CN103529465A - Indoor and outdoor person seamless positioning device - Google Patents
Indoor and outdoor person seamless positioning device Download PDFInfo
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- CN103529465A CN103529465A CN201310449520.6A CN201310449520A CN103529465A CN 103529465 A CN103529465 A CN 103529465A CN 201310449520 A CN201310449520 A CN 201310449520A CN 103529465 A CN103529465 A CN 103529465A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to an indoor and outdoor person seamless positioning device. The indoor and outdoor person seamless positioning device comprises a power module, a microprocessor module, a short-distance wireless communication module, a long-distance wireless communication satellite positioning module, a signal acquisition module, a wireless fidelity (WiFi) communication module and a human-computer interface module, wherein the power module supplies power to the microprocessor module, the short-distance wireless communication module, the long-distance wireless communication satellite positioning module and the signal acquisition module; the output end of the signal acquisition module is electrically connected with the input end of the short-distance wireless communication module; the short-distance wireless communication module, the long-distance wireless communication satellite positioning module, the WiFi communication module and the human-computer interface module are in communication connection with the microprocessor module respectively; the signal acquisition module comprises an air pressure temperature sensor, an inertial sensor and a geomagnetic sensor; the output ends of the air pressure temperature sensor, the inertial sensor and the geomagnetic sensor are electrically connected with the input end of the short-distance wireless communication module respectively; the microprocessor module is used for storing indoor and outdoor map data. The indoor and outdoor person seamless positioning device is simple in structure and integrates various positioning and communication devices such as a global positioning system (GPS), the WiFi communication module, the inertial sensor and the geomagnetic sensor.
Description
Technical field
The present invention relates to a kind of locating device, be specifically related to a kind of seamless locating device of indoor and outdoor personnel that adopts coupled antenna network and sensing technology.
Background technology
Current indoor and outdoor localization method has a variety of, as GPS global location, based on inertial positioning, based on short-distance wireless communication location and locate based on WIFI.But all there are some problems in these location, as effective to outdoor positioning in GPS global location, but its gps signal indoor but very faint, therefore, GPS global location cannot accurately be located in indoor realization; Larger based on its cumulative errors of inertial positioning, make locating effect poor; Based on short-distance wireless communication location, can only be applicable to short-distance wireless communication, if wireless communication distance surpasses this coverage, cannot implement location; Based on WIFI location, on the one hand, WIFI signal is easily disturbed the external world indoor, and affects locating effect; On the other hand, indoor WIFI signal is strong and weak different, and indoorly also can have the dead angle without WIFI signal, makes its locating effect barely satisfactory.At present, domestic also do not have a kind ofly can, in conjunction with various location technology advantages, realize the technical scheme of the seamless location of indoor and outdoor.
Summary of the invention
The object of the invention is: provide a kind of not only simple in structure, and in conjunction with the seamless locating device of indoor and outdoor personnel of GPS technology, WIFI and the multiple location technology of sensor, can, in conjunction with the advantage of various location technologies, realize the seamless location of personnel's indoor and outdoor, to overcome the deficiencies in the prior art.
In order to achieve the above object, technical scheme of the present invention is: a kind of indoor and outdoor personnel are seamless locating device, and its innovative point is:
A, comprise power module, microprocessor module, wireless short range communication module, remote radio communication satellite positioning module and signal acquisition module, WIFI communication module and human-machine interface module;
The output terminal of b, described signal acquisition module is electrically connected to the input end of wireless short range communication module, and described wireless short range communication module, remote radio communication satellite positioning module, WIFI communication module and human-machine interface module communicate to connect with microprocessor module respectively;
C, described power module are microprocessor module, wireless short range communication module, remote radio communication satellite positioning module and signal acquisition module, WIFI communication module and human-machine interface module power supply;
D, described signal acquisition module comprise othermohygrometer sensor, inertial sensor and geomagnetic sensor, and the output terminal of the output terminal of described othermohygrometer sensor, the output terminal of inertial sensor and geomagnetic sensor is electrically connected to the input end of wireless short range communication module respectively;
E, the inside and outside map datum in described microprocessor module locker room.
In technique scheme, the output terminal of the output terminal of described othermohygrometer sensor, the output terminal of inertial sensor and geomagnetic sensor is electrically connected to the input end of wireless short range communication module by IIC interface respectively.
In technique scheme, also comprise storer, described storer and microprocessor module communication connection, and storer is electrically connected to power module.
In technique scheme, described wireless short range communication module, remote radio communication satellite positioning module and WIFI communication module communicate to connect by RS232 serial interface or RS485 serial interface or RS422 serial interface or I2C bus and microprocessor module respectively.
In technique scheme, described human-machine interface module communicates to connect by GPIO interface and microprocessor module.
In technique scheme, what described human-machine interface module adopted is LCD capacitive touch screen.
In technique scheme, what described wireless short range communication module adopted is zigbee wireless singlechip.
In technique scheme, described wireless short range communication module, remote radio communication satellite positioning module are identical with the mode that WIFI communication module is communicated by letter with microprocessor module respectively, or have the identical difference that has, or completely different.
In technique scheme, described power module comprises solar photovoltaic assembly and battery.
The good effect that the present invention has is: owing to having adopted after above-mentioned locating device, therefore, have following good effect:
1, the present invention has adopted the technological means of sensor and the combination of GPS map, operation acceleration, the angular velocity of locating device have effectively been obtained, air pressure of environment of living in, Geomagnetic signal, WIFI signal etc. position computing, accurately calculate the running orbit of locating device, thereby realize indoor positioning;
2, the present invention combines wireless short range communication building block technique, has realized a plurality of locating devices and can mutually circulate a notice of positional information, when one of them locating device and adjacent positioned device can provide warning message by human-machine interface module when out of touch;
3, the present invention combines GPS and GPRS/3G technology by remote radio communication satellite positioning module, can be in real time to the relevant positional information of remote monitoring center report locating device;
4, the present invention combines GPS, GPRS/3G, sensor, map and WIFI technology, has realized the seamless location of indoor and outdoor personnel, not only simple in structure, and production cost is low, is also convenient to safeguard, is suitable for batch production and uses.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing and the embodiment that provides, the present invention is further illustrated, but be not limited to this.
As shown in Figure 1, a kind of indoor and outdoor personnel are seamless locating device, comprises power module 1, microprocessor module 2, wireless short range communication module 3, remote radio communication satellite positioning module 4 and signal acquisition module 5, WIFI communication module 6 and human-machine interface module 7; The output terminal of described signal acquisition module 5 is electrically connected to the input end of wireless short range communication module 3, and described wireless short range communication module 3, remote radio communication satellite positioning module 4, WIFI communication module 6 and human-machine interface module 7 communicate to connect with microprocessor module 2 respectively; Described power module 1 is microprocessor module 2, wireless short range communication module 3, remote radio communication satellite positioning module 4 and signal acquisition module 5, WIFI communication module 6 and human-machine interface module 7 power supplies; Described signal acquisition module 5 comprises othermohygrometer sensor 5-1, inertial sensor 5-2 and geomagnetic sensor 5-3, and the output terminal of the output terminal of described othermohygrometer sensor 5-1, the output terminal of inertial sensor 5-2 and geomagnetic sensor 5-3 is electrically connected to the input end of wireless short range communication module 3 respectively; The inside and outside map datum in described microprocessor module 2 locker rooms.
As shown in Figure 1, the output terminal of described othermohygrometer sensor 5-1, the output terminal of the output terminal of inertial sensor 5-2 and geomagnetic sensor 5-3 by IIC interface, be electrically connected to the input end of wireless short range communication module 3 respectively.
As shown in Figure 1, in order to expand map datum inside and outside microprocessor module 2 locker rooms, also comprise storer 8, described storer 8 and microprocessor module 2 communication connections, and storer 8 is electrically connected to power module 1.Jumbo indoor and outdoor map datum can be stored in storer 8.
As shown in Figure 1, described wireless short range communication module 3, remote radio communication satellite positioning module 4 and WIFI communication module 6 are respectively by RS232 serial interface or RS485 serial interface or RS422 serial interface or I2C bus and microprocessor module 2 communication connections.Described wireless short range communication module 3, remote radio communication satellite positioning module 4 and WIFI communication module 6 are identical with the mode that microprocessor module 2 is communicated by letter respectively, or have the identical difference that has, or completely different.
Human-machine interface module 7 of the present invention is by GPIO interface and microprocessor module 2 communication connections.
What human-machine interface module 7 of the present invention adopted is LCD capacitive touch screen.
What wireless short range communication module 3 of the present invention adopted is zigbee wireless singlechip.
As shown in Figure 1, described power module 1 comprises solar photovoltaic assembly 1-1 and battery 1-2.What power module 1 of the present invention adopted is the mode of sun power and battery hybrid power supply, can guarantee that the present invention has the longer working time.
The ARM series core chip that Shi You ST company that microprocessor module 2 of the present invention is preferentially selected produces, and the model microprocessor that is STM32F103RBT6, can carry out data processing and communicate by letter; The wireless singlechip of the support zigbee communication protocol that Shi You ST company that wireless short range communication module 3 is preferentially selected produces, and model is STM32W108, can realize short haul connection; The integrated GPS that the Shi You SIM company that remote radio communication satellite positioning module 4 adopts produces and the chip of GPRS/3G function, model is SIM908 or SIM5320, certainly, also can adopt the discrete chip separately with GPS function and GPRS/3G function; The geomagnetic field sensors 5-3 of signal acquisition module 5 preferentially selects by Freescale company and produces, and the model earth magnetic sensor module that is MAG3110; What inertial sensor 5-2 preferentially selected is that model is the inertial sensor of ADXL345; What othermohygrometer sensor 5-1 adopted is to be produced by JNC China, and the model BMP085 othermohygrometer sensor that is, and this sensor can be tested the signals such as atmospheric air temperature and atmospheric pressure; The Shi Youhailing electronics corporation that described WIFI communication module 6 adopts produces, and the model WIFI communication module that is HLK-RM04.The model of more than preferentially selecting for modules, certainly, is not limited to this, also can adopt the module of other model.
The function and effect of modules of the present invention:
1, by power module 1 to modules supply+5v or+DC voltage of 3.3v;
Atmospheric air temperature and the atmospheric pressure signal of the othermohygrometer sensor 5-1 collector environment of living in that 2, described signal acquisition module 5 comprises, according to pressure signal, calculate personnel place story height and inertial sensor 5-2 and geomagnetic sensor 5-3 coordinate the parameters such as the personnel's that calculate acceleration position and attitude, for computing staff's movement locus, carry out data to prepare;
3, described wireless short range communication module 3 receives the transducing signal that comprises each sensor from signal acquisition module 5 by IIC interface, and these signals are sent to microprocessor module 2 by serial mode, simultaneously, wireless short range communication module 3 can be received other location node of rope, and can drink other location node and communicate, and exchange position information, when one of them location node and other location node provide warning message when out of touch, be reflected in human-machine interface module 7;
4, described WIFI communication module 6 receives the signal of WIFI focus, and communicates by letter by serial mode with microprocessor module 2, the numbering of WIFI focus and the intensity level of WIFI signal near microprocessor module 2 can read;
5, described remote radio communication satellite positioning module 4 communicates by GPRS/3G network and remote monitoring center, downloads map to microprocessor module 2, and report personnel current location information etc., also can receive gps signal, location personnel's current location;
That 6, described microprocessor module 2 adopts is the processor chips STM32F103RBT6 based on ARM kernel, on this reason device chip, has transplanted embedded OS uc/os-III.By processor Transaction Design to be processed task one by one, by operating system, be responsible for these task schedulings and management, communicate and control and location computing;
7, the LCD capacitive touch screen that described human-machine interface module 7 adopts, facilitates that user of service reads, inquiring position information etc.
The course of work of the present invention: described microprocessor module 2 can receive four class signals, respectively:
1, described signal acquisition module 5 comprises various kinds of sensors signal: each sensor of signal acquisition module 5 is by the air pressure signal collecting, temperature signal, acceleration degree of tilt, terrestrial magnetic field signal etc., by IIC interface, send wireless short range communication module 3 to, and carry out by serial ports, being transferred to microprocessor module 2 as a part for location computing input data after data fusion;
2, zigbee communication signal: if wireless short range communication module 3 receive ropes near have identical locating device, can communicate by letter with it and exchange positional information separately, in the process of communication because the impact of the elongated or communication environment of communication distance makes communication disruption, locating device will be write down the last communication information (as communicating pair positional information), and send communication disruption and warn, inform that user is out of touch with adjacent positioned device, play the effect of early warning.
3, the WIFI signal of WIFI communication module 6: microprocessor module 2 is communicated by letter with wifi communication module 6 by serial ports and read numbering and the WIFI signal strength signal of near WIFI focus, as a part for location computing input data;
4, remote radio communication satellite positioning module 4 is downloaded the map datum of telecommunication network end by GPRS/3G, map datum is issued to microprocessor module 2, send the gps signal receiving to microprocessor module 2, and and the positional information of long-range Surveillance center's communication statement locating device.
Locating device of the present invention is when start, first communicate by letter with remote radio communication satellite positioning module 4, downloading map data as requested, and obtain current GPS positional information, after successfully obtaining GPS information by priming chamber outside fix, but enabling signal acquisition module 5 not, now, touch-screen by positional information by human-machine interface module 7 is shown to user, and by GPRS/3G network, positional information is sent to long-range network monitoring end; If cannot obtain gps signal, with regard to station-keeping mode in priming chamber, be that enabling signal acquisition module 5 and WIFI communication module 6 position computing, the receipts rope that all open wireless short-range communication module 3 is carried out adjacent positioned device in the mode of operation of indoor and outdoor location with communicate by letter.
Locating device design disclosed by the invention has realized: indoor and outdoor personnel's seamless location, outdoor, with gps signal and map datum, orientate master as, at cooperation maps such as the indoor acceleration by collection air pressure signal, WIFI signal intensity, terrestrial magnetic field signal and intensity, motion and degree of tilt signals, calculate this device of outfit personnel motion trail and realize indoor positioning, and adopt zigbee short-range communication technique to search for other devices of adjacent device at position fixing process, and carry out with it message exchange, record out of touch locating device numbering, provide as required warning.The Zigbee-technology that described wireless short range communication module 3 adopts can be realized a plurality of location node location communication, mutually circulates a notice of positional information.
The present invention is integrated multiple location such as WIFI, GPS, GPRS/3G, zigbee and inertial sensor, geomagnetic sensor etc. and communication device, not only simple in structure, and can, in conjunction with the advantage of various location technologies, realize the seamless location of personnel's indoor and outdoor.
Claims (9)
1. the seamless locating device of indoor and outdoor personnel, is characterized in that:
A, comprise power module (1), microprocessor module (2), wireless short range communication module (3), remote radio communication satellite positioning module (4) and signal acquisition module (5), WIFI communication module (6) and human-machine interface module (7);
The output terminal of b, described signal acquisition module (5) is electrically connected to the input end of wireless short range communication module (3), and described wireless short range communication module (3), remote radio communication satellite positioning module (4), WIFI communication module (6) and human-machine interface module (7) communicate to connect with microprocessor module (2) respectively;
C, described power module (1) are microprocessor module (2), wireless short range communication module (3), remote radio communication satellite positioning module (4) and signal acquisition module (5), WIFI communication module (6) and human-machine interface module (7) power supply;
D, described signal acquisition module (5) comprise othermohygrometer sensor (5-1), inertial sensor (5-2) and geomagnetic sensor (5-3), and the output terminal of the output terminal of described othermohygrometer sensor (5-1), inertial sensor (5-2) and the output terminal of geomagnetic sensor (5-3) are electrically connected to the input end of wireless short range communication module (3) respectively;
E, the inside and outside map datum in described microprocessor module (2) locker room.
2. the seamless locating device of indoor and outdoor personnel according to claim 1, is characterized in that: the output terminal of the output terminal of described othermohygrometer sensor (5-1), inertial sensor (5-2) and the output terminal of geomagnetic sensor (5-3) are electrically connected to the input end of wireless short range communication module (3) by IIC interface respectively.
3. the seamless locating device of indoor and outdoor personnel according to claim 1, is characterized in that: also comprise storer (8), described storer (8) communicates to connect with microprocessor module (2), and storer (8) is electrically connected to power module (1).
4. the seamless locating device of indoor and outdoor personnel according to claim 1, is characterized in that: described wireless short range communication module (3), remote radio communication satellite positioning module (4) and WIFI communication module (6) are respectively by RS232 serial interface or RS485 serial interface or RS422 serial interface or I2C bus and microprocessor module (2) communication connection.
5. the seamless locating device of indoor and outdoor personnel according to claim 1, is characterized in that: described human-machine interface module (7) is by GPIO interface and microprocessor module (2) communication connection.
6. the seamless locating device of indoor and outdoor personnel according to claim 1 or 5, is characterized in that: what described human-machine interface module (7) adopted is LCD capacitive touch screen.
7. the seamless locating device of indoor and outdoor personnel according to claim 1, is characterized in that: what described wireless short range communication module (3) adopted is zigbee wireless singlechip.
8. the seamless locating device of indoor and outdoor personnel according to claim 4, it is characterized in that: described wireless short range communication module (3), remote radio communication satellite positioning module (4) and WIFI communication module (6) are identical with the mode that microprocessor module (2) is communicated by letter respectively, or have the identical difference that has, or completely different.
9. the seamless locating device of indoor and outdoor personnel according to claim 1, is characterized in that: described power module (1) comprises solar photovoltaic assembly (1-1) and battery (1-2).
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103837148A (en) * | 2014-03-17 | 2014-06-04 | 联想(北京)有限公司 | Navigation map switching method and device and electronic equipment |
| CN103994767A (en) * | 2014-05-12 | 2014-08-20 | 东北大学 | Rescuer indoor cooperated positioning device and method |
| CN104090287A (en) * | 2014-07-22 | 2014-10-08 | 中国石油大学(华东) | Vehicle collaborative differential satellite positioning method |
| CN105701752A (en) * | 2016-04-22 | 2016-06-22 | 东华大学 | Indoor and outdoor seamless positioning and monitoring system used for psychiatric patients |
| CN106054748A (en) * | 2016-07-30 | 2016-10-26 | 重庆峰创科技有限公司 | Intelligent robot indoor composite positioning system based on Internet of things and cloud computing |
| CN106197393A (en) * | 2015-05-27 | 2016-12-07 | 蹦世界数位创意股份有限公司 | Method for switching area layout map and geographical related map on mobile communication device |
| CN106291635A (en) * | 2016-07-25 | 2017-01-04 | 无锡知谷网络科技有限公司 | Method and system for indoor positioning |
| CN107094319A (en) * | 2016-02-17 | 2017-08-25 | 王庆文 | A kind of high-precision indoor and outdoor fusion alignment system and method |
| CN107687847A (en) * | 2017-08-19 | 2018-02-13 | 山东交通职业学院 | The campus 3D air navigation aids modeled based on BIM and GIS |
| CN108535754A (en) * | 2018-03-08 | 2018-09-14 | 中科院微电子研究所昆山分所 | A kind of indoor and outdoor positioning system and method based on GPS and Zigbee |
| CN108761514A (en) * | 2018-08-03 | 2018-11-06 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging the Big Dipper or GPS and sensor |
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN109631891A (en) * | 2019-01-11 | 2019-04-16 | 南京理工大学 | A kind of indoor unprofessional person's integrated positioning system based on GPS/IMU |
| CN109803052A (en) * | 2019-01-23 | 2019-05-24 | 重庆电子工程职业学院 | A kind of indoor wireless positioning intelligent mobile phone and its method for realizing positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103837148A (en) * | 2014-03-17 | 2014-06-04 | 联想(北京)有限公司 | Navigation map switching method and device and electronic equipment |
| CN103994767A (en) * | 2014-05-12 | 2014-08-20 | 东北大学 | Rescuer indoor cooperated positioning device and method |
| CN104090287A (en) * | 2014-07-22 | 2014-10-08 | 中国石油大学(华东) | Vehicle collaborative differential satellite positioning method |
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| CN107094319A (en) * | 2016-02-17 | 2017-08-25 | 王庆文 | A kind of high-precision indoor and outdoor fusion alignment system and method |
| CN107094319B (en) * | 2016-02-17 | 2021-06-04 | 王庆文 | High-precision indoor and outdoor fusion positioning system and method |
| CN105701752A (en) * | 2016-04-22 | 2016-06-22 | 东华大学 | Indoor and outdoor seamless positioning and monitoring system used for psychiatric patients |
| CN106291635A (en) * | 2016-07-25 | 2017-01-04 | 无锡知谷网络科技有限公司 | Method and system for indoor positioning |
| CN106054748A (en) * | 2016-07-30 | 2016-10-26 | 重庆峰创科技有限公司 | Intelligent robot indoor composite positioning system based on Internet of things and cloud computing |
| CN107687847A (en) * | 2017-08-19 | 2018-02-13 | 山东交通职业学院 | The campus 3D air navigation aids modeled based on BIM and GIS |
| CN108535754A (en) * | 2018-03-08 | 2018-09-14 | 中科院微电子研究所昆山分所 | A kind of indoor and outdoor positioning system and method based on GPS and Zigbee |
| CN108761514A (en) * | 2018-08-03 | 2018-11-06 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging the Big Dipper or GPS and sensor |
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN109631891A (en) * | 2019-01-11 | 2019-04-16 | 南京理工大学 | A kind of indoor unprofessional person's integrated positioning system based on GPS/IMU |
| CN109803052A (en) * | 2019-01-23 | 2019-05-24 | 重庆电子工程职业学院 | A kind of indoor wireless positioning intelligent mobile phone and its method for realizing positioning |
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Application publication date: 20140122 |