CN103808959A - Sensing system and method - Google Patents
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- CN103808959A CN103808959A CN201210461476.6A CN201210461476A CN103808959A CN 103808959 A CN103808959 A CN 103808959A CN 201210461476 A CN201210461476 A CN 201210461476A CN 103808959 A CN103808959 A CN 103808959A
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Abstract
A sensing system and method is applied to a steering positioning sensing environment. When the sensing system is used for performing the sensing method, firstly, a sensing/receiving module is used for sensing and receiving vibration data of positions, speeds and angles; secondly, a processing module utilizes the received related data from the sensing/receiving module to analyze steering changes and calculates a centripetal force of the steering; thirdly, the processing module utilizes the numeric value of the centripetal force, in cooperation with mobile data of a data module, to compare and analyze whether abnormal steering/sharp turns exists.
Description
Technical field
The invention relates to sensing system and method thereof, more specifically, relate to a kind of sensing system and method thereof of turning to location sensitive context of being applied to, with the variable quantity data of position, speed and angle, judge and whether have extremely the situation that turns to/take a sudden turn to produce.
Background technology
At present, for sensing direction technology, for example, being applied to the location technology on gps system, is only to utilize at least three Geographic mapping points to be located, to draw current longitude and latitude position.But the disadvantage of this kind of sensing direction technology is, cannot learns and judge the situation that turns to, and, cannot comparative analysis and judge and whether have extremely the situation that turns to/take a sudden turn to produce, in other words, current existing detection technology cannot be applied to and turn to location sensitive context.
Again, although G-Sensor or Gyro Sensor can reach the object that extremely turns to case detecting, but, the electronic installation that uses these sensors must be closely paste or be fixed on object under test, otherwise, use the electronic installation of sensors with auxiliary electrode were and cannot correctly judge the event that extremely turns to, in other words, the shortcoming of sensors with auxiliary electrode were is, must be closely paste or be fixed on object under test.
So how to seek a kind of sensing system and method that can be used for turning to location sensitive context, can utilize at least three position anchor points to analyze judgement turns to situation and draws and turn to variation, and, utilize the centripetal force numerical value turning to calculating, and can comparative analysis and judge whether there is extremely the situation generation that turns to/take a sudden turn, in addition, without special installation, closely paste or be fixed on object under test, be problem to be solved.
Summary of the invention
Whether fundamental purpose of the present invention is to be to provide a kind of sensing system and method thereof, turns to location sensitive context for being applied to, with the variable quantity data of position, speed and angle, judge and have extremely the situation that turns to/take a sudden turn to produce.
Another object of the present invention is to be to provide a kind of sensing system and method thereof, turn to location sensitive context for being applied to, the variable quantity data of position, speed and the angle of sensing at least three position anchor points of reception, and analysis turns to variation, calculates the centripetal force turning to, and centripetal numerical value, whether carry out comparative analysis has extremely the situation that turns to/take a sudden turn to produce, in addition, and without special installation, closely paste or be fixed on object under test.
According to above-described object, the invention provides a kind of sensing system, this sensing system comprises sensing/receiver module, processing module and data module, at this, sensing/receiver module and/or processing module and/or data module, can be formed by software and/or a piece of wood serving as a brake to halt a carriage body and/or hardware, look closely actual embodiment situation and determine.
Sensing/receiver module, utilizes this sensing/receiver module to carry out the variable quantity data of position, speed and the angle of sensing at least three position anchor points of reception, and received relevant data is sent to processing module and/or data module.
Processing module, the relevant data analysis that this processing module utilization receives turns to and changes and calculate the centripetal force turning to; In addition, the centripetal numerical value of this processing module, and coordinate in data module the mobile data of keeping in/storing, whether carry out comparative analysis has extremely the situation that turns to/take a sudden turn to produce.
Data module, mobile data can be kept in/store to this data module, and/or, can store the variable quantity data of position, speed and angle of at least three position anchor points and/or the numerical value of centripetal force.
In utilizing sensing system when carrying out method for sensing flow process, first, utilize this sensing/receiver module to carry out the variable quantity data of position, speed and the angle of sensing at least three position anchor points of reception, and received relevant data are sent to processing module and/or data module.
Then, the related data analysis of what processing module utilization received come from sensing/receiver module turns to and changes and calculate the centripetal force turning to, at this, wherein, can utilize at least three position anchor points and form a circumscribed circle, and calculating radius of turn via trigonometric function, at least one speed having according at least three position anchor points and radius of turn calculate the centripetal force turning to producing because turning to.
Then, the centripetal numerical value of processing module, and coordinate in data module the mobile data of keeping in/storing, and comparative analysis judge and whether have extremely the situation that turns to/take a sudden turn to produce.
Accompanying drawing explanation
Fig. 1 is a schematic diagram, in order to framework and the operation situation of explicit declaration sensing system of the present invention;
Fig. 2 is a schematic diagram, in order to the speed of position and the variable quantity situation of angle of explicit declaration position anchor point;
Fig. 3 is a process flow diagram, utilizes sensing system of the present invention to carry out the process step of method for sensing in order to explicit declaration;
Fig. 4 is a schematic diagram, in order to framework and the operation situation of an embodiment of explicit declaration sensing system of the present invention;
Fig. 5 is a schematic diagram, in order to the speed of explicit declaration position of position anchor point in Fig. 4 and the variable quantity situation of angle;
Fig. 6 is a process flow diagram, utilizes the embodiment of sensing system of the present invention in Fig. 4 to carry out the process step of method for sensing in order to explicit declaration;
Fig. 7 is a schematic diagram, in order to framework and the operation situation of the another embodiment of explicit declaration sensing system of the present invention;
Fig. 8 is a schematic diagram, in order to the speed of the position of position anchor point in explicit declaration Fig. 7 and the variable quantity situation of angle; And
Fig. 9 is a process flow diagram, utilizes the embodiment of sensing system of the present invention in Fig. 7 to carry out the process step of method for sensing in order to explicit declaration.
Wherein, description of reference numerals is as follows:
1 sensing system
2 sensings/receiver module
3 processing modules
4 data modules
5 GPS electronic installations
11,12,13 steps
21,22,23 steps
31,32,33 steps
41 mobile datas
F centripetal force
F1 centripetal force
F2 centripetal force
Fc sets centripetal force
M quality
Mc sets quality
P1, P2, P3 position anchor point
P4, P5, P6 position anchor point
P7, P8, P9 position anchor point
R radius of turn
R1 radius of turn
S circumscribed circle
S1 circumscribed circle
S2 circumscribed circle
V1, V2 velocity vector
V4, V5 velocity vector
V7, V8 velocity vector
P1P2 line segment
P2P3 line segment
P4P5 line segment
P5P6 line segment
P7P8 line segment
P8P9 line segment
θ angle (angle variable quantity)
Embodiment
For making those of ordinary skill in the art understand object of the present invention, feature and effect, hereby by following specific embodiment, and coordinate appended graphicly, the present invention is illustrated in detail as rear:
Fig. 1 is a schematic diagram, in order to framework and the operation situation of explicit declaration sensing system of the present invention.As shown in fig. 1, sensing system 1 of the present invention, this sensing system 1 comprises sensing/receiver module 2, processing module 3 and data module 4, at this, sensing system 1 can be positioned at an electronic installation, for example, GPS electronic installation, mobile phone, navigation electronic apparatus/system, or sensing system 1 is an electronic installation, looks closely actual embodiment situation and determine; In addition, sensing/receiver module 2 and/or processing module 3 and/or data module 4, can be made up of software and/or a piece of wood serving as a brake to halt a carriage body and/or hardware, looks closely actual embodiment situation and determine.
Sensing/receiver module 2, utilize this sensing/receiver module 2 to carry out sensing and receive the variable quantity data of position, speed V1, V2 and the angle θ of at least three position anchor point P1, P2, P3 as shown in Figure 2, and received relevant data are sent to processing module 3 and/or data module 4.
Fig. 2 is a schematic diagram, in order to the speed of position and the variable quantity situation of angle of explicit declaration position anchor point.As shown in Figure 2, utilize the position of three position anchor point P1, P2, P3, and draw velocity vector V1, V2, and angle between P1P2 line segment and P2P3 line segment is θ, can draw travel angle variable quantity θ, and, can form a circumscribed circle S1 by a P1, P2, P3, and can utilize velocity vector V1, V2, travel angle variable quantity θ, some P1, P2, P3, calculate the radius R of circumscribed circle S1 via trigonometric function operation, and this radius R is and turns to radius of turn.
According to velocity vector V1, V2 and radius of turn R, add the m that improves quality, and can calculate produced centripetal force F again, at this, centripetal force F=(m*V2)/R, wherein, m is that to can be V2, R be radius of turn for quality, V; Sensing system 1 utilizes the numerical value of centripetal force F, and coordinate the mobile data 41 of keeping in/storing, and whether comparative analysis has extremely the situation that turns to/take a sudden turn to produce, at this, mobile data 41 for example comprises to set quality mc(, reasonable setting centripetal force value Fc(figure 300mg) producing does not show), be greater than while setting centripetal force Fc and work as calculated centripetal force F, be judged to be zig zag event.
Fig. 3 is a process flow diagram, utilizes sensing system of the present invention to carry out the process step of method for sensing in order to explicit declaration.As shown in Figure 3, first, in step 11, utilize sensing/receiver module 2 to carry out the also variable quantity data of position, speed V1, V2 and the angle θ of at least three position anchor point P1 of reception, P2, P3 of sensing, and received relevant data are sent to processing module 3 and/or data module 4, and enter step 12.
In step 12, processing module 3 utilizes the received related data analysis that comes from sensing/receiver module 2 to turn to variation, and calculate the centripetal force F turning to, at this, wherein, can utilize at least three position anchor point P1, P2, P3 and form a circumscribed circle S1, and calculate radius of turn R via trigonometric function, according at least three position anchor point P1, P2, at least one speed V that P3 has, and radius of turn R and calculate the centripetal force F turning to producing because turning to, at this, speed V can be speed V1, the maximal value of V2, or minimum value, or wherein one value, or be the mean value of (V1+V2), or by means of speed V1, the velocity amplitude that V2 produces via other computing, look closely actual embodiment situation and determine, and enter step 13.
In step 13, processing module 3 is utilized the numerical value of centripetal force F, and the mobile data 41 that coordinates in data module 4 to keep in/store, and whether comparative analysis judging has extremely the situation that turns to/take a sudden turn to produce, be greater than while setting centripetal force Fc if work as calculated centripetal force F, be judged to be zig zag event.
Fig. 4 is a schematic diagram, in order to framework and the operation situation of an embodiment of explicit declaration sensing system of the present invention.As shown in Figure 4, sensing system 1 of the present invention, this sensing system 1 comprises sensing/receiver module 2, processing module 3 and data module 4, at this, sensing system 1 is arranged in GPS electronic installation 5, in addition, sensing/receiver module 2 is hardware, and processing module 3 and data module 4 are software.
Sensing/receiver module 2, utilize this sensing/receiver module 2 to carry out sensing and receive the variable quantity data of position, speed V4, V5 and the angle θ of at least three GPS position anchor point P4, P5, P6 as shown in Figure 5, and received relevant gps data is sent to processing module 3 and/or data module 4, at this, wherein, GPS position anchor point P4, P5, P6 are positioned at same straight line, speed V4 and V5 are positioned in same direction, and angle theta=π between P4P5 line segment and P5P6 line segment, that is the variable quantity of angle θ is π.
Fig. 5 is a schematic diagram, in order to the speed of explicit declaration position of position anchor point in Fig. 4 and the variable quantity situation of angle.As shown in Figure 5, GPS position anchor point P4, P5, P6 are positioned at same straight line, and speed V4 and V5 are positioned in same direction, and angle theta=π between P4P5 line segment and P5P6 line segment, that is the variable quantity of angle θ is π, can learns and cannot form circumscribed circle by a P4, P5, P6, thereby, turning to radius of turn is ∞, and centripetal force F1=0 show that calculated centripetal force F1=0 sets centripetal force Fc for being less than, in other words, there is no any turning to/zig zag situation produces.
Fig. 6 is a process flow diagram, utilizes the embodiment of sensing system of the present invention in Fig. 4 to carry out the process step of method for sensing in order to explicit declaration.As shown in Figure 6, first, in step 21, utilize sensing/receiver module 2 to carry out the also variable quantity data of position, speed V4, V5 and the angle θ of at least three GPS position anchor point P4 of reception, P5, P6 of sensing, and received relevant gps data is sent to processing module 3 and/or data module 4, and enter step 22.
In step 22, the centripetal force turning to is utilized the received relevant gps data analysis that comes from sensing/receiver module 2 to turn to change and calculated to processing module 3, at this, wherein, three GPS position anchor point P4, P5, P6 cannot form circumscribed circle, and radius of turn is ∞, thereby, calculate the centripetal force F1=0 turning to, and enter step 23.
In step 23, processing module 3 is utilized the numerical value of centripetal force F1=0, and the mobile data 41 that coordinates in data module 4 to keep in/store, show that calculated centripetal force F1=0 sets centripetal force Fc for being less than, produce and judge the situation that there is no any turning to/take a sudden turn, in other words, direct of travel is for keeping a straight line.
Fig. 7 is a schematic diagram, in order to framework and the operation situation of the another embodiment of explicit declaration sensing system of the present invention.As shown in Figure 7, sensing system 1 of the present invention, this sensing system 1 comprises sensing/receiver module 2, processing module 3 and data module 4, at this, sensing system 1 is positioned at mobile phone 6, and in addition, sensing/receiver module 2 is hardware, processing module 3 is software, and data module 4 is for storing the flash memory module of mobile data 41.
Sensing/receiver module 2, utilize this sensing/receiver module 2 to carry out sensing and receive the variable quantity data of position, speed V7, V8 and the angle θ of at least three position anchor point P7, P8, P9 as shown in Figure 8, and received relevant data are sent to processing module 3 and/or data module 4, at this, in the time of actual embodiment, this sensing/receiver module 2 can be made up of movement/rotary sensing circuit (not shown) and the receiving circuit (not shown) of mobile phone 6.
Fig. 8 is a schematic diagram, in order to the speed of the position of position anchor point in explicit declaration Fig. 7 and the variable quantity situation of angle.As shown in Figure 8, utilize the position of three position anchor point P7, P8, P9, and draw velocity vector V7, V8, and angle between P7P8 line segment and P8P9 line segment is θ, can draw travel angle variable quantity θ=0.5 π, and, can form a circumscribed circle S2 by a P7, P8, P9, and can utilize velocity vector V7, V8, travel angle variable quantity θ, some P7, P8, P9, calculate the radius R 1 of circumscribed circle S2 via trigonometric function operation, and this radius R 1 is and turns to radius of turn.
Fig. 9 is a process flow diagram, utilizes the embodiment of sensing system of the present invention in Fig. 7 to carry out the process step of method for sensing in order to explicit declaration.As shown in Figure 9, first, in step 31, utilize sensing/receiver module 2 to carry out the also variable quantity data of position, speed V7, V8 and angle θ=0.5 π of at least three position anchor point P7 of reception, P8, P9 of sensing, and received relevant data are sent to processing module 3 and/or data module 4, and enter step 32.
In step 32, processing module 3 utilizes the received related data analysis that comes from sensing/receiver module 2 to turn to variation, and calculate the centripetal force F turning to, at this, wherein, can utilize at least three position anchor point P7, P8, P9 and form a circumscribed circle S2, and calculate radius of turn R1 via trigonometric function, according at least three position anchor point P7, P8, at least one speed V that P9 has, and radius of turn R1 and calculate the centripetal force F1 turning to producing because turning to, at this, speed V can be speed V7, the maximal value of V8, or minimum value, or wherein one value, or be the mean value of (V7+V8), or by means of speed V7, the velocity amplitude that V8 produces via other computing, and enter step 33.
In step 33, processing module 3 is utilized the numerical value of centripetal force F1, and the mobile data 41 that coordinates in data module 4 to keep in/store, and judges whether that the situation that extremely turns to/take a sudden turn produces; At this, if draw, calculated centripetal force F2 sets centripetal force Fc for being less than, without the situation that extremely turns to/take a sudden turn; If draw, calculated centripetal force F2 sets centripetal force Fc for being greater than, there is extremely the situation that turns to/take a sudden turn to produce, in other words, the centripetal force and the comparative result of setting centripetal force Fc to be calculated, and learn whether have extremely the situation that turns to/take a sudden turn to produce, and be not to decide it with the value of angle θ.
Comprehensive above embodiment, we can obtain a kind of sensing system of the present invention and method thereof, turn to location sensitive context for being applied to, utilize this sensing system when carrying out method for sensing, first, utilize sensing/receiver module to carry out the variable quantity data of sensing receiving position, speed and angle; Then the related data analysis that comes from sensing/receiver module that, processing module utilization receives turns to and changes and calculate the centripetal force turning to; Then, the centripetal numerical value of processing module, the mobile data of cooperation data module, whether carry out comparative analysis has extremely the situation that turns to/take a sudden turn to produce.
The foregoing is only preferred embodiment of the present invention, not in order to limit scope of the present invention; All other do not depart from the equivalence completing under disclosed spirit and changes or modify, and all should be included in following the scope of the claims.
Claims (14)
1. a method for sensing, turns to location sensitive context for being applied to, and it is characterized in that, this method for sensing comprises following steps:
The variable quantity data of position, speed and the angle of sensing at least three position anchor points of reception, and received relevant data are transmitted;
Utilize the related data analysis that receives to turn to change and calculate the centripetal force turning to; And
Whether the numerical value of centripetal numerical value and setting centripetal force, carrying out comparative analysis and judging has extremely the situation that turns to/take a sudden turn to produce.
2. method for sensing as claimed in claim 1, it is characterized in that, this centripetal force turning to is, utilize these at least three position anchor points and form a circumscribed circle, and calculating the radius of turn of this circumscribed circle via trigonometric function, at least one speed and this radius of turn that have according to these at least three position anchor points calculate.
3. method for sensing as claimed in claim 2, is characterized in that, cannot utilize these at least three position anchor points and while forming circumscribed circle, can learn that there is no any turning to/zig zag situation produces.
4. method for sensing as claimed in claim 1, is characterized in that, the numerical value of this centripetal force is the numerical value that is greater than this setting centripetal force, have extremely to turn to/situation of taking a sudden turn produces.
5. a method for sensing, turns to location sensitive context for being applied to GPS, it is characterized in that, this method for sensing comprises following steps:
The variable quantity data of position, speed and the angle of sensing at least three GPS position anchor points of reception, and received relevant data are transmitted;
Utilize the GPS related data that receives to analyze to turn to and change and calculate the centripetal force turning to; And
Centripetal numerical value, and coordinate the numerical value of the setting centripetal force of the GPS mobile data of keeping in/storing, carry out comparative analysis and judge whether there is extremely the situation generation that turns to/take a sudden turn;
Wherein, this centripetal force turning to is, utilize these at least three GPS position anchor points and form a circumscribed circle, and calculate the radius of turn of this circumscribed circle via trigonometric function, at least one speed and this radius of turn that have according to these at least three position anchor points calculate.
6. method for sensing as claimed in claim 5, is characterized in that, cannot utilize these at least three position anchor points and while forming circumscribed circle, can learn that there is no any turning to/zig zag situation produces.
7. method for sensing as claimed in claim 5, is characterized in that, the numerical value of this centripetal force is the numerical value that is greater than this setting centripetal force, have extremely to turn to/situation of taking a sudden turn produces.
8. a sensing system, turns to location sensitive context for being applied to, and it is characterized in that, this sensing system comprises:
Sensing/receiver module, the variable quantity data of position, speed and the angle of this sensing/receiver module sensing at least three position anchor points of reception, and received relevant data are transmitted;
Processing module, the related data analysis that comes from this sensing/receiver module that this processing module utilization receives turns to and changes and calculate the centripetal force turning to; And
Data module, mobile data can be kept in/store to this data module, this action packet is containing the numerical value of setting centripetal force, the numerical value of this centripetal force that this processing module utilization turns to, and coordinate the numerical value of this setting centripetal force of this action data, whether carry out comparative analysis has extremely the situation that turns to/take a sudden turn to produce.
9. sensing system as claimed in claim 8, it is characterized in that, this centripetal force turning to is, utilize these at least three position anchor points and form a circumscribed circle, and calculating the radius of turn of this circumscribed circle via trigonometric function, at least one speed and this radius of turn that have according to these at least three position anchor points calculate.
10. sensing system as claimed in claim 9, is characterized in that, cannot utilize these at least three position anchor points and while forming circumscribed circle, can learn that there is no any turning to/zig zag situation produces.
11. sensing systems as claimed in claim 8, is characterized in that, the numerical value of this centripetal force is the numerical value that is greater than this setting centripetal force, have extremely to turn to/situation of taking a sudden turn produces.
12. 1 kinds of sensing systems, turn to location sensitive context for being applied to GPS, it is characterized in that, this sensing system comprises:
Sensing/receiver module, the variable quantity data of position, speed and the angle of this sensing/receiver module sensing at least three GPS position anchor points of reception, and received relevant data are transmitted;
Processing module, the relevant gps data analysis of what this processing module utilization received come from this sensing/receiver module turns to and changes and calculate the centripetal force turning to; And
Data module, GPS mobile data can be kept in/store to this data module, this GPS mobile data comprises the numerical value of setting centripetal force, the numerical value of this centripetal force that this processing module utilization turns to, and coordinate the numerical value of this setting centripetal force of this GPS mobile data, whether carry out comparative analysis has extremely the situation that turns to/take a sudden turn to produce;
Wherein, this centripetal force turning to is, utilize these at least three GPS position anchor points and form a circumscribed circle, and calculate the radius of turn of this circumscribed circle via trigonometric function, at least one speed and this radius of turn that have according to these at least three position anchor points calculate.
13. sensing systems as claimed in claim 12, is characterized in that, cannot utilize these at least three position anchor points and while forming circumscribed circle, can learn that there is no any turning to/zig zag situation produces.
14. sensing systems as claimed in claim 12, is characterized in that, the numerical value of this centripetal force is the numerical value that is greater than this setting centripetal force, have extremely to turn to/situation of taking a sudden turn produces.
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| Publication number | Publication date |
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| CN103808959B (en) | 2016-12-21 |
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