CN103454657B - Intelligent terminal's synthesized positioning method and positioner - Google Patents
Intelligent terminal's synthesized positioning method and positioner Download PDFInfo
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Abstract
The invention discloses a kind of intelligent terminal's synthesized positioning method and positioner, said method comprises the following steps: after intelligent terminal's positioning function is opened, the moving direction of user is monitored by turning detector unit, if the moving direction monitoring above-mentioned user changes, then: above-mentioned turning detector unit when moving direction is changed the positional information at above-mentioned user place position.Without keeping GPS receiver unit to open for a long time when the present invention positions, decreasing the use time of GPS receiver unit, reduce intelligent terminal's energy consumption, location mode is more flexible.
Description
Technical field
The present invention relates to technical field of satellite, particularly relate to a kind of intelligent terminal comprehensively fixed
Method for position and positioner.
Background technology
GPS (Global Positing System, global positioning system) is to be led by U.S. government
The global position system first released, is widely used to navigation and the location of the various vehicles
In Scout service.GPS effective coverage range is big, and positioning precision is high, and range of error typically exists
Within 10 meters, and use free.Therefore, current various communication equipments, such as intelligent terminal
Typically it is fitted with GPS receiver unit, to facilitate user to navigate and location requirement.GPS connects
Have three kinds of different startup times when receiving cell operation: cold start-up, warm start, thermal starting.
When user need not real-time positioning, GPS receiver unit can be positioned by cold start-up.
When needs real-time positioning, prior art typically requires that GPS receiver unit is opened for a long time.And
When GPS receiver unit is opened for a long time, big energy will be consumed, after shortening intelligent terminal's charging
The use time, make user satisfaction reduce.
On the other hand, it is easily subject to veil obstruction and multipath delay etc. due to satellite-signal
Impact, GPS receiver unit only just has preferable signal to receive in the face of empty skies, and
In some indoor places, such as market, office space, there is the place such as parking lot of ceiling the most relatively
Difficulty receives signal.Therefore, prior art utilizes intelligent terminal's GPS receiver unit fixed in indoor
During position, it is possible that bigger error.
In the prior art, intelligent terminal typically utilizes its GPS receiver unit configured, adds
Velocity sensor and direction sensor position.During location, user must keep intelligence eventually
End is in and keeps flat attitude, makes the moving direction of the direction indication alignment user of direction sensor,
Then the moving direction of user is read by direction sensor, for calculating the position letter of user
Breath.One major defect of the method is the direction indication of direction sensor and the shifting of user
Dynamic direction must keep consistent the moment, otherwise can not correctly show that the moving direction etc. of user is believed
Breath.But in actual life, the application of intelligent terminal widely, also has during use
The strongest randomness, user can not allow terminal be in same direction all the time.
In sum, intelligent terminal of the prior art is by the GPS receiver list of configuration in it
When unit positions, it is easily subject to energy consumption, location many limits such as occasion, location mode
System, accordingly, it is desirable to provide a kind of intelligent terminal's synthesized positioning method.
Summary of the invention
It is an object of the invention to, it is provided that a kind of intelligent terminal's synthesized positioning method and location dress
Put, to solve the intelligent terminal of prior art during real-time positioning, energy expenditure is high,
The inflexible technical problem of location mode.
The present invention solves above-mentioned technical problem by the following technical programs:
A kind of intelligent terminal's synthesized positioning method, comprises the following steps:
After intelligent terminal's positioning function is opened, the moving direction of user is entered by turning detector unit
Row monitoring, if the moving direction monitoring above-mentioned user changes, then:
Above-mentioned turning detector unit is the positional information at above-mentioned user place when changing moving direction
Position.
According to embodiments of the present invention, after intelligent terminal's positioning function is opened, turning detector unit
Before the moving direction of above-mentioned user is monitored: above-mentioned intelligent terminal is in advance to above-mentioned user
Start position information and initial movable direction carry out Initialize installation.
Above-mentioned Initialize installation step includes:
Above-mentioned intelligent terminal opens the GPS receiver unit carried by initialization unit；
It is many that above-mentioned GPS receiver unit continuously acquires above-mentioned user within default a period of time
Individual present position information, is sent to above-mentioned initialization unit after obtaining successfully；
Above-mentioned initialization unit closes above-mentioned GPS receiver unit, by above-mentioned GPS receiver unit
First positional information got is set to the start position information of above-mentioned user, then judges
Whether above-mentioned multiple present position information is near same straight line, the most then:
Above-mentioned initialization unit, according to the time sequencing of above-mentioned present position acquisition of information, is passed through
Least square fitting goes out the initial movable direction of above-mentioned user.
Above-mentioned turning detector unit is monitored step to the moving direction of user and includes:
The direction sensor that above-mentioned turning detector unit carries from above-mentioned intelligent terminal obtains above-mentioned
User's starting point bearing data when start position；
After above-mentioned user starts to move, above-mentioned direction sensor is surveyed by above-mentioned turning detector unit
Bearing data when the above-mentioned user of amount moves is monitored, if monitoring above-mentioned direction sensing
The bearing data that device at a time T transmits exceedes pre-with the difference of above-mentioned starting point bearing data
If thresholding, then:
The acceleration transducer that above-mentioned turning detector unit carries according to above-mentioned intelligent terminal is surveyed
The information of amount, judges the moving direction situation of change of above-mentioned user.
Information measured by above-mentioned acceleration transducer is that above-mentioned acceleration transducer is with above-mentioned
On each direction of principal axis of three-dimensional system of coordinate centered by intelligent terminal, it is respectively directed to above-mentioned intelligent terminal
The acceleration information measured.
The acceleration transducer that above-mentioned turning detector unit carries according to above-mentioned intelligent terminal is surveyed
The information of amount, carries out determination step to the moving direction situation of change of above-mentioned user and includes:
Above-mentioned turning detector unit obtains above-mentioned acceleration transducer and surveyed before above-mentioned moment T
The above-mentioned intelligent terminal of amount average accelerator information x on each direction of principal axis1、y1、z1；
Then the above-mentioned intelligent terminal that above-mentioned acceleration transducer is measured is obtained at above-mentioned moment T
Acceleration information x on each direction of principal axis2、y2、z2；
Finally calculate
Obtain Europe away from S, if above-mentioned Europe
Away from S more than default Europe away from thresholding, then judge that the moving direction of above-mentioned user changes.
Above-mentioned turning detector unit is the positional information at above-mentioned user place when changing moving direction
Carry out positioning step to include:
Before above-mentioned turning detector unit notice displacement estimation unit calculating moving direction changes
Distance D that above-mentioned user moves；
Above-mentioned displacement estimation unit obtains user's step that above-mentioned user is arranged above-mentioned intelligent terminal
The user of long message and above-mentioned acceleration transducer statistics moves step number, above-mentioned user is walked
Long message moves step number with above-mentioned user and is multiplied, and obtains above-mentioned distance D, and by above-mentioned distance
D is sent to positioning unit；
Above-mentioned positioning unit according to the start position information of above-mentioned user, initial movable direction and
Above-mentioned distance D, the positional information at above-mentioned user place when orienting moving direction change.
The positional information at above-mentioned user place when above-mentioned positioning unit orients moving direction change
After, also perform following steps:
The updating location information at above-mentioned user place during the change of above-mentioned positioning unit moving direction
The start position information of above-mentioned user；
Then obtain above-mentioned direction sensor to measure after above-mentioned user's moving direction has changed
Turn direction data and moving direction change before the starting point bearing data that preserves, and by above-mentioned
Turn direction data are subtracted each other with above-mentioned starting point bearing data, obtain user's turning angle angle value；
Finally above-mentioned turning angle angle value is added with the initial movable direction of above-mentioned user, obtains
The new moving direction of above-mentioned user, and update above-mentioned user's with above-mentioned new moving direction
Initial movable direction；
After being updated successfully, above-mentioned acceleration transducer the user added up before is moved step number and
Acceleration information is deleted, and restarts counting user and move step number and acceleration information；
Above-mentioned direction sensor use has recorded certainly after above-mentioned user's moving direction has changed
Bearing data updates the starting point bearing data that self preserves.
According to embodiments of the present invention, above-mentioned intelligent terminal's synthesized positioning method also includes:
When the moving direction of user is monitored by above-mentioned turning detector unit, above-mentioned intelligence is eventually
Hold periodically by GPS receiver unit the current positional information of above-mentioned user and movement side
To being corrected, and with the current above-mentioned user of updating location information of corrected above-mentioned user
Start position information, update above-mentioned use with the current moving direction of corrected above-mentioned user
The initial movable direction at family；
After correcting successfully, the user added up before correction is moved step number by above-mentioned acceleration transducer
And acceleration information deletes, and restart counting user and move step number and acceleration information；
Bearing data measured by above-mentioned direction sensor timing updates rising of self preservation
Point bearing data.
According to embodiments of the present invention, above-mentioned intelligent terminal's synthesized positioning method also includes:
When above-mentioned user sends current location Location Request, above-mentioned displacement estimation unit obtains
State user's step information and above-mentioned acceleration transducer that user is arranged above-mentioned intelligent terminal
The user of current statistic moves step number, then above-mentioned user's step information and above-mentioned user is moved
Dynamic step number is multiplied, and obtains above-mentioned distance d, and above-mentioned distance d is sent to positioning unit；
Above-mentioned positioning unit according to the start position information of above-mentioned user, above-mentioned user initial
Moving direction and above-mentioned distance d, orient the positional information that above-mentioned user is currently located.
The present invention is the most by the following technical solutions:
A kind of positioner, including: turning detector unit；
Above-mentioned turning detector unit, after opening in intelligent terminal's positioning function, to user
Moving direction be monitored, if the moving direction monitoring above-mentioned user changes, then
When changing moving direction, the positional information at above-mentioned user place positions.
Above-mentioned positioner also includes: initialization unit, direction sensor, acceleration sensing
Device, displacement estimation unit, positioning unit and updating block；
Above-mentioned initialization unit, for when intelligent terminal's positioning function is opened, to above-mentioned use
Start position information and initial movable direction that family is moved carry out Initialize installation；
Above-mentioned direction sensor, for the bearing data of the above-mentioned intelligent terminal of measurement in real time, and
Above-mentioned bearing data is sent to above-mentioned turning detector unit；
Above-mentioned acceleration transducer, for when above-mentioned user moves in the same direction, measures
The acceleration information of above-mentioned intelligent terminal and the mobile step number of above-mentioned user, and above-mentioned user
Moving direction change time, for the new moving direction of above-mentioned user, remeasure above-mentioned
The acceleration information of intelligent terminal and the mobile step number of above-mentioned user；
Above-mentioned turning detector unit, the bearing data measured according to above-mentioned direction sensor and on
State the acceleration information that acceleration transducer is measured, it is judged that the moving direction of above-mentioned user whether
Changing, if the moving direction of above-mentioned user changes, the most upwards rheme moves estimation list
Unit sends displacement and calculates notice；
Above-mentioned displacement estimation unit, for when receiving above-mentioned notice, according to above-mentioned acceleration
User's step that the mobile step number of sensor statistics and above-mentioned user are arranged above-mentioned intelligent terminal
Long, calculate the distance that before receiving above-mentioned notice, above-mentioned user moves；
Above-mentioned positioning unit, for the start position information according to above-mentioned user, initial movable
Direction and the distance of above-mentioned displacement estimation unit estimation, orient what above-mentioned user was currently located
Positional information, is additionally operable to when the moving direction of above-mentioned user changes update rising of above-mentioned user
Dot position information, initial movable direction.
Above-mentioned updating block, for when the moving direction of above-mentioned user changes, updating above-mentioned
The start position information of user, initial movable direction.
Above-mentioned positioner also includes: GPS receiver unit and correction unit；
Above-mentioned GPS receiver unit, for periodically obtaining the position letter that above-mentioned user is current
Breath and moving direction；
Above-mentioned correction unit, for the information that obtains according to above-mentioned GPS receiver unit to existence
The user profile of error is corrected.
Compared with prior art, the present invention has a following Advantageous Effects: 1) present invention is not
Only can carry out real-time positioning according to the Location Request of user, and without to GPS when positioning
Receive unit and carry out cold start-up, without keeping GPS receiver unit to open for a long time, thus subtract
Lack the use time of GPS receiver unit, reduce terminal energy consumption；2) present invention location
Time, the direction sensor that intelligent terminal carries aligns with moving direction without holding, the present invention
Intelligent terminal can be placed on free operant in various environment, as made a phone call, playing game etc.,
Improve the motility of intelligent terminal location.3) present invention can be according to user's request, the cycle
Property the accumulative error information of ground calibration and some immediate error data, such that it is able to according to user
Localizing environment between precision and energy consumption, make suitable balance.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes this
A bright part, the schematic description and description of the present invention is used for explaining the present invention, and
Do not constitute inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of intelligent terminal's synthesized positioning method of the preferred embodiment of the present invention；
Fig. 2 be the GPS receiver unit in the embodiment of the present invention when Initialize installation, matching
The method schematic diagram in user's initial movable direction；
Fig. 3 is that adding of described intelligent terminal measured by the acceleration transducer in the embodiment of the present invention
The method schematic diagram of velocity information；
When Fig. 4 is the moving direction change of user, the acceleration measured by acceleration transducer
The fluctuation pattern schematic diagram of information；
Acceleration when Fig. 5 is the attitudes vibration of intelligent terminal, measured by acceleration transducer
The fluctuation pattern schematic diagram of information；
Fig. 6 is the block diagram of the positioner of the preferred embodiment of the present invention.
Detailed description of the invention
In order to make the technical problem to be solved, technical scheme and beneficial effect more
Clear, clear, below in conjunction with drawings and Examples, the present invention is carried out the most specifically
Bright.Should be appreciated that specific embodiment described herein only in order to explain the present invention, not
For limiting the present invention.
Fig. 1 is the flow chart of intelligent terminal's synthesized positioning method of the preferred embodiment of the present invention.
As it is shown in figure 1, the method for the preferred embodiment of the present invention includes:
Step S101: after intelligent terminal's positioning function is opened, the start position that user is moved
Information and initial movable direction carry out Initialize installation；
The intelligent terminal of the embodiment of the present invention is attached to initialization unit and GPS receiver unit,
GPS receiver unit is generally used for the current positional information of correcting user and moving direction, simultaneously
It is also used in after intelligent terminal's positioning function opens first, the start position information that user is moved
With the GPS receiver unit that initial movable direction carries out Initialize installation, the i.e. embodiment of the present invention
Open for a long time, therefore can reduce terminal energy consumption in a large number.
In step S101, above-mentioned intelligent terminal uses following methods to carry out Initialize installation:
A: above-mentioned intelligent terminal opens the GPS receiver unit carried by initialization unit；
B: above-mentioned GPS receiver unit continuously acquires above-mentioned user within default a period of time
Multiple present position information, be sent to above-mentioned initialization unit after obtaining successfully；
C: above-mentioned initialization unit closes above-mentioned GPS receiver unit, by above-mentioned GPS receiver
First positional information got of unit is set to the start position information of above-mentioned user, then
Judge above-mentioned multiple present position information whether near same straight line, the most then:
Above-mentioned initialization unit, according to the time sequencing of above-mentioned present position acquisition of information, is passed through
Least square fitting goes out the initial movable direction of above-mentioned user.
As in figure 2 it is shown, what above-mentioned GPS receiver unit can be obtained by above-mentioned initialization unit
In positional information mark latitude and longitude coordinates system, then judge that whether these present position information exist
Near same straight line, the most then go out straight line by least square fitting, and according to
Time sequencing when above-mentioned GPS receiver unit obtains above-mentioned present position information determines above-mentioned use
The initial movable direction at family.Owing to method of least square is prior art, omit herein to its
Further illustrate.
Step S102: the moving direction of user is monitored by turning detector unit；
Intelligent terminal in the embodiment of the present invention is also attached to direction sensor and acceleration sensing
Device.Above-mentioned direction sensor measures the bearing data of above-mentioned intelligent terminal, direction number in real time
According to one of monitoring parameter monitored for above-mentioned turning detector unit during user's moving direction.Above-mentioned
Acceleration transducer, for when above-mentioned user moves in the same direction, measures above-mentioned intelligence
The acceleration information of terminal and the mobile step number of above-mentioned user, and the mobile side of above-mentioned user
When change, for the new moving direction of above-mentioned user, remeasure above-mentioned intelligent terminal
Acceleration information and the mobile step number (i.e. with the zeros data of pre-test) of above-mentioned user.
As it is shown on figure 3, above-mentioned acceleration transducer is at the acceleration measuring above-mentioned intelligent terminal
During information, it is on each direction of principal axis of the three-dimensional system of coordinate centered by above-mentioned intelligent terminal, point
The safety pin measurement to above-mentioned intelligent terminal's degree of being accelerated information.In solid space, three-dimensional
Coordinate system has three axles.Therefore, the acceleration transducer of the embodiment of the present invention is intelligent terminal
Regarding the center of three-dimensional system of coordinate as, when user moves in the same direction, above-mentioned acceleration passes
It is (each that sensor can measure above-mentioned intelligent terminal acceleration information on each direction of principal axis in real time
Axle is perpendicular to a plane).Time static, 3-axis acceleration and value equal to gravity acceleration value.
According to the experimental data of inventor, find the acceleration information that acceleration transducer is measured
Whether with user if there is certain rule in normal turn.Fig. 4 and Fig. 5 is the shifting of user respectively
When the attitude of dynamic direction and user's hand-held intelligent terminal changes, acceleration transducer is surveyed
The fluctuation pattern schematic diagram of the acceleration information of amount.As shown in Figure 4 and Figure 5, when user just
When often turning, the above-mentioned intelligent terminal that acceleration transducer is measured acceleration on each direction of principal axis
Degree information presents normal fluctuation；During attitudes vibration when user is hand-held intelligent terminal,
The above-mentioned intelligent terminal that acceleration transducer is measured acceleration information on each direction of principal axis is then sent out
Raw obvious unusual fluctuations.
Therefore, in step s 102, above-mentioned turning detector unit can pass in conjunction with above-mentioned direction
The moving direction of user is monitored by the information that sensor and above-mentioned acceleration transducer are measured.
Above-mentioned steps S102 specifically includes:
Above-mentioned turning detector unit obtains above-mentioned user at start position from above-mentioned direction sensor
Time starting point bearing data；
After above-mentioned user starts to move, above-mentioned direction sensor is surveyed by above-mentioned turning detector unit
Bearing data when the above-mentioned user of amount moves is monitored, if monitoring above-mentioned direction sensing
The bearing data that device at a time T transmits exceedes pre-with the difference of above-mentioned starting point bearing data
If thresholding, then:
The acceleration transducer that above-mentioned turning detector unit carries according to above-mentioned intelligent terminal is surveyed
The information of amount, the moving direction change to above-mentioned user judges, it is determined that specifically include:
Above-mentioned turning detector unit obtains above-mentioned acceleration transducer and surveyed before above-mentioned moment T
The above-mentioned intelligent terminal of amount average accelerator information x on each direction of principal axis1、y1、z1；
Then the above-mentioned intelligent terminal that above-mentioned acceleration transducer is measured is obtained at above-mentioned moment T
Acceleration information x on each direction of principal axis2、y2、z2；
Finally calculate
Obtain Europe away from S, if above-mentioned Europe
Away from S more than default Europe away from thresholding, then judge that the moving direction of above-mentioned user changes.
Step S103: when the moving direction of above-mentioned user changes, above-mentioned turning detection is single
Unit's notice displacement estimation unit calculates distance D that before moving direction changes, above-mentioned user moves；
Step S104: above-mentioned displacement estimation unit calculate above-mentioned distance D, and by calculate away from
It is sent to positioning unit from D；
Above-mentioned steps S104 specifically includes:
Above-mentioned displacement estimation unit obtains user's step that above-mentioned user is arranged above-mentioned intelligent terminal
The user of long message and above-mentioned acceleration transducer statistics moves step number, above-mentioned user is walked
Long message moves step number with above-mentioned user and is multiplied, and obtains above-mentioned distance D, and by above-mentioned distance
D is sent to positioning unit.
Step S105: above-mentioned positioning unit is according to the start position information of above-mentioned user, initial
Moving direction and above-mentioned distance D, the position at above-mentioned user place when orienting moving direction change
Confidence ceases；
Step S106: above-mentioned positioning unit after moving direction is changed above-mentioned user rise
Dot position information, initial movable direction are updated, and notify acceleration transducer and direction
Sensor remeasures data；
Above-mentioned steps S106 specifically includes:
The updating location information at above-mentioned user place during the change of above-mentioned positioning unit moving direction
The start position information of above-mentioned user；
Then obtain above-mentioned direction sensor to measure after above-mentioned user's moving direction has changed
Turn direction data and moving direction change before the starting point bearing data that preserves, and by above-mentioned
Turn direction data are subtracted each other with above-mentioned starting point bearing data, obtain user's turning angle angle value；
Finally above-mentioned turning angle angle value is added with the initial movable direction of above-mentioned user, obtains
The new moving direction of above-mentioned user, and update above-mentioned user's with above-mentioned new moving direction
Initial movable direction；
After being updated successfully, above-mentioned acceleration transducer the user added up before is moved step number and
Acceleration information is deleted, and restarts counting user and move step number and acceleration information；
Above-mentioned direction sensor use has recorded certainly after above-mentioned user's moving direction has changed
Bearing data updates the starting point bearing data that self preserves.
Step S107:GPS receives the positional information that unit is periodically current to above-mentioned user
It is corrected with moving direction；
Above-mentioned steps S107 is after correcting successfully, further comprising the steps of:
Above-mentioned GPS receiver unit is with on the current updating location information of corrected above-mentioned user
Stating the start position information of user, the moving direction current with corrected above-mentioned user updates
The initial movable direction of above-mentioned user；
The user added up before correction is moved step number and acceleration information by above-mentioned acceleration transducer
Delete, and restart counting user and move step number and acceleration information；
Bearing data measured by above-mentioned direction sensor timing updates rising of self preservation
Point bearing data.
Step S108: when user sends current location Location Request, is estimated by above-mentioned displacement
Unit and above-mentioned positioning unit position the positional information that above-mentioned user is currently located.
Above-mentioned steps S108 specifically includes:
When user sends current location Location Request, above-mentioned displacement estimation unit obtains above-mentioned use
User's step information and above-mentioned acceleration transducer that family is arranged above-mentioned intelligent terminal are current
The user of statistics moves step number, and above-mentioned user's step information and above-mentioned user are moved step number phase
Take advantage of, obtain above-mentioned distance d, and above-mentioned distance d is sent to positioning unit；
Above-mentioned positioning unit according to the start position information of above-mentioned user, above-mentioned user initial
Moving direction and above-mentioned distance d, orient the positional information that above-mentioned user is currently located.
The most above-mentioned, the embodiment of the present invention is possible not only to the Location Request according to user, carries out
Real-time positioning, and carry out without the GPS receiver unit that intelligent terminal is carried when location
Cold start-up, without keeping GPS receiver unit to open for a long time, thus solves prior art
During location, energy consumption consumes high problem.
Additionally, the embodiment of the present invention location time, the direction sensor that intelligent terminal carries without
Keep aliging with moving direction.Above-mentioned direction sensor is only used for judging that user is normal turn
Or there is attitudes vibration during handheld terminal, thus intelligent terminal can be placed on by the present invention
Free operant in various environment (such as pocket, knapsack), such as, make a phone call, play game etc.,
Improve the motility of intelligent terminal location.
Fig. 6 is the block diagram of the positioner of the preferred embodiment of the present invention.Such as Fig. 6 institute
Showing, the device of the preferred embodiment of the present invention includes: initialization unit 1, direction sensor 2,
Acceleration transducer 3, turning detector unit 4, displacement estimation unit 5, positioning unit 6,
Updating block 7, GPS receiver unit 8 and correction unit 9.
Above-mentioned initialization unit 1, for when intelligent terminal's positioning function is opened, to above-mentioned use
Start position information and initial movable direction that family is moved carry out Initialize installation.
Above-mentioned direction sensor 2, for the bearing data of the above-mentioned intelligent terminal of measurement in real time, and
Above-mentioned bearing data is sent to above-mentioned turning detector unit 4.
Above-mentioned acceleration transducer 3, for when above-mentioned user moves in the same direction, measures
The acceleration information of above-mentioned intelligent terminal and the mobile step number of above-mentioned user, and above-mentioned user
Moving direction change time, for the new moving direction of above-mentioned user, remeasure above-mentioned
The acceleration information of intelligent terminal and the mobile step number of above-mentioned user.
Above-mentioned turning detector unit 4, according to above-mentioned direction sensor 2 measure bearing data and
The acceleration information that above-mentioned acceleration transducer 3 is measured, it is judged that the moving direction of above-mentioned user
Whether change, if the moving direction of above-mentioned user changes, the most upwards rheme is moved and is estimated
Survey unit 5 and send displacement calculating notice.
Above-mentioned displacement estimation unit 5, for when receiving above-mentioned notice, according to above-mentioned acceleration
User's step that the mobile step number of sensor 3 statistics and above-mentioned user are arranged above-mentioned intelligent terminal
Long, calculate the distance that before receiving above-mentioned notice, above-mentioned user moves.
Above-mentioned positioning unit 6, for the start position information according to above-mentioned user, initial movable
Direction and the distance of above-mentioned displacement estimation unit 5 estimation, orient above-mentioned user and be currently located
Positional information, be additionally operable to above-mentioned user moving direction change time update above-mentioned user's
Start position information, initial movable direction.
Above-mentioned updating block 7, for when the moving direction of above-mentioned user changes, updating above-mentioned
The start position information of user, initial movable direction.
Above-mentioned GPS receiver unit 8, for periodically obtaining the position that above-mentioned user is current
Information and moving direction；
Above-mentioned correction unit 9, for the information that obtains according to above-mentioned GPS receiver unit to depositing
User profile in error is corrected.
Described above illustrate and describes the preferred embodiments of the present invention, but as it was previously stated, should
When understanding that the present invention is not limited to form disclosed herein, it is not to be taken as other real
Execute the eliminating of example, and can be used for other combinations various, amendment and environment, and can be herein
In described invention contemplated scope, carried out by above-mentioned teaching or the technology of association area or knowledge
Change.And the change that those skilled in the art are carried out and change are without departing from the spirit of the present invention and model
Enclose, the most all should be in the protection domain of claims of the present invention.
Claims (11)
1. intelligent terminal's synthesized positioning method, it is characterised in that comprise the following steps:
After intelligent terminal's positioning function is opened, intelligent terminal is carried by initialization unit unlatching
Global position system GPS receives unit；
Described GPS receiver unit continuously acquires the multiple of user within default a period of time
Time positional information, be sent to described initialization unit after obtaining successfully；
Described initialization unit closes described GPS receiver unit, by described GPS receiver unit
First positional information got is set to the start position information of user, then judges described many
Individual present position information whether near same straight line, the most described initialization unit according to
The time sequencing of described present position acquisition of information, is gone out at the beginning of user by least square fitting
Beginning moving direction；
The moving direction of user is monitored by turning detector unit, if monitoring described user's
Moving direction changes, then:
Described turning detector unit is the positional information at described user place when changing moving direction
Position.
Method the most according to claim 1, it is characterised in that described turning detection is single
Unit is monitored step to the moving direction of user and includes:
Described turning detector unit obtains described from the direction sensor that described intelligent terminal carries
User's starting point bearing data when start position；
After described user starts to move, described direction sensor is measured by described turning detector unit
Described user bearing data when moving be monitored, exist if monitoring described direction sensor
The bearing data that a certain moment T transmits exceedes default door with the difference of described starting point bearing data
Limit, then:
The acceleration transducer that described turning detector unit carries according to described intelligent terminal is surveyed
The information of amount, judges the moving direction situation of change of described user.
Method the most according to claim 2, it is characterised in that: described acceleration sensing
Information measured by device is that described acceleration transducer is three centered by described intelligent terminal
On each direction of principal axis of dimension coordinate system, it is respectively directed to the acceleration information that described intelligent terminal measures.
Method the most according to claim 3, it is characterised in that: described detection of turning is single
The information measured by acceleration transducer that unit carries according to described intelligent terminal, to described user
Moving direction situation of change carry out determination step and include:
Described turning detector unit obtains described acceleration transducer and surveyed before described moment T
The described intelligent terminal of amount average accelerator information x on each direction of principal axis1、y1、z1；
Then the described intelligent terminal that described acceleration transducer is measured is obtained at described moment T
Acceleration information x on each direction of principal axis2、y2、z2；
Finally calculateObtain Europe away from S, if described Europe away from
S away from thresholding, then judges that the moving direction of described user changes more than default Europe.
Method the most according to claim 4, it is characterised in that described turning detection is single
Unit time moving direction is changed the positional information at described user place carry out positioning step and include:
Before described turning detector unit notice displacement estimation unit calculating moving direction changes
Distance D that described user moves；
Described displacement estimation unit obtains user's step that described user is arranged described intelligent terminal
The user of long message and described acceleration transducer statistics moves step number, by described user's step-length
Information moves step number with described user and is multiplied, and obtains described distance D, and by described distance D
It is sent to positioning unit；
Described positioning unit is according to start position information, initial movable direction and the institute of described user
State distance D, the positional information at described user place when orienting moving direction change.
Method the most according to claim 5, it is characterised in that described positioning unit is fixed
When position goes out moving direction change after the positional information at described user place, also perform following steps:
The updating location information at described user place during the change of described positioning unit moving direction
The start position information of described user；
Then obtain described direction sensor to measure after described user's moving direction has changed
Turn direction data and moving direction change before the starting point bearing data that preserves, and by described turn
Curved bearing data subtracts each other with described starting point bearing data, obtains user's turning angle angle value；
Finally described turning angle angle value is added with the initial movable direction of described user, obtains institute
State the new moving direction of user, and update the initial of described user with described new moving direction
Moving direction；
After being updated successfully, the user added up before is moved step number and adds by described acceleration transducer
Velocity information is deleted, and restarts counting user and move step number and acceleration information；
Described direction sensor use has recorded certainly after described user's moving direction has changed
Bearing data updates the starting point bearing data that self preserves.
7. according to the method described in any one of claim 2 to 6, it is characterised in that:
When the moving direction of user is monitored by described turning detector unit, described intelligent terminal
Periodically by GPS receiver unit to the current positional information of described user and moving direction
It is corrected, and rising with user described in the current updating location information of corrected described user
Dot position information, the moving direction current with corrected described user updates at the beginning of described user
Beginning moving direction；
After correcting successfully, described acceleration transducer will before correction the user that adds up move step number and
Acceleration information is deleted, and restarts counting user and move step number and acceleration information；
Bearing data measured by described direction sensor timing updates rising of self preservation
Point bearing data.
8. according to the method described in any one of claim 2 to 4, it is characterised in that described
When user sends current location Location Request:
Displacement estimation unit obtains user's step-length letter that described user is arranged described intelligent terminal
The user of breath and described acceleration transducer current statistic moves step number, then by described user
Step information moves step number with described user and is multiplied, and obtains distance d, and described distance d is sent out
Give positioning unit；
Described positioning unit is according to the start position information of described user, the initial shifting of described user
Dynamic direction and described distance d, orient the positional information that described user is currently located.
9. a positioner, it is characterised in that including: turning detector unit, initializes
Unit；
Described turning detector unit, after opening in intelligent terminal's positioning function, to user's
Moving direction is monitored, if the moving direction monitoring described user changes, then to shifting
During dynamic direction change, the positional information at described user place positions；
Described initialization unit, after opening in intelligent terminal's positioning function, to described user
Start position information and the initial movable direction of movement carry out Initialize installation；
Wherein, described initialization unit is specifically configured to:
Open the global position system GPS carried and receive unit；
Receive after described GPS receiver unit continuously acquires successfully within default a period of time
Multiple present position information of described user；
Close described GPS receiver unit, described GPS receiver unit first is got
Positional information is set to the start position information of described user, then judges the plurality of present position
Whether information is near same straight line, the most then:
According to the time sequencing of described present position acquisition of information, gone out by least square fitting
The initial movable direction of described user.
Device the most according to claim 9, it is characterised in that also include: direction passes
Sensor, acceleration transducer, displacement estimation unit, positioning unit and updating block；
Described direction sensor, for the bearing data of the described intelligent terminal of measurement in real time, and will
Described bearing data sends described turning detector unit to；
Described acceleration transducer, for when described user moves in the same direction, measures institute
State the acceleration information of intelligent terminal and the mobile step number of described user, and in the shifting of described user
During dynamic direction change, for the new moving direction of described user, remeasure described intelligence eventually
The acceleration information of end and the mobile step number of described user；
Described turning detector unit, the bearing data measured according to described direction sensor and described
The acceleration information that acceleration transducer is measured, it is judged that whether the moving direction of described user occurs
Change, if the moving direction of described user changes, then sends to described displacement estimation unit
Displacement calculates notice；
Described displacement estimation unit, for when receiving described notice, passing according to described acceleration
User's step-length that the mobile step number of sensor statistics and described user are arranged described intelligent terminal, meter
Calculate the distance that before receiving described notice, described user moves；
Described positioning unit, for the start position information according to described user, initial movable side
To and described displacement estimation unit estimation distance, orient the position that described user is currently located
Information；
Described updating block, for when the moving direction of described user changes, updating described use
The start position information at family, initial movable direction.
11. devices according to claim 10, it is characterised in that also include: GPS
Receive unit and correction unit；
Described GPS receiver unit, for periodically obtaining the position letter that described user is current
Breath and moving direction；
Described correction unit, for the information that obtains according to described GPS receiver unit to existence
The user profile of error is corrected.
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| CN103995588B (en) * | 2014-05-14 | 2017-01-18 | 沈文策 | Displacement distance obtaining method and device and displacement distance application method and device |
| CN105813191B (en) * | 2014-12-31 | 2019-12-10 | 中国电信股份有限公司 | positioning method and device and mobile terminal |
| WO2017088111A1 (en) * | 2015-11-24 | 2017-06-01 | 华为技术有限公司 | Position information acquisition method and system |
| CN105539450B (en) * | 2015-12-02 | 2019-01-15 | 东软集团股份有限公司 | A kind of automatic identifying method and device driving stroke |
| CN105738655A (en) * | 2015-12-23 | 2016-07-06 | 深圳市金立通信设备有限公司 | Direction sensor calibration method and terminal |
| CN107015258A (en) * | 2016-01-28 | 2017-08-04 | 中国移动通信集团公司 | A kind of method and apparatus of navigation |
| CN105866729B (en) * | 2016-03-25 | 2019-03-01 | 北京智慧图科技有限责任公司 | A kind of indoor orientation method and device based on user behavior characteristics |
| CN106017469B (en) * | 2016-05-06 | 2019-10-22 | 深圳市元征科技股份有限公司 | Data collection cycle adjusting method and device |
| WO2017214979A1 (en) * | 2016-06-17 | 2017-12-21 | 华为技术有限公司 | Mobile terminal and positioning method therefor |
| CN109782312A (en) * | 2017-11-10 | 2019-05-21 | 北京金坤科创技术有限公司 | A kind of adaptive outdoor positioning method of multi-source |
| CN108375376B (en) * | 2018-03-08 | 2020-11-24 | 浙江师范大学 | Rotation angle detection method and device |
| CN109959379B (en) * | 2019-02-13 | 2021-06-08 | 歌尔科技有限公司 | Positioning method and electronic equipment |
| CN110495265A (en) * | 2019-08-13 | 2019-11-26 | 华友天宇科技（武汉)股份有限公司 | A kind of intelligence boat tractor |
| CN110823050B (en) * | 2019-11-28 | 2021-07-13 | 中国铁建重工集团股份有限公司 | Cam assembly detection device on cotton picker and use method thereof |
| CN113608250A (en) * | 2021-07-30 | 2021-11-05 | 西安广和通无线软件有限公司 | Terminal positioning method, terminal positioning equipment, storage medium and positioning module |
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| JPH02216011A (en) * | 1989-02-15 | 1990-08-28 | Matsushita Electric Works Ltd | Walking location apparatus |
| JP3532773B2 (en) * | 1998-09-26 | 2004-05-31 | ジヤトコ株式会社 | Portable position detection device and position management system |
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| JP5609073B2 (en) * | 2009-06-16 | 2014-10-22 | カシオ計算機株式会社 | Positioning device, positioning method and program |
| CN102169182B (en) * | 2010-02-26 | 2013-06-12 | 宏达国际电子股份有限公司 | Mobile navigation device |
| JP5273126B2 (en) * | 2010-09-15 | 2013-08-28 | カシオ計算機株式会社 | Positioning device, positioning method and program |
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