CN103604413A - Space distance measurement method based on intelligent cell phone - Google Patents
Space distance measurement method based on intelligent cell phone Download PDFInfo
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- CN103604413A CN103604413A CN201310583811.4A CN201310583811A CN103604413A CN 103604413 A CN103604413 A CN 103604413A CN 201310583811 A CN201310583811 A CN 201310583811A CN 103604413 A CN103604413 A CN 103604413A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/26—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with fixed angles and a base of variable length, at, near, or formed by the object
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Abstract
The invention provides a space distance measurement method based on an intelligent cell phone. The space distance measurement method is realized by three steps of indirect distance data acquisition, data processing and mathematical calculation. The space distance measurement method has the advantages that (1) indirect measurement is carried out step by step by using a laser distance measurement module to obtain parameters needed by space distance measurement, so as to prevent the problem of like products that the cost of equipment is increased by adopting a plurality of laser distance measurement modules to measure distances; (2) a innovative single-arm fixed shoulder positioning method is used for realizing two-times distance measurement so as to avoid causing influences that a distance measurement starting point has displacement; meanwhile, complicated operation of similar methods in which a fixed bracke is rotated to obtain an angle change is avoided so that the space distance measurement is simple and convenient.
Description
Technical field
The present invention relates to a kind of space ranging method, relate in particular to a kind of space ranging method based on smart mobile phone.
Background technology
Laser ranging is found range laser instrument as light source, according to the mode of laser work, can be divided into continuous wave laser and pulsed laser.The gas lasers such as He-Ne, krypton cadmium, argon ion are operated in continuous wave output state, for phase laser distance measurement; Two heterogeneous gallium arsenide semiconductor laser instruments, for infrared distance measurement; The solid state laser such as ruby, neodymium glass, finds range for pulse type laser.Laser range finder is because advantages such as high, the good directionality of laser brightness and monochromaticity, adds that electronic circuit half is integrated, conductor, compares with electro-optical distance instrument, not only day and night operation, but also can improve distance accuracy, obviously reduces power consumption and weight.But above-mentioned laser ranging technique to electron device require high, therefore cause the manufacturing cost of laser range finder high, limited on a large scale and promoted the use of, on the other hand, what this laser ranging technique was realized is contact range finding, measuring 2 distances must have any for distance-measuring equipment loca, cannot meet to a great extent user's demand.
The smart mobile phone application software ecosystem is constantly expanded at present, and the thing of this class of sensor and user interaction indispensability is performed meritorious deeds never to be obliterated, and the present invention has mainly used two class sensors, is respectively acceleration transducer and direction sensor.Acceleration transducer is again G-sensor, return to the acceleration value of x, y, z three axles, this numerical value comprises gravitational impact, unit is m/s^2, acceleration transducer is a kind of electronic equipment that can measure accelerating force, accelerating force is exactly in accelerator, to act on the power on object when object, like terrestrial gravitation-gravity.Accelerating force can be a constant, can be also variable, so its measurement range force of gravity inductor wants large.Direction sensor, referred to as O-sensor, returns to the angle-data of three axles, and the unit of directional data is angle.Mobile phone direction sensor refers to and is arranged on mobile phone the parts in which kind of direction state in order to detection of handset itself.
Summary of the invention
The object of the present invention is to provide a kind of space ranging method based on smart mobile phone, this distance-finding method has utilized multiple sensors and the computing power of embedded in mobile phone, solved that some is less demanding to measuring accuracy, measured point cannot reach, be subject to hindering, measuring the problems such as irregularity bulk area between measurement point, easy to carry, simple and quick.
The present invention realizes according to following technical scheme, it is characterized in that method step is:
(1) indirect distance data acquisition, is used laser ranging module surely to take on localization method measuring equipment by single armed and divides the air line distance that is clipped to tested point;
(2) data processing, in the measuring process of the first step, through obtaining the 3-axis acceleration sensor of smart mobile phone inside and y axle acceleration component and equipment and positive northern angle that direction sensor returns after noise reducing pre-service, by mathematical relation, transform the angle of the equipment of obtaining and surface level and the angle that twice measuring process shone upon on surface level.
(3) mathematical computations, by this distance-finding method modeling is obtained to formula:
; Wherein AB represents 2, target measurement space distance, AO indication equipment loca O is to the air line distance of measurement point A, BO indication equipment loca O is to the air line distance of measurement point B, the angle ∠ AOC of measuring equipment and surface level OCD when ∠ a represents for the first time, the angle ∠ BOD of equipment and surface level OCD when ∠ b represents to measure for the second time, ∠ c represents that twice measuring process is mapped to angle ∠ COD on surface level OCD.
Laser ranging module of the present invention is special professional stadimeter, and it closely fixes, supports that with mobile phone is detachable bluetooth is connected and gathers the laser range finder of indirect distance data.
Smart mobile phone of the present invention, is realized wireless data communications and by realizing mobile phone terminal in conjunction with mobile phone A PP, the data acquisition and control of laser ranging module end is processed by bluetooth and laser ranging module.
Mobile phone A PP of the present invention is the mobile application on smart mobile phone that operates in of writing based on smart mobile phone OS (Android and ios), it is the data processing end of ranging scheme, and to service logic, provide unified interface, major function for process from the data of laser ranging module by mathematical computations derive, the process such as error analysis processing obtains final required separation distance information; And send command information to laser ranging module, make it carry out the actions such as data acquisition.
Noise reducing pre-service of the present invention, its by Kalman filtering algorithm to sensor repeatedly sampling processing fall the white Gaussian noise in sample value, improve the stability of measurement data.
Single armed of the present invention is takeed on localization method surely, it is characterized in that step is as follows:
(1) arm stretches, and points to first measurement point;
(2) arm stretches, and the shoulder joint of take is rotated arm to the second measurement point as summit.
Advantage of the present invention is: (1) adopts the gradation of a laser ranging module to carry out the method for indirectly measuring, and obtains the needed parameter of space ranging, and the equipment cost of avoiding like product to adopt many laser rangings module simultaneously to find range bringing increases; (2) by the single armed of original creation, surely take on localization method, realize twice range finding and avoided the impact that causes range finding starting point to be subjected to displacement, avoided adopting rotary fixed bracket to obtain angle with class methods changes the complex operations of bringing, makes space measurement more simple and easy simultaneously; (3) the noise reducing pre-service before sensing data calculating, and in conjunction with multiple sensors data, measuring error is compensated, the error optimization that sensor brings is within controlled range; (4) computation model, simultaneously to the unavoidable error bringing because of range finding position, carries out mathematical analysis, makes user can understand the confidence level of range finding.
Accompanying drawing explanation
Fig. 1 is space ranging exemplary plot of the present invention.
Fig. 2 is space ranging schematic diagram of the present invention.
Embodiment
In the technical solution used in the present invention, laser ranging module, smart mobile phone and mobile phone A PP have formed two subsystems, be data, services subsystem and object ranging subsystem: data, services subsystem is comprised of smart mobile phone and mobile phone A PP, major function, for the data that laser ranging module provided by location algorithm are converted into target range information, provides range information service to client; Object ranging subsystem is comprised of laser ranging module and smart mobile phone, and major function is recorded the required collateral information of object ranging and imported into smart mobile phone end by bluetooth by laser range finder.
As shown in Figure 1 and Figure 2, range finding flow process of the present invention by: use single armed surely take on localization method record respectively equipment to the air line distance of 2 of survey targets, by interior of mobile phone 3-axis acceleration sensor and direction sensor, obtain respectively the component of acceleration of y axle and the angle in equipment and positive north, adopt Kalman filtering algorithm to sensor repeatedly sampling processing fall the white Gaussian noise in sample value, improve the stability of measurement data.Set up space ranging computation model, the y axle acceleration component recording is converted into the angle of equipment and surface level, two secondary devices that record and positive northern angle are converted into the angle that twice measuring process shone upon on surface level
By this formula:
Wherein AB represents 2, target measurement space distance, AO indication equipment loca O is to the air line distance of measurement point A, BO indication equipment loca O is to the air line distance of measurement point B, the angle ∠ AOC of measuring equipment and surface level OCD when ∠ a represents for the first time, the angle ∠ BOD of equipment and surface level OCD when ∠ b represents to measure for the second time, ∠ c represents that twice measuring process is mapped to angle ∠ COD on surface level OCD.
Claims (5)
1. the space ranging method based on smart mobile phone, is characterized in that method step is:
(1) indirect distance data acquisition, is used laser ranging module surely to take on localization method measuring equipment by single armed and divides the air line distance that is clipped to tested point;
(2) data processing, in the measuring process of the first step, through obtaining the 3-axis acceleration sensor of smart mobile phone inside and y axle acceleration component and equipment and positive northern angle that direction sensor returns after noise reducing pre-service, by mathematical relation, transform the angle of the equipment of obtaining and surface level and the angle that twice measuring process shone upon on surface level;
(3) mathematical computations, by this distance-finding method modeling is obtained to formula:
; Wherein AB represents 2, target measurement space distance, AO indication equipment loca O is to the air line distance of measurement point A, BO indication equipment loca O is to the air line distance of measurement point B, the angle ∠ AOC of measuring equipment and surface level OCD when ∠ a represents for the first time, the angle ∠ BOD of equipment and surface level OCD when ∠ b represents to measure for the second time, ∠ c represents that twice measuring process is mapped to angle ∠ COD on surface level OCD.
2. a kind of space ranging method based on smart mobile phone according to claim 1, it is characterized in that: described laser ranging module is professional stadimeter, it closely fixes, supports that with mobile phone is detachable bluetooth is connected and gathers the laser range finder of indirect distance data.
3. a kind of space ranging method based on smart mobile phone according to claim 1, it is characterized in that: described smart mobile phone, by bluetooth and laser ranging module, realize wireless data communications and by realizing mobile phone terminal in conjunction with mobile phone A PP, the data acquisition and control of laser ranging module end processed.
4. according to a kind of space ranging method based on smart mobile phone described in claim 1 or 3, it is characterized in that: described mobile phone A PP is the mobile application on smart mobile phone that operates in of writing based on smart mobile phone OS, it is the data processing end of ranging scheme, and provide unified interface to service logic, processing is from the data of laser ranging module, send command information to laser ranging module, make it carry out the actions such as data acquisition.
5. according to a kind of space ranging method based on smart mobile phone described in claim 1, it is characterized in that: it is as follows that described single armed is takeed on localization method step surely:
(1) arm stretches, and points to first measurement point;
(2) arm stretches, and the shoulder joint of take is rotated arm to pointing to second measurement point as summit.
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| CN201310583811.4A CN103604413A (en) | 2013-11-20 | 2013-11-20 | Space distance measurement method based on intelligent cell phone |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104535043A (en) * | 2015-01-17 | 2015-04-22 | 国家电网公司 | Power line safety distance measurement evaluation method based on smart phone |
| CN104730533A (en) * | 2015-03-13 | 2015-06-24 | 陈蔼珊 | Mobile terminal, and ranging method and system based on mobile terminal |
| CN105547241A (en) * | 2015-12-20 | 2016-05-04 | 上海华测导航技术股份有限公司 | A measuring method of a receiver provided with laser range finders |
| CN105674897A (en) * | 2015-12-30 | 2016-06-15 | 广东欧珀移动通信有限公司 | Method and device of measuring object height |
| WO2016188176A1 (en) * | 2015-10-23 | 2016-12-01 | 中兴通讯股份有限公司 | Measuring method and apparatus, and storage medium |
| CN106959086A (en) * | 2017-04-26 | 2017-07-18 | 上海斐讯数据通信技术有限公司 | Distance-finding method and its mobile phone based on mobile phone |
| CN107436135A (en) * | 2017-07-21 | 2017-12-05 | 上海青橙实业有限公司 | Distance measurement method and terminal device |
| CN109312599A (en) * | 2016-06-22 | 2019-02-05 | 依维柯马基路斯公司 | For determining the positioning system and method for the operating position of aerospace equipment |
| CN109917411A (en) * | 2019-04-17 | 2019-06-21 | 重庆大学 | Obstacle detector and method based on laser ranging and three axis accelerometer |
| CN110455263A (en) * | 2018-05-07 | 2019-11-15 | 北京林业大学 | A kind of underground space smart phone image positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104535043A (en) * | 2015-01-17 | 2015-04-22 | 国家电网公司 | Power line safety distance measurement evaluation method based on smart phone |
| CN104730533A (en) * | 2015-03-13 | 2015-06-24 | 陈蔼珊 | Mobile terminal, and ranging method and system based on mobile terminal |
| WO2016188176A1 (en) * | 2015-10-23 | 2016-12-01 | 中兴通讯股份有限公司 | Measuring method and apparatus, and storage medium |
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| CN109312599A (en) * | 2016-06-22 | 2019-02-05 | 依维柯马基路斯公司 | For determining the positioning system and method for the operating position of aerospace equipment |
| CN106959086A (en) * | 2017-04-26 | 2017-07-18 | 上海斐讯数据通信技术有限公司 | Distance-finding method and its mobile phone based on mobile phone |
| CN107436135A (en) * | 2017-07-21 | 2017-12-05 | 上海青橙实业有限公司 | Distance measurement method and terminal device |
| CN110455263A (en) * | 2018-05-07 | 2019-11-15 | 北京林业大学 | A kind of underground space smart phone image positioning method |
| CN109917411A (en) * | 2019-04-17 | 2019-06-21 | 重庆大学 | Obstacle detector and method based on laser ranging and three axis accelerometer |
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Application publication date: 20140226 |