupled to inertial sensor IS1～IS3, is used for receiving sensing signal S1～S3.Fault-tolerant detecting unit 108 is coupled to signal receiving unit 106, is used for according to a fault-tolerant threshold value, selects a plurality of candidate's sensing signals that close in error range among self-inductance measurement signal sensing signal S1～S3.The reset cell 110 that makes zero is coupled to inertial sensor IS1～IS3 and fault-tolerant detecting unit 108, is used for controlling inertial sensor IS1～IS3, to carry out the replacement handling procedure that makes zero.Position arithmetic element 104 is coupled to fault-tolerant detecting unit 108, is used for candidate's sensing signal of going out according to selected, calculates the estimated position of object OB.In other words, positioning system 10 can estimate the opposite position of object OB in three dimensions, thus, if estimate object OB behind the position of different time through positioning system 10, can determine the movement locus of object OB.
About the detail operations mode of positioning system 10, please continue with reference to following explanation.Please refer to Fig. 2, Fig. 2 is the synoptic diagram of a flow process 20 of the embodiment of the invention.Flow process 20 includes the following step:
Step 200: beginning.
Step 202: utilize the motion state of inertial sensor IS1～IS3 object sensing OB, to produce sensing signal S1～S3.
Step 204:, select a plurality of candidate's sensing signals that close in error range among self-inductance measurement signal S1～S3 according to fault-tolerant threshold value.
Step 206:, calculate the estimated position of object OB according to selected taking-up candidate sensing signal.
Step 208: finish.
According to flow process 20, at first, the motion state of utilizing inertial sensor IS1～IS3 to come object sensing OB respectively, and produce sensing signal S1～S3 (step 202) according to this.Because inertial sensor may or be provided with position effects because of the long-time sensing error that adds up, even possibly be the relation that breaks down, and causes producing incorrect sensing signal.In the case; Fault-tolerant detecting unit 108 can carry out Analysis and Screening to signal receiving unit 106 received sensing signal S1～S3; With according to a fault-tolerant threshold value, select the candidate's sensing signal (step 204) that closes in error range among self-inductance measurement signal S1～S3, then; Position arithmetic element 104 calculates the estimated position (step 206) of object OB again according to the selected candidate's sensing signal that goes out.In other words, the present invention uses the mode of fault-tolerant design to get rid of the sensing signal of improper (exceeding range of allowable error), with the fiduciary level of raised position estimation, and then can obtain object localization information more accurately.
Further specify, in step 204, fault-tolerant detecting unit 108 can be divided into candidate's sensing signal or unusual sensing signal with whole sensing signals.That is to say that fault-tolerant detecting unit 108 can be selected the sensing signal that closes among sensing signal S1～S3 in error range as candidate's sensing signal, so that follow-up object position estimation computing to be provided according to fault-tolerant threshold value.Simultaneously, the sensing signal that will exceed error range is selected as unusual sensing signal, and no longer as the data of follow-up object position estimation computing.For instance, please refer to Fig. 3, Fig. 3 is the signal waveforms of the sensing signal S1～S3 among Fig. 1.Suppose that fault-tolerant threshold value is TH; And when time point T; Inertial sensor IS3 produces because sensing is unusual when exceeding the many sensing signal S3 of error range; As shown in Figure 3, when time point T, there is very big difference between the signal value of the sensing signal S2 that the signal value of the sensing signal S3 that inertial sensor IS3 is sensed and adjacent inertial sensor IS2 are sensed.Therefore; In step 204; Fault-tolerant detecting unit 108 can compare each sensing signal and be adjacent the pairing sensing signal of inertial sensor; Calculating corresponding signal difference value, when the signal difference value that is calculated during less than fault-tolerant threshold value TH (that is closing in error range), fault-tolerant detecting unit 108 is elected this sensing signal as the candidate sensing signal.In like manner, when the signal difference value that is calculated is not less than fault-tolerant threshold value TH when (that is surpassing error range), elect this sensing signal as unusual sensing signal.In other words, fault-tolerant detecting unit 108 can select sensing signal S1 and S2 as candidate's sensing signal SC1 and SC2, and sensing signal S3 is set at unusual sensing signal SAB1.Then, in step 206, position arithmetic element 104 is just only according to candidate's sensing signal SC1 and SC2, comes the estimated position of computing object OB and can avoid data improperly to influence the location estimation of object OB.
In addition because each inertial sensor is arranged on the same object, and normal sensor to put the sensing signal value that sensed at one time usually can difference too not big.Therefore, fault-tolerant detecting unit 108 also can calculate corresponding signal difference value through comparing the signal averaging of each sensing signal and other sensing signals.When the signal difference value that is calculated during less than fault-tolerant threshold value, fault-tolerant detecting unit 108 can be elected corresponding sensing signal as the candidate sensing signal.In like manner, when the signal difference value that is calculated is not less than fault-tolerant threshold value, then elect corresponding sensing signal as unusual sensing signal.
On the other hand, in step 204, after fault-tolerant detecting unit 108 was selected unusual sensing signal, reset cell 110 may command that make zero were to inertial sensor IS1～IS3, carried out the replacement handling procedure that makes zero.For instance; Through the control of the reset cell 110 that makes zero, inertial sensor IS1～IS3 can make zero in one and temporarily stop detection procedure in the replacement processing cycle, thus; To the inertial sensor that senses unusual sensing signal; Can improve the unusual situation of sensing, in follow-up detection process, the inertial sensor of reset handling through making zero can be once again the motion state of object sensing correctly.In addition; Cause producing incorrect sensing signal in order to eliminate inertial sensor because of the long-time sensing error that adds up, even the inertial sensor in the positioning system 10 does not have to produce the sensing signal that exceeds error range, the reset cell 110 that makes zero is every at a distance from a specific period; In regular turn inertial sensor IS1～IS3 is carried out the replacement handling procedure that makes zero; Thus, be equivalent to the time is recomputated, at short notice object position estimation done the computing of once resetting; And can eliminate the sensing error of bringing because of the time, to prevent the generation of incorrect sensing signal.
In addition, in step 206, position arithmetic element 104 calculates the estimated position of object OB according to the selected candidate's sensing signal that goes out.For example, position arithmetic element 104 can be calculated the mean value of the selected candidate's sensing signal that goes out, to determine the estimated position of object OB.Because inertial sensor IS1～IS3 is arranged at the diverse location on the object OB, relatively, sensing sensitivity also can be different.Therefore, position arithmetic element 104 can be according to a weight allocation ratio, the selected candidate's sensing signal that goes out is computed weighted, and determine the estimated position of object OB according to this.Preferably; Aforementioned weight allocation ratio is the position that is provided with that corresponds to each corresponding inertial sensor, and the position that for example susceptibility is more little gives less weight, and vice versa; Thus; Give the mode of different weights to each inertial sensor the position difference being set, can eliminate the uneven influence of susceptibility, and then increase the reliability that three-dimensional space position is estimated.
It should be noted that; Above-mentioned example is merely and is used for explaining application of the present invention; Be not restrictive condition of the present invention, those skilled in the art should understand, under spirit of the present invention; The step in the flow process of Fig. 2 can increase again other intermediate steps, can but several steps be merged into one step or clipped step, to do suitable variation.Certainly, if can obtain roughly the same result, then flow process among Fig. 2 20 and non-limiting will the execution according to the order shown in Fig. 2.In addition, positioning system 10 is one embodiment of the invention, and those skilled in the art are when doing different variations according to this.For instance, signal receiving unit 106 can be linked to inertial sensor IS1～IS3 to obtain corresponding sensing signal through wireless or wired mode.In like manner, the reset cell 110 that makes zero also can get in touch with inertial sensor IS1～IS3 through wireless or wired mode, makes zero to reset and handles to control corresponding inertial sensor.In addition, inertial sensor of the present invention is not limited to any kind of and quantity, and the device of every related physical quantity information that object of which movement can be provided is all suitable.For instance, no matter be three acceleration sensors, gravity sensor, gyroscope or electronic compasss ... wait all to belong to the applicable scope of the present invention, but not as limit.
Be that example is explained further below, please refer to Fig. 4, the synoptic diagram when Fig. 4 is applied to an electronic pen for the positioning system 10 of Fig. 1 to be applied to an electronic pen.Suppose that object OB is an electronic pen, inertial sensor IS1～IS3 is respectively one or three acceleration sensors, and fault-tolerant threshold value is TH.When user's desire is carried out stereoscopic drawing through operation object OB, the running through positioning system 10 can estimate the position of object OB in different time, thus, can determine the movement locus of object OB, and can realize the purpose of drawing.In detail, at first, inertial sensor IS1～IS3 capable of using comes the motion state of object sensing OB, and produces sensing signal S1～S3 according to this.For example, when time T, the signal value of sensing signal S1 be (X1, Y1, Z1), the signal value of sensing signal S2 be (X2, Y2, Z2), the signal value of sensing signal S3 be (X3, Y3, Z3).Then, utilizing fault-tolerant detecting unit 108 that each sensing signal is adjacent the pairing sensing signal of inertial sensor compares.If the signal difference value between sensing signal S1 and S2 less than the signal difference value between fault-tolerant threshold value TH and sensing signal S3 and S2 greater than fault-tolerant threshold value TH; Fault-tolerant detecting unit 108 can select sensing signal S1 and S2 as candidate's sensing signal SC1 and SC2, and sensing signal S3 is set at unusual sensing signal SAB1.Then, position arithmetic element 104 just can be come the estimated position of computing object OB according to candidate's sensing signal SC1 and SC2.Certainly, because the data of sensing signal S3 have exceeded range of allowable error, therefore, will be excluded and not as the basis of position calculation.In addition, because inertial sensor IS1 is near the nib place, the sensing susceptibility maybe be bigger, therefore gives bigger weight proportion.For instance, the pairing weight proportion of candidate's sensing signal SC1 and SC2 is respectively W1 and W2, and wherein W1 is greater than W2; If the estimated position of object OB when time T be coordinate values (X, Y, Z); X=(W1*X1)+(W2*X2) then, Y=(W1*Y1)+(W2*Y2), Z=(W1*Z1)+(W2*Z2).In addition; Owing to there has been unusual sensing signal SAB1; The reset cell 110 that makes zero will be controlled inertial sensor IS1～IS3 is carried out the replacement handling procedure that makes zero according to unusual sensing signal SAB1, carries out the time integral computing again; Thus, the sensing error that the inertial sensor IS3 that senses unusual sensing signal SAB1 will be added up in the time of can eliminating original running according to this.In other words; Positioning system 10 is avoided influencing outside the estimation of tram except the incorrect sensing signal of forgoing, and the replacement handling procedure more can make zero to the inertial sensor that has cumulative errors; Make it in follow-up detection process, the motion state of object sensing that can be correct once again.
In sum, the present invention uses the mode of fault-tolerant design to get rid of incorrect sensing signal, and the fiduciary level estimated of raised position effectively.On the other hand; The present invention more combines to make zero to reset and handles the cumulative errors of eliminating inertial sensor; And give the mode of different weights to each inertial sensor the position difference being set,, and then obtain object localization information more accurately with the uneven influence of elimination susceptibility.
The above is merely the preferred embodiments of the present invention, and all equalizations of doing according to claims of the present invention change and modify, and all should belong to covering scope of the present invention.
Claims (21)
1. a location estimation method is used to have a location system of a plurality of inertial sensors, and wherein these a plurality of inertial sensors are arranged on the object, and this location estimation method includes:
Utilize the motion state of these a plurality of these objects of inertial sensor sensing, to produce a plurality of sensing signals;
According to a fault-tolerant threshold value, select a plurality of candidate's sensing signals that close in error range certainly in these a plurality of sensing signals; And
According to these a plurality of candidate's sensing signals, calculate an estimated position of this object.
2. location estimation method as claimed in claim 1 wherein according to this fault-tolerant threshold value, selects the step of closing a plurality of candidate's sensing signals in error range certainly and includes in these a plurality of sensing signals:
To each sensing signal, relatively each sensing signal is adjacent the pairing sensing signal of inertial sensor, to determine a signal difference value; And
When this signal difference value during, select this corresponding sensing signal as candidate's sensing signal less than this fault-tolerant threshold value.
3. location estimation method as claimed in claim 1 wherein according to this fault-tolerant threshold value, selects the step of closing a plurality of candidate's sensing signals in error range certainly and includes in these a plurality of sensing signals:
To each sensing signal, compare a signal averaging of each this sensing signal and other sensing signals, to determine a signal difference value; And
When this signal difference value during, select this corresponding sensing signal as candidate's sensing signal less than this fault-tolerant threshold value.
4. location estimation method as claimed in claim 1 wherein according to this fault-tolerant threshold value, selects the step of closing a plurality of candidate's sensing signals in error range certainly and also includes in these a plurality of sensing signals:
Should not be chosen for candidate's sensing signal person in a plurality of sensing signals, selected as a unusual sensing signal; And
When having this unusual sensing signal,, carry out the replacement handling procedure that makes zero to these a plurality of inertial sensors.
5. location estimation method as claimed in claim 4, wherein when having this unusual sensing signal,, carry out this step that makes zero the replacement handling procedure and include these a plurality of inertial sensors:
Make zero in the replacement processing cycle one, stop to utilize the motion state of these a plurality of these objects of inertial sensor sensing.
6. location estimation method as claimed in claim 1, wherein according to these a plurality of candidate's sensing signals, the step that calculates this estimated position of this object includes:
According to a weight allocation ratio, these a plurality of candidate's sensing signals are computed weighted, and determine this estimated position of this object according to this.
7. location estimation method as claimed in claim 6, wherein this weight allocation ratio corresponds to the position of these a plurality of inertial sensors.
8. location estimation method as claimed in claim 1, wherein according to these a plurality of candidate's sensing signals, the step that calculates this estimated position of this object includes:
Calculate a mean value of these a plurality of candidate's sensing signals, to determine this estimated position of this object.
9. location estimation method as claimed in claim 1, it also includes:
Every at a distance from a specific period, in regular turn to this this a plurality of inertial sensors, the execution one replacement handling procedure that makes zero.
10. positioning system is used for estimating the position of an object, includes:
A plurality of inertial sensors are arranged on this object, are used for the motion state of this object of sensing, to produce a plurality of sensing signals;
One signal processing unit includes:
One signal receiving unit is coupled to this a plurality of inertial sensors, is used for receiving these a plurality of sensing signals; And
One fault-tolerant detecting unit is coupled to this signal receiving unit, is used for according to a fault-tolerant threshold value, selects a plurality of candidate's sensing signals that close in error range certainly in these a plurality of sensing signals; And
One position arithmetic element is coupled to this fault-tolerant detecting unit, is used for calculating an estimated position of this object according to these a plurality of candidate's sensing signals.
11. positioning system as claimed in claim 10; Wherein the sensing signal that sensed of this fault-tolerant each inertial sensor of detecting unit comparison is adjacent the pairing sensing signal of inertial sensor; To determine a signal difference value; And during less than this fault-tolerant threshold value, select this corresponding sensing signal as candidate's sensing signal in this signal difference value.
12. positioning system as claimed in claim 10; The wherein sensing signal that sensed of this fault-tolerant each inertial sensor of detecting unit comparison and a signal averaging of the pairing sensing signal of other inertial sensors; To determine a signal difference value; And during less than this fault-tolerant threshold value, select this corresponding sensing signal as candidate's sensing signal in this signal difference value.
13. positioning system as claimed in claim 10, wherein this fault-tolerant detecting unit should not be chosen for candidate's sensing signal person in a plurality of sensing signals, selected as a unusual sensing signal.
14. positioning system as claimed in claim 10, wherein this signal processing unit also includes:
One reset cell that makes zero is coupled to these a plurality of inertial sensors and this fault-tolerant detecting unit, is used for control to these a plurality of inertial sensors, the execution one replacement handling procedure that makes zero.
15. positioning system as claimed in claim 14, wherein this reset cell that makes zero makes zero in the replacement processing cycle in one, controls the motion state that this this a plurality of inertial sensors stop this object of sensing.
16. positioning system as claimed in claim 14, wherein this reset cell that makes zero is every at a distance from a specific period, in regular turn to this this a plurality of inertial sensors, and the execution one replacement handling procedure that makes zero.
17. positioning system as claimed in claim 10, wherein this position arithmetic element computes weighted to these a plurality of candidate's sensing signals according to a weight allocation ratio, and determines this estimated position of this object according to this.
18. positioning system as claimed in claim 17, wherein this weight allocation ratio system corresponds to the position of these a plurality of inertial sensors.
19. positioning system as claimed in claim 10, wherein this position arithmetic element calculates a mean value of these a plurality of candidate's sensing signals, and determines this estimated position of this object according to this.
20. positioning system as claimed in claim 10, wherein these a plurality of inertial sensors are respectively one or three acceleration sensors, a gravity sensor, a gyroscope or an electronic compass.
21. positioning system as claimed in claim 10, wherein these a plurality of inertial sensors are arranged at the diverse location of this object respectively.
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| CN111429649A (en) * | 2020-03-09 | 2020-07-17 | 北京爱笔科技有限公司 | Goods identification method, device and system |
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