CN103900558A - Shoe with positioning device, correction device and positioning data correction method - Google Patents
Shoe with positioning device, correction device and positioning data correction method Download PDFInfo
- Publication number
- CN103900558A CN103900558A CN201410078808.1A CN201410078808A CN103900558A CN 103900558 A CN103900558 A CN 103900558A CN 201410078808 A CN201410078808 A CN 201410078808A CN 103900558 A CN103900558 A CN 103900558A
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- correction
- data
- shoes
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- positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B21/00—Heels; Top-pieces or top-lifts
- A43B21/24—Heels; Top-pieces or top-lifts characterised by the constructive form
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a shoe with a positioning device, a correction device and a positioning data correction method, belonging to the technical field of train maintenance monitoring. The shoe is provided with a groove for arranging a positioning module on a heel, the correction device is matched with the shoe to be used, and comprises an original point positioning device arranged in a maintenance library, a position positioning device and an angle positioning device. The data correction method is characterized in that the correction data of the former position positioning device and the correction data of the former angle positioning device are utilized as the data for the next positioning of the positioning module, and the real-time correction of the data of the positioning module is realized. The shoe, the correction device and the positioning data correction method provided by the invention have the advantages that the positions of persons in the maintenance library are monitored in real time, the interference on the positioning accuracy caused by a steel structure in the maintenance library is avoided, the accumulative error of the positioning device is eliminated, and the accuracy of the positioning data is improved.
Description
Technical field
The invention discloses shoes and means for correcting and gps correction data method with locating device, the technical field of the train overhaul belonging to monitoring.
Background technology
The targeting scheme that is applied at present train overhaul field mainly contains video monitoring, wireless location etc.
Video Supervision Technique relies on merely the camera of arranging in maintenance storehouse maintainer is monitored in real time.This kind of scheme need to be arranged a large amount of cameras, and site operation amount is large, cost is high, and video monitoring is subject to block, once there be barrier to block, just there will be blind area, well not compatible, can not adapt to various environment.Each camera of video monitoring just needs a width picture, and managerial personnel are also difficult to open-and-shut maintenance situation of checking full storehouse.
Wireless location technology based on WIFI is also the technical scheme that is widely used in indoor positioning, and this scheme need be worn label on the person, utilizes the power that receives WIFI signal to carry out calculating location information.This scheme major defect is subject to environmental interference exactly, cannot accurately locate, and need to arrange a lot of base stations under complex environment, and construction is also comparatively complicated.
These schemes also have a common shortcoming above, be to position train inside, and due to blocking of car body, be that video monitoring or wireless location all cannot break through.The shoes of utilization with locating device can be realized all standing of locating area, there is no blind area, and accurate positioning, not affected by environment, easy construction.
The requisite ring of indoor positioning technology is exactly the correction of locator data.At present conventional alignment technique is mostly based on locating device itself, and real-time judge deviations, calculates deviate by series of complex algorithm, thereby carries out deviation elimination.The shortcoming of doing is like this, position stability is poor, not obvious for long cumulative errors eradicating efficacy.
Summary of the invention
Technical matters to be solved by this invention is the deficiency for background technology, has proposed shoes and means for correcting and gps correction data method with locating device.
The present invention adopts following technical scheme to realize foregoing invention object:
With the shoes of locating device, locating device comprises: locating module, localization process module and power module, have the groove for placement positioning module at heel;
The personnel positions information exchange that described locating module obtains is crossed serial ports and is sent to localization process module, described localization process module sends to back-end server by personnel positioning information in the time having data transmission network signal, and described power module provides the working power of locating module, localization process module.
As the further prioritization scheme of described shoes, localization process module, power module are all placed in described groove.
As the further prioritization scheme of described shoes, leave the cavity of placement positioning processing module and power module in shoes outside.
The matching used means for correcting of locating device with described shoes, is characterized in that comprising: be placed in the origin correction device in maintenance storehouse, described origin correction device stores the position data of initial point and the angle information data of regulation.
As the further prioritization scheme of described means for correcting, means for correcting also comprises: be arranged on the angularity correction device in maintenance storehouse, described angularity correction device stores correction data, and described control information is the polar coordinates of angularity correction device in the two-dimensional coordinate system take origin correction device as initial point.
As the further prioritization scheme of described means for correcting, means for correcting also comprises: be arranged on the position correction apparatus in maintenance storehouse, described position correction data stores position information correction data, and described position information correction data are the rectangular coordinate of position correction apparatus in the two-dimensional coordinate system take origin correction device as initial point.
The further prioritization scheme of described means for correcting, origin correction device is identical with angularity correction apparatus structure, all comprise the roller bearing plane of built-in correction module and radio receiving transmitting module, have two contact planes in one end of roller bearing plane, contact plane is controlled the transmitting-receiving of data in the time that shoes are in contact with it by contact.
The gps correction data method realizing by described means for correcting, while moving to origin correction region with the shoes of locating device, the position data of origin correction device storage, the angle information data transmission of regulation are to shoes.
As the further prioritization scheme of described gps correction data method, shoes with locating device move after the data correction of origin correction device in maintenance storehouse, in the time moving to angularity correction region with the shoes of locating device, the correction data of angularity correction device storage transfers to shoes.
As the further prioritization scheme of described gps correction data method, the shoes with locating device after angularity correction device data correction move along maintenance station track, in the time moving to position correction region with the shoes of locating device, the position information correction data transmission of position correction apparatus storage is to shoes.
The present invention adopts technique scheme, has following beneficial effect:
(1) proposed a kind of shoes with positioning function that can be used for train overhaul, in the storehouse of monitoring maintenance in real time personnel's position, the interference of steel construction to positioning precision in the maintenance storehouse of avoiding knowing clearly;
(2) propose a kind of and means for correcting that be used in combination with locating device shoes, means for correcting has been eliminated the cumulative errors of locating device, has improved the accuracy of locator data.
Accompanying drawing explanation
Fig. 1 (a) is the schematic diagram with locating device shoes, and Fig. 1 (b) is the sectional view with locating device shoes.
The circuit block diagram that Fig. 2 (a) is locating device, the physical circuit figure that Fig. 2 (b) is locating device.
Fig. 3 is means for correcting scheme of installation.
Fig. 4 is the schematic diagram of origin correction device.
Fig. 5 is the process flow diagram of data correcting method.
Number in the figure explanation: A is groove, and B is cavity, and 1 is origin correction device, 2 and 5 is angularity correction device, and 3 is maintenance station track, and 4 is position correction apparatus, and 6,7 is contact, 8 is roller bearing plane.
Embodiment
As shown in Fig. 1 (a), Fig. 1 (b) with the shoes of locating device as shown in Figure 2 (a) shows, comprising: locating module, localization process module and power module, have the groove A for placement positioning module at heel.The personnel positions information exchange that locating module obtains is crossed serial ports and is sent to localization process module, localization process module sends to back-end server by personnel positioning information in the time having data transmission network signal, and power module provides the working power of locating module, localization process module.Leave the cavity B of placement positioning processing module and power module in shoes outside.
Fig. 2 (b) is a circuit embodiments of localization process module, is made up of STM32 chip and peripheral circuit thereof, and peripheral circuit has MAX232 chip, SRAM storage chip, positioning label, WIFI module.Parameters in the time that WIFI module powers on for the first time, under normal operation for the communication between locating module, SRAM.While powering on for the first time, use PC to carry out parameter setting by MAX232 chip to WIFI module.Parameter setting refers to WIFI block configuration IP address, port numbers, server ip address, port numbers, host-host protocol etc. parameter, and WIFI module is to the server transmission data of specifying.Label carries out position correction, and after calibration, inertial navigation module transfers to STM32 chip by positional information by MAX232 chip, and STM32 chip is connected with SRAM, WIFI respectively by communication serial port.In the time of WIFI signal stabilization, positional information is transferred to PC in the mode of radio communication; Otherwise the positional information that STM32 chip obtains inertial navigation is stored in SRAM, while waiting for WIFI signal stabilization, sent out by WIFI module.
Above-mentioned shoes are done to further improvement, and enough little at the volume of locating device, localization process module, power module, little to can all be placed in groove A time, localization process module, power module are all placed in groove A.
Means for correcting comprises as shown in Figure 3: be placed in the origin correction device 1 in maintenance storehouse, origin correction device 1 stores the position data of initial point and the angle information data of regulation.In order to make up the error of origin correction device, angularity correction device 2,5 is arranged on the multilayer inspection platform in maintenance 3 two ends, station track or maintenance storehouse, angularity correction device stores correction data, and control information is the polar coordinates of angularity correction device in the two-dimensional coordinate system take origin correction device as initial point.In order further to improve the accuracy of means for correcting, position correction apparatus 4 is arranged on maintenance station track 3 or on the multilayer inspection platform in maintenance storehouse, position correction data stores position information correction data, and position information correction data are the rectangular coordinate of position correction apparatus in the two-dimensional coordinate system take origin correction device as initial point.Data interaction between shoes and means for correcting realizes by RFID technology or other wireless data transmission technologys.The coverage that origin correction region, angularity correction region, position correction region are data transfer signal, for example, for the existing data interaction of RFID technology, its signal cover is about within the scope of 1m.
Origin correction device is as shown in Figure 4 identical with angularity correction apparatus structure, all comprise the roller bearing plane 8 of built-in correction module and radio receiving transmitting module, have two contact planes in one end of roller bearing plane 8, contact plane is controlled the transmitting-receiving of data in the time that shoes are in contact with it by contact 6,7.
Utilize the gps correction data method of above-mentioned means for correcting realization as shown in Figure 5: while touching the contact plane in roller bearing plane with the shoes of locating device, between contact 6,7 control origin correction devices and shoes locating module, the angle information data of position data, regulation is mutual;
Shoes with locating device move along maintenance station track, in shoes move to the signal cover of overhauling two ends, station track angularity correction device time, shoes are in the time of the contact touching in roller bearing plane, and between contact control angle means for correcting and shoes locating module, correction data is mutual;
Continue along maintenance station track with the shoes of locating device mobile, in the time that shoes move to the signal coverage areas of position correction apparatus, position correction apparatus by the position information correction data transmission of storage to shoes.
Within the means for correcting signal cover of maintainer in-position time, position correction apparatus can utilize RFID technology to incite somebody to action positional information accurately and send to locating module, in the time that locating module arrives this position correction region, positional information before locating module will be replaced by the accurate location information of this position correction apparatus, from this position correction apparatus backward, be all to position on this positional information basis.So just, can eliminate cumulative errors, reach the object of accurate location.
In the time that maintainer arrives the angularity correction region at maintenance two ends, station track, according to the same with the operation of origin correction device, pin is put on angularity correction device, angularity correction device just can will be located course angle (being the polar angle in polar coordinates) zero clearing, and the positional information (being the utmost point footpath in polar coordinates) that is accurate to decimeter grade is sent to locating device.Through after this check point, the positional information of locating module and location course angle have all realized accurate correction.Position correction apparatus and angularity correction device are revised the data of shoes locating device alternately, have improved the accuracy of locator data.
In sum, the present invention has the following advantages:
(1) proposed a kind of shoes with positioning function that can be used for train overhaul, in the storehouse of monitoring maintenance in real time personnel's position, the interference of steel construction to positioning precision in the maintenance storehouse of avoiding knowing clearly;
(2) propose a kind of and means for correcting that be used in combination with locating device shoes, means for correcting has been eliminated the cumulative errors of locating device, has improved the accuracy of locator data.
Claims (10)
1. with the shoes of locating device, locating device comprises: locating module, localization process module and power module, is characterized in that: have the groove for placement positioning module at heel;
The personnel positions information exchange that described locating module obtains is crossed serial ports and is sent to localization process module, described localization process module sends to back-end server by personnel positioning information in the time having data transmission network signal, and described power module provides the working power of locating module, localization process module.
2. shoes according to claim 1, is characterized in that: described localization process module, power module are all placed in described groove.
3. shoes according to claim 1, is characterized in that: the cavity that leaves placement positioning processing module and power module in shoes outside.
4. with the matching used means for correcting of locating device in shoes described in claim 1, it is characterized in that comprising: be placed in the origin correction device in maintenance storehouse, described origin correction device stores the position data of initial point and the angle information data of regulation.
5. means for correcting according to claim 4, it is characterized in that: described means for correcting also comprises: be arranged on the angularity correction device in maintenance storehouse, described angularity correction device stores correction data, and described control information is the polar coordinates of angularity correction device in the two-dimensional coordinate system take origin correction device as initial point.
6. means for correcting according to claim 5, it is characterized in that: described means for correcting also comprises: be arranged on the position correction apparatus in maintenance storehouse, described position correction data stores position information correction data, and described position information correction data are the rectangular coordinate of position correction apparatus in the two-dimensional coordinate system take origin correction device as initial point.
7. means for correcting according to claim 5, it is characterized in that: described origin correction device is identical with angularity correction apparatus structure, all comprise the roller bearing plane of built-in correction module and radio receiving transmitting module, have two contact planes in one end of roller bearing plane, contact plane is controlled the transmitting-receiving of data in the time that shoes are in contact with it by contact.
8. the gps correction data method realizing by means for correcting described in claim 6, is characterized in that: while moving to origin correction region with the shoes of locating device, the position data of origin correction device storage, the angle information data transmission of regulation are to shoes.
9. gps correction data method according to claim 8, it is characterized in that: the described shoes with locating device move after the data correction of origin correction device in maintenance storehouse, in the time moving to angularity correction region with the shoes of locating device, the correction data of angularity correction device storage transfers to shoes.
10. gps correction data method according to claim 8, it is characterized in that: the shoes with locating device after angularity correction device data correction move along maintenance station track, in the time moving to position correction region with the shoes of locating device, the position information correction data transmission of position correction apparatus storage is to shoes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410078808.1A CN103900558B (en) | 2014-03-06 | 2014-03-06 | Shoes with positioner and correcting unit and gps correction data method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410078808.1A CN103900558B (en) | 2014-03-06 | 2014-03-06 | Shoes with positioner and correcting unit and gps correction data method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103900558A true CN103900558A (en) | 2014-07-02 |
| CN103900558B CN103900558B (en) | 2017-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410078808.1A Active CN103900558B (en) | 2014-03-06 | 2014-03-06 | Shoes with positioner and correcting unit and gps correction data method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100033321A1 (en) * | 2008-08-08 | 2010-02-11 | Kaminski Joseph W | Tracking system with separated tracking device |
| CN101858974A (en) * | 2010-06-03 | 2010-10-13 | 清华大学 | Positioning system |
| CN101236252B (en) * | 2007-12-12 | 2010-11-03 | 北京龙软科技发展有限公司 | Down-hole personnel tracking positioning system and its method |
| CN202026898U (en) * | 2011-05-04 | 2011-11-09 | 曹婷婷 | Shoes with locating function |
| CN202311406U (en) * | 2011-12-02 | 2012-07-11 | 石金松 | Shoes with positioning mechanisms |
| CN204027573U (en) * | 2014-03-06 | 2014-12-17 | 苏州华兴致远电子科技有限公司 | Shoes and means for correcting with locating device |
-
2014
- 2014-03-06 CN CN201410078808.1A patent/CN103900558B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101236252B (en) * | 2007-12-12 | 2010-11-03 | 北京龙软科技发展有限公司 | Down-hole personnel tracking positioning system and its method |
| US20100033321A1 (en) * | 2008-08-08 | 2010-02-11 | Kaminski Joseph W | Tracking system with separated tracking device |
| CN101858974A (en) * | 2010-06-03 | 2010-10-13 | 清华大学 | Positioning system |
| CN202026898U (en) * | 2011-05-04 | 2011-11-09 | 曹婷婷 | Shoes with locating function |
| CN202311406U (en) * | 2011-12-02 | 2012-07-11 | 石金松 | Shoes with positioning mechanisms |
| CN204027573U (en) * | 2014-03-06 | 2014-12-17 | 苏州华兴致远电子科技有限公司 | Shoes and means for correcting with locating device |
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| Publication number | Publication date |
|---|---|
| CN103900558B (en) | 2017-03-29 |
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