CN103063209B - Based on the moving target localization method of dynamic dual pyroelectric sensor network - Google Patents
Based on the moving target localization method of dynamic dual pyroelectric sensor network Download PDFInfo
- Publication number
- CN103063209B CN103063209B CN201210582431.4A CN201210582431A CN103063209B CN 103063209 B CN103063209 B CN 103063209B CN 201210582431 A CN201210582431 A CN 201210582431A CN 103063209 B CN103063209 B CN 103063209B
- Authority
- CN
- China
- Prior art keywords
- moving target
- pyroelectric sensor
- moment
- sensor network
- utilize
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The present invention is specially a kind of moving target localization method based on dynamic dual pyroelectric sensor network, solves the existing pyroelectric infrared sensor that utilizes to the problem of moving target locating device complexity, low precision.Moving target localization method based on dynamic dual pyroelectric sensor network utilizes the probe node of some rotations to form dynamic dual pyroelectric sensor network, utilize the moment that image difference method process determination moving target occurs, utilize four moment and the azimuthal data of correspondence, in conjunction with the speed of known moving target, utilize geometric relationship to list equation, repeatedly calculate the motion path curve of moving target.The combined power consumption that present invention utilizes Infrared Lens and Pyroelectronic Sensor is little, cost is low, and the pyroelectric sensor quantity of needs is few, utilize a small amount of node just can realize large-area location, and positioning precision is high.
Description
Technical field
The present invention relates to infrared location tracking method, be specially a kind of moving target localization method based on dynamic dual pyroelectric sensor network.
Background technology
Target localization object is extracted from background area target, and according to obtaining the process of coordinates of targets information someway.Mainly comprise target detection, two processes in location.Human body tracking comprises the movement of seizure displacement and health as the different gestures of movement human and attitude etc.Technology for Target Location can be divided into two large class, active Technology for Target Location and passive type Technology for Target Locations.Active Technology for Target Location is by initiatively transmitting, and accepts with corresponding receiving trap the technology that feedback signal positions target; Passive type Technology for Target Location target itself does not transmit, and realizes the location to target only by certain feature of target itself.Commonly comprise less radio-frequency localization method, active infra-red detection method, ultrasonic Method for Measuring etc. to active object localization method.Based on the method for image, acoustic fix ranging, GPS location, then belong to passive type localization method based on the target localization of pyroelectric infrared sensor.The infrared ray of pyroelectric sensor detectable hot body institute radiation, realizes the detection of movement human in investigative range.The cost of manufacture of this human motion detection system is very cheap, is widely used in burglar alarm.In this type of application, the output signal of pyroelectric sensor, by two limit comparison circuit, is converted into on-off model.But due to pyroelectric sensor, to there is search coverage less, and precision is not high, the problems such as alert rate is high by mistake, so pyroelectric sensor is actually rare in the application of other field.The existing pyroelectric sensor that utilizes is divided by multiple pyroelectric sensor surveyed area to target travel detection and location and knowledge method for distinguishing, when target is moved in zones of different, different sensors can sense echo signal and export, these localization methods are and utilize the superposition of the sensing region of multiple pyroelectric sensor to position target, the pyroelectric sensor quantity needed is more and device complicated, and target can only be positioned a certain region by this method, accurately can not locate target, positioning precision is poor.
Having worked out a kind of Pyroelectronic Sensor that utilizes carries out the method for dynamic instrumentation to peripheral region now.Dynamic use Pyroelectronic Sensor detection peripheral region, be placed on a turntable by Pyroelectronic Sensor, detect the region around this turntable, because its background constantly changes, different background objects because of its infrared radiation value of difference of its material not identical yet, the sensitivity unit of Pyroelectronic Sensor is not because infrared radiation value stops to change and output waveform, and the size of this waveform is determined by other size of infrared radiation value difference between neighboring background.When not having target to enter the sensing region of Pyroelectronic Sensor, pyroelectric sensor still has wave form output, but the infrared radiation value of background objects changes not quite at short notice in the same area, so when not having target to enter the sensing region of sensor, the signal waveform that Pyroelectronic Sensor exports presents periodically repetition, once there be target to enter search coverage, the irregular change of appearance of waveform, namely determines that target occurs.
Summary of the invention
The present invention, in order to solve the existing pyroelectric infrared sensor that utilizes to the problem of moving target locating device complexity, low precision, provides a kind of moving target localization method based on dynamic dual pyroelectric sensor network.
The present invention adopts following technical scheme to realize: based on the moving target localization method of dynamic dual pyroelectric sensor network, be specially utilization at least two probe node composition dynamic dual pyroelectric sensor network, therefrom one of them probe node optional is as initial point, the line of this probe node and another probe node sets up two-dimensional coordinate system as X-axis, each probe node arranges a turntable, each turntable is at least fixed one group of optical-electric module, optical-electric module comprises a Pyroelectronic Sensor and is located at the Infrared Lens in Pyroelectronic Sensor front, the rotating speed of turntable, the optical-electric module quantity of probe node quantity and each turntable is to ensure that being as the criterion at least four times appears in dynamic dual pyroelectric sensor network detection moving target, the waveform that pyroelectric sensor exports is recorded during detection, utilize the moment that image difference method process determination moving target occurs, the moment occurred according to moving target and the velocity gauge of corresponding turntable calculate the position angle of moving target present position, therefrom optional four moment and the azimuthal data of correspondence, in conjunction with the speed of known moving target, to utilize geometric relationship to list to include on Path of Moving Object certain any coordinate, the equation of the unknown numbers such as moving target motion path slope, calculate the motion path straight line of moving target within the time period belonging to these four moment, four moment and the azimuthal data of correspondence are comprised by repeatedly calculating to choose in addition, draw many motion path straight lines, thus roughly determine moving target fullpath curve.
The effect of Infrared Lens mainly improves the detection range of pyroelectric sensor.When not adding any optical lens, the effective detection range of pyroelectric infrared sensor is very limited, less than 2m; When using Fresnel Lenses, its effective detection range extends to about 10m; When using the Infrared Lens through certain wavelength, its effective detection range can further be expanded, and reaches about 30m ~ 50m; If utilize characteristics of optical path, the lens combination that design is complicated, then will make detection range be further enhanced.
Image difference method be in moving target detecting method the most directly, a kind of the easiest method.Current frame image and background image are done subtraction, background image is Pyroelectronic Sensor output waveform when not having moving target to occur, current frame image is Pyroelectronic Sensor output waveform when having moving target to occur, subtract each other each pixel value in rear acquired results to compare with the threshold value preset, if pixel value is greater than threshold value, just judge to there is moving object in background, thus obtain the moment of moving target appearance.
The position angle of moving target present position is specially moving target when being detected, and moving target makes a line with the probe node detecting moving target, and the angle of this line and x-axis is called the position angle of moving target present position.
The speed of moving target is given data, is specially and the motion of the moving target in the time period belonging to four moment (namely from the moment the earliest four moment to a period of time in moment the latest) is approximately linear uniform motion.Utilize the data determination straight line in four moment.If select other four moment else, different motion path straight lines can be calculated.Dual pyroelectric sensor network detection moving target occurrence number is more, and the motion path straight line quantity that can calculate is more, and the moving target motion path curve namely finally determined is more accurate.
Beneficial effect of the present invention is as follows: utilize the Pyroelectronic Sensor of some rotations to form dynamic dual pyroelectric sensor network as probe node, achieve the location to moving target and tracking.The combined power consumption that present invention utilizes Infrared Lens and Pyroelectronic Sensor is little, cost is low, be different from and utilize the superposition of the sensing region of multiple pyroelectric sensor to position target, the pyroelectric sensor quantity needed is few, utilize a small amount of node just can realize large-area location, and positioning precision is high.
Accompanying drawing explanation
Fig. 1 is dynamic dual pyroelectric sensor network geometric relationship schematic diagram.
Embodiment
Based on the moving target localization method of dynamic dual pyroelectric sensor network, be specially utilization at least two probe node composition dynamic dual pyroelectric sensor network, therefrom one of them probe node optional is as initial point, the line of this probe node and another probe node sets up two-dimensional coordinate system as X-axis, each probe node arranges a turntable, each turntable is at least fixed one group of optical-electric module, optical-electric module comprises a Pyroelectronic Sensor and is located at the Infrared Lens in Pyroelectronic Sensor front, the rotating speed of turntable, the optical-electric module quantity of probe node quantity and each turntable is to ensure that being as the criterion at least four times appears in dynamic dual pyroelectric sensor network detection moving target, the waveform that pyroelectric sensor exports is recorded during detection, utilize the moment that image difference method process determination moving target occurs, the moment occurred according to moving target and the velocity gauge of corresponding turntable calculate the position angle of moving target present position, therefrom optional four moment and the azimuthal data of correspondence, in conjunction with the speed of known moving target, to utilize geometric relationship to list to include on Path of Moving Object certain any coordinate, the equation of the unknown numbers such as moving target motion path slope, calculate the motion path straight line of moving target within the time period belonging to these four moment, four moment and the azimuthal data of correspondence are comprised by repeatedly calculating to choose in addition, draw many motion path straight lines, thus roughly determine moving target fullpath curve.
In specific implementation process, the control device of turntable used is made up of the stepper motor of a PLC technology and controller thereof.Controller is the velocity of rotation of control step motor and rotating manner according to actual needs.The signal acquisition module used by waveform that record pyroelectric sensor exports is made up of a low-pass filter, a high-precision amplifying and a Hi-pass filter.Calculate four moment counterparty parallactic angles and utilize equation to calculate the data processing work such as motion path curve and utilize chip microcontroller.The optical-electric module quantity of the rotating speed of turntable, probe node quantity and each turntable.
Embodiment 1
As shown in drawings,
(0,0) is the probe node as initial point,
(d, 0) is another probe node,
straight line is x-axis, and moving target goes out to be respectively now
,
,
,
, wherein
with
be by
probe node is measured,
position angle corresponding to moment is
,
position angle corresponding to moment is
, wherein
with
be by
probe node is measured,
position angle corresponding to moment is
,
position angle corresponding to moment is
,
for the angle that the slope of moving target motion path is corresponding,
for a certain point coordinate on Path of Moving Object,
for moving target known speed.During using human body as moving target, can using adult normal speed of travel 1.1m/s ~ 1.3m/s as
calculate, error is little.
According to following relational expression:
Following three equations can be drawn,
Can obtain
,
three variablees, namely obtain the motion path straight line of moving target in this time period.
Claims (4)
1. the moving target localization method based on dynamic dual pyroelectric sensor network, it is characterized in that: be specially utilization at least two probe node composition dynamic dual pyroelectric sensor network, therefrom one of them probe node optional is as initial point, the line of this probe node and another probe node sets up two-dimensional coordinate system as X-axis, each probe node arranges a turntable, each turntable is at least fixed one group of optical-electric module, optical-electric module comprises a Pyroelectronic Sensor and is located at the Infrared Lens in Pyroelectronic Sensor front, the rotating speed of turntable, the optical-electric module quantity of probe node quantity and each turntable is to ensure that being as the criterion at least four times appears in dynamic dual pyroelectric sensor network detection moving target, the waveform that pyroelectric sensor exports is recorded during detection, utilize the moment that image difference method process determination moving target occurs, the moment occurred according to moving target and the velocity gauge of corresponding turntable calculate the position angle of moving target present position, therefrom optional four moment and the azimuthal data of correspondence, in conjunction with the speed of known moving target, utilize geometric relationship to list to include the equation of certain coordinate of any and the unknown number of moving target motion path slope on Path of Moving Object, calculate the motion path straight line of moving target within the time period belonging to these four moment, four moment and the azimuthal data of correspondence are comprised by repeatedly calculating to choose in addition, draw many motion path straight lines, thus roughly determine moving target fullpath curve.
2. the moving target localization method based on dynamic dual pyroelectric sensor network according to claim 1, is characterized in that: the control device of turntable used is made up of the stepper motor of a PLC technology and controller thereof.
3. the moving target localization method based on dynamic dual pyroelectric sensor network according to claim 1 and 2, is characterized in that: the signal acquisition module used by waveform that record pyroelectric sensor exports is made up of a low-pass filter, a high-precision amplifying and a Hi-pass filter.
4. the moving target localization method based on dynamic dual pyroelectric sensor network according to claim 3, is characterized in that: calculate four moment counterparty parallactic angles and utilize the work for the treatment of of equation calculating moving target fullpath curve data to utilize chip microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210582431.4A CN103063209B (en) | 2012-12-28 | 2012-12-28 | Based on the moving target localization method of dynamic dual pyroelectric sensor network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210582431.4A CN103063209B (en) | 2012-12-28 | 2012-12-28 | Based on the moving target localization method of dynamic dual pyroelectric sensor network |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103063209A CN103063209A (en) | 2013-04-24 |
| CN103063209B true CN103063209B (en) | 2015-12-02 |
Family
ID=48105938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210582431.4A Expired - Fee Related CN103063209B (en) | 2012-12-28 | 2012-12-28 | Based on the moving target localization method of dynamic dual pyroelectric sensor network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103063209B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104266645B (en) * | 2014-09-23 | 2017-01-25 | 东北大学 | Indoor personnel behavior recognition and position tracking system and method |
| CN105044673B (en) * | 2015-07-31 | 2018-08-03 | 中北大学 | A kind of distributing target following positioning system and method based on pyroelectricity perception |
| CN105606229B (en) * | 2015-12-28 | 2019-05-17 | 广东工业大学 | Rotary scanning type exempts to dress indoor positioning device and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0272078A2 (en) * | 1986-12-15 | 1988-06-22 | Honda Giken Kogyo Kabushiki Kaisha | Apparatus for display travel path |
| JPH08178654A (en) * | 1994-12-27 | 1996-07-12 | Mitsubishi Electric Corp | Orientation device |
| CN101587591A (en) * | 2009-05-27 | 2009-11-25 | 北京航空航天大学 | Visual accurate tracking technique based on double parameter thresholds dividing |
-
2012
- 2012-12-28 CN CN201210582431.4A patent/CN103063209B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0272078A2 (en) * | 1986-12-15 | 1988-06-22 | Honda Giken Kogyo Kabushiki Kaisha | Apparatus for display travel path |
| JPH08178654A (en) * | 1994-12-27 | 1996-07-12 | Mitsubishi Electric Corp | Orientation device |
| CN101587591A (en) * | 2009-05-27 | 2009-11-25 | 北京航空航天大学 | Visual accurate tracking technique based on double parameter thresholds dividing |
Non-Patent Citations (3)
| Title |
|---|
| 动态下红外热释电传感器的目标定位方法;孙乔 等;《红外与激光工程》;20120930;第41卷(第9期);2288-2292 * |
| 基于动态下使用热释电传感器的新型目标探测方法的研究;孙乔 等;《计算机测量与控制》;20111231;第19卷(第11期);2649-2651 * |
| 无线传感网络中的目标跟踪技术;刘博;《中兴通讯技术》;20080229;第14卷(第1期);48-50、53 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103063209A (en) | 2013-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104714209B (en) | Dynamic positioning method and device based on UWB and laser ranging combination | |
| CN103433810B (en) | Complicated curve surface normal vector on-machine detection device and method | |
| CN103940335A (en) | Device for measuring repeated positioning accuracy of industrial robot | |
| CN102221331B (en) | Measuring method based on asymmetric binocular stereovision technology | |
| CN103170980A (en) | Positioning system and positioning method for household service robot | |
| CN102129063A (en) | Method for positioning micro seismic source or acoustic emission source | |
| CN105184214A (en) | Sound source positioning and human face detection-based human body positioning method and system | |
| CN103837086B (en) | A kind of slab length device for dynamically detecting based on FPGA with high accuracy light curtain | |
| CN103063209B (en) | Based on the moving target localization method of dynamic dual pyroelectric sensor network | |
| CN103542846A (en) | Locating system and method of mobile robot | |
| CN104833317A (en) | Medium or heavy steel plate morphology detection system based on controllable symmetrical double-line laser angle and method thereof | |
| CN102175991B (en) | Target positioning method based on maximum positioning likelihood sensor configuration | |
| CN203758455U (en) | Industrial robot repetitive positioning precision measuring device | |
| CN204535658U (en) | A kind of high-precision section section bar laser measuring apparatus | |
| CN102906554A (en) | Apparatus and method for measuring air quality | |
| JP2020190429A5 (en) | ||
| CN104267444A (en) | Real-time three-dimensional imaging device for hole | |
| CN106646482A (en) | Transmission line distance detection method, device and system | |
| Chen et al. | Stereo vision sensor calibration based on random spatial points given by CMM | |
| CN204043703U (en) | A kind of indoor environment data acquisition system (DAS) | |
| CN107356902B (en) | WiFi positioning fingerprint data automatic acquisition method | |
| CN104075710B (en) | A kind of motor-driven Extended target based on Trajectory Prediction axial attitude real-time estimation method | |
| CN204730813U (en) | A kind of medium plate Shap feature detection system controlled based on symmetric double line laser angle | |
| CN111766549A (en) | Wearable magnetic field gradient detector and detection method | |
| CN104267438A (en) | Magnetic memory type GPS (global positioning system) position finder and positioning method for buried pipeline |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151202 Termination date: 20181228 |