CN104062626A - Indoor positioning method and indoor positioning device - Google Patents
Indoor positioning method and indoor positioning device Download PDFInfo
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- CN104062626A CN104062626A CN201410312692.3A CN201410312692A CN104062626A CN 104062626 A CN104062626 A CN 104062626A CN 201410312692 A CN201410312692 A CN 201410312692A CN 104062626 A CN104062626 A CN 104062626A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The embodiment of the present invention discloses an indoor positioning method and an indoor positioning device. By applying the technical scheme provided by the embodiment of the present invention, the horizontal distances between the indoor positioning device and the walls are determined according to the vertical distance between the indoor positioning device itself and a ceiling, and a vertical deflection angle corresponding to a corner line having the shortest distance of the corner lines between the indoor positioning device itself and the ceiling, and between the indoor positioning device itself and the walls, thereby realizing the indoor positioning, avoiding the interference of the ground barriers to the indoor positioning, improving the precision and operation efficiency of the indoor positioning and the universality of an indoor positioning technology, and reducing the requirements for an indoor environment and the cost of the indoor positioning.
Description
Technical field
The present invention relates to engineering automatic field, relate in particular to a kind of indoor orientation method and device.
Background technology
In actual applications, needs along with scientific and technical development and people's productive life, the demand of location technology improves day by day, and the development that obtains making rapid progress, particularly outdoor positioning GPS (Global Positioning System, Global Positioning System (GPS)) the technology utmost point is subject to liking of people and praises highly, and can be as accurate as at present centimetre-sized, GPS technology is the technology of a kind of combination satellite and Development of Communication, while utilizing Navsat to survey and range finding.
But GPS technology is just too far behind to catch up for indoor positioning, is difficult to be applied to indoor.
Indoor positioning refers to and in indoor environment, realizes location, position, mainly adopts a set of indoor location locating systems of the integrated formation of multiple technologies such as wireless telecommunications, architecture, inertial navigation location, thereby realize the monitoring position in the interior space such as personnel, object.
Indoor positioning technology is mainly divided architecture and inertial navigation location Liang Zhong service provider.Architecture service provider mainly adopts WIFI location, inertial navigation positioning service business mainly adopts WIFI, the wireless communication base station schemes such as RFID, for emergency management and rescue, mainly adopt the technical schemes such as inertial navigation, because the place that emergency management and rescue are faced should be all disastrous, base station radio communication all belongs to state of paralysis, be exactly that social cost is too high in addition, so can only adopt inertial navigation technology, it is without any extra infrastructure or network, with wireless mode, export in real time personnel's travel distance and directional information, can realize the accurate location of personnel in various complex environments, for guaranteeing that personnel's life security provides effective assurance.
In addition indoor positioning technology also comprises the technology such as ZigBee, UWB, machine vision location.
In realizing the process of the technical scheme that the embodiment of the present invention proposes, inventor has found following problem:
No matter be above-mentioned which kind of technology, aspect positioning precision, performance and versatility, be all difficult to obtain practicality and general, and location cost be high.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of indoor orientation method, for solving the deficiency of existing indoor positioning technology.
In order to achieve the above object, the embodiment of the present invention provides a kind of indoor orientation method, comprising:
Indoor positioning device by exploring block towards vertical sensing ceiling, measure described indoor positioning device to the vertical range between described ceiling;
Described indoor positioning device by described exploring block towards deflection, determine that respectively described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and each between the walls;
Described indoor positioning device is according to described vertical range, and the vertical deflection angle of the corresponding described exploring block of bee-line described in each, determine that respectively described indoor positioning device arrives the horizontal range of each wall, realize the indoor positioning of described indoor positioning device.
Preferably, described indoor positioning device by described exploring block towards deflection, determine that respectively described indoor positioning device, to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and each between the walls, specifically comprises:
Described indoor positioning device carries out deflection by described exploring block towards vertically, determines the position of the angle of described ceiling and a between the walls;
Described indoor positioning device carries out deflection by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block, determines that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls;
Described indoor positioning device rotates predetermined angle by described exploring block towards along continuous straight runs, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
Preferably, described indoor positioning device carries out deflection by described exploring block towards vertically, determines the position of the angle of described ceiling and a between the walls, specifically comprises:
Steps A, described indoor positioning device are according to default vertical direction deflection angle step value, by described exploring block towards vertically, carry out vertical deflection, and obtain the corresponding described ceiling of current vertical deflection angle or described wall to the distance of described indoor positioning device;
Step B, described indoor positioning device judge the size that the corresponding described ceiling of current vertical deflection angle or described wall arrive the distance of described indoor positioning device to the corresponding described ceiling of vertical deflection angle before the distance of described indoor positioning device and this vertical deflection or described wall;
If judgment result is that and be greater than, return and continue execution step A;
If judgment result is that and be less than, determine that the corresponding position of vertical deflection angle before this vertical deflection is the position of the angle of described ceiling and described between the walls;
If judgment result is that and equal, determine that the corresponding position of mean value of current vertical deflection angle and this vertical deflection vertical deflection angle is before the position of the angle of described ceiling and described between the walls.
Preferably, described indoor positioning device carries out deflection by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block, determine that described indoor positioning device, to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls, specifically comprises:
Step C, described indoor positioning device be according to default horizontal direction deflection angle step value, and described exploring block carried out to horizontal deflection towards along continuous straight runs;
Step D, described indoor positioning device re-execute steps A and step B, determine the position of the angle of corresponding described ceiling and described between the walls after this horizontal deflection, and the corresponding described angle of definite present level deflection angle is to the distance of described indoor positioning device;
Step e, the corresponding described angle of described indoor positioning device judgement present level deflection angle arrive the distance of described indoor positioning device and the size that the corresponding described angle of X deflection angle before this horizontal deflection arrives the distance of described indoor positioning device;
If judgment result is that and be less than, return and continue execution step C;
If judgment result is that and be greater than, the vertical deflection angle of determining this horizontal deflection described exploring block is before that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls;
If judgment result is that and equal, the vertical deflection angle of the described exploring block of the corresponding position of mean value of the X deflection angle before definite present level deflection angle and this horizontal deflection is that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls.
Preferably, described indoor positioning device rotates predetermined angle by described exploring block towards along continuous straight runs, repeat said process, determine that described indoor positioning device, to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls, specifically comprises:
After described indoor positioning device is determined the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line that self arrives described ceiling and a between the walls, by described exploring block along continuous straight runs 90-degree rotation, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
Preferably, described indoor positioning device determines that the mode of distance comprises one or more of following mode:
Image sensing range finding, laser ranging, ultrasonic ranging, infrared distance measurement, and electromagnetic positioning.
Further, the embodiment of the present invention also provides a kind of indoor positioning device, comprising:
Exploring block, for measuring described indoor positioning device to the distance of position to be measured;
Rotary part, for supporting described exploring block can detect all orientation;
Control assembly, is rotated for controlling described exploring block by described rotary part, and processes according to the measured distance value obtaining of described exploring block, specifically comprises:
Described control assembly by described rotary part by described exploring block towards vertical sensing ceiling, measure described indoor positioning device to the vertical range between described ceiling;
Described control assembly by described rotary part by described exploring block towards deflection, determine that respectively described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and each between the walls;
Described control assembly is according to described vertical range, and the vertical deflection angle of the corresponding described exploring block of bee-line described in each, determines that respectively described indoor positioning device, to the horizontal range of each wall, realizes the indoor positioning of described indoor positioning device.
Preferably, described control assembly, specifically for:
Described control assembly by described rotary part by described exploring block towards vertically, carry out deflection, determine the position of the angle of described ceiling and a between the walls;
Described control assembly carries out deflection by described rotary part by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block, determines that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls;
Described control assembly by described rotary part by described exploring block towards along continuous straight runs rotation predetermined angle, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
Preferably, described rotary part, specifically comprises:
Vertical turning axle, feathering axis, vertical step motor, horizontal step motor, vertical fixed cover and horizontal fixed cover.
Preferably, described indoor positioning device determines that the mode of distance comprises one or more of following mode:
Image sensing range finding, laser ranging, ultrasonic ranging, infrared distance measurement, and electromagnetic positioning.
Compared with prior art, the technical scheme that the embodiment of the present invention proposes has the following advantages:
The technical scheme proposing by the application embodiment of the present invention, indoor positioning device according to self to the vertical range between ceiling, and self is to the corresponding vertical deflection angle of bee-line of the wall corner line of ceiling and each between the walls, determine that this indoor positioning device is to the horizontal range of each wall, realize indoor positioning, thereby, can avoid ground obstacle for the interference of indoor positioning, improve the precision of indoor positioning, the requirement of reduction to indoor environment, improve the versatility of indoor positioning technology, reduce the cost of indoor positioning, improve the efficiency of indoor positioning operation.
Accompanying drawing explanation
The schematic flow sheet of a kind of indoor orientation method that Fig. 1 provides for the embodiment of the present invention;
The schematic flow sheet of a kind of indoor orientation method that Fig. 2 A provides for the embodiment of the present invention in carrying out vertical deflection measuring process;
The schematic flow sheet of a kind of indoor orientation method that Fig. 2 B provides for the embodiment of the present invention in carrying out horizontal deflection measuring process;
The structural representation of a kind of indoor positioning device that Fig. 3 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the present invention, the technical scheme in the present invention is clearly and completely described, obviously, described embodiment is only part embodiment of the present invention, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention provides a kind of indoor orientation method, can avoid ground obstacle for the interference of indoor positioning, improves the precision of indoor positioning, the requirement of reduction to indoor environment, improve the versatility of indoor positioning technology, reduce the cost of indoor positioning, improve the efficiency of indoor positioning operation.
In order to achieve the above object, the embodiment of the present invention provides a kind of indoor orientation method, as shown in Figure 1, the schematic flow sheet of the indoor orientation method providing for the embodiment of the present invention, the method specifically comprises:
Step S101, indoor positioning device by exploring block towards vertical sensing ceiling, measure described indoor positioning device to the vertical range between described ceiling.
In concrete application scenarios, indoor positioning device can pre-stored oneself height information or is measured starting point to the elevation information on ground, and in conjunction with the measurement result of vertical range, correction obtains vertical range more accurately, thus degree of accuracy when assurance subsequent step application vertical range is further calculated.
Step S102, described indoor positioning device by described exploring block towards deflection, determine that respectively described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and each between the walls.
It will be understood by those skilled in the art that " indoor positioning device is to the bee-line of the wall corner line of described ceiling and each between the walls " mentioned in this step is the length that indoor positioning device arrives the vertical line of each wall corner line.
In concrete application scenarios, the specific implementation of this step can be undertaken by following flow process:
(1) described indoor positioning device by described exploring block towards vertically, carry out deflection, determine the position of the angle of described ceiling and a between the walls.
By this operation, indoor positioning device can find position, corner.
In concrete application scenarios, the implementation procedure of this operation specifically can comprise the following steps:
Steps A, described indoor positioning device are according to default vertical direction deflection angle step value, by described exploring block towards vertically, carry out vertical deflection, and obtain the corresponding described ceiling of current vertical deflection angle or described wall to the distance of described indoor positioning device.
Specifically as shown in Figure 2 A, starting towards " vertically pointing to ceiling " from step S101 of exploring block, carries out deflection to a sidewalls, and each deflection angle step value of deflection, carries out close to this corner gradually.
It should be noted that, because indoor positioning device is current, might not determine which direction is the direction over against wall, therefore, while carrying out this step for the first time, can select at random a direction to carry out deflection, then by subsequent step, revise.
Step B, described indoor positioning device judge the size that the corresponding described ceiling of current vertical deflection angle or described wall arrive the distance of described indoor positioning device to the corresponding described ceiling of vertical deflection angle before the distance of described indoor positioning device and this vertical deflection or described wall.
If judgment result is that and be greater than, return and continue execution step A, for example, in Fig. 2 A, pass through steps A, determined the distance after the 1st deflection, through relatively, current distance (distance after the 1st deflection) is greater than distance before this deflection when " vertically pointing to ceiling " (distance), so, return and continue execution step A, each measurement thereafter by that analogy, is no longer repeated in this description at this.
If judgment result is that and be less than, determine that the corresponding position of vertical deflection angle before this vertical deflection is the position of the angle of described ceiling and described between the walls, for example, in Fig. 2 A, pass through steps A, determined the distance after the n+1 time deflection, through comparing, current distance (distance after the n+1 time deflection) is greater than the distance (distance after the n time deflection) before this deflection, so the corresponding position of vertical deflection angle of (i.e. the n time deflection) is the position of the angle of described ceiling and described between the walls before determining the n+1 time deflection.
If judgment result is that and equal, the corresponding position of mean value of determining current vertical deflection angle and this vertical deflection vertical deflection angle is before the position of the angle of described ceiling and described between the walls, this is a kind of special circumstances, i.e. twice measurement lays respectively at the position of angle both sides equal angles distance, therefore, can, by dividing the mode of the deflection angle of twice deflection equally, determine angle position.
Need to further be pointed out that; above-mentioned measurement is by default vertical direction angle step value, to be used as the variation foundation of each deflection; but excessive if angle arranges, will there is larger error in measurement result; if and that angle arranges is too small; can increase number of times and time that deflection is measured, therefore, in actual applications; need to carry out as required the setting of vertical direction angle step value, such variation can't affect protection scope of the present invention.
It should be noted that, above-mentioned processing procedure is just determined a kind of preferred version of angle, other technological thoughts based on deflection and measurement, the technical scheme that can reach constructed effect belongs to protection scope of the present invention equally.
(2) described indoor positioning device carries out deflection by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block, determines that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls.
By this operation, indoor positioning device is vertical with current wall corner line towards adjusting to by exploring block first, thereby, guarantee currently towards vertical with wall corner line, current exploring block is exactly " described indoor positioning device is to the bee-line of the wall corner line of described ceiling and described between the walls " to the distance of wall corner line.
Then, further determine the vertical deflection angle of current exploring block, for subsequent step, use.
In concrete application scenarios, the implementation procedure of this operation specifically can comprise the following steps:
Step C, described indoor positioning device be according to default horizontal direction deflection angle step value, and described exploring block carried out to horizontal deflection towards along continuous straight runs.
Consider when indoor positioning device carries out deflection by exploring block, be actually and take the rotation that indoor positioning device carries out as the center of circle, so, such deflection might not be carried out according to the direction of wall corner line, may occur departing from, for example in Fig. 2 B from deflecting into the process of the n+1 time deflection for the n time.
Step D, described indoor positioning device re-execute steps A and step B, determine the position of the angle of corresponding described ceiling and described between the walls after this horizontal deflection, and the corresponding described angle of definite present level deflection angle is to the distance of described indoor positioning device.
This step carries out the position after skew to adjust back the process of wall corner line, the position of take after the n+1 time deflection is starting point, execution step A, complete the n+2 time deflection, and then execution step B, the n+3 time deflection (not shown in Fig. 2 B) completed, by distance, compare, the position that the position of determining the n+2 time deflection is wall corner line, thereby, the readjustment of wall corner line position completed.
Step e, the corresponding described angle of described indoor positioning device judgement present level deflection angle arrive the distance of described indoor positioning device and the size that the corresponding described angle of X deflection angle before this horizontal deflection arrives the distance of described indoor positioning device.
If judgment result is that and be less than, return and continue execution step C, for example, in Fig. 2 B, by step C and D (and the steps A repeating and B), determined the distance after the n+2 time deflection, through comparing, current distance (distance after the n+2 time deflection) is greater than the distance (distance after the n time deflection) before this deflection, so, return and continue execution step C, each measurement thereafter by that analogy, is no longer repeated in this description at this.
If judgment result is that and be greater than, the vertical deflection angle of determining this horizontal deflection described exploring block is before that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls, for example, same in the scene shown in Fig. 2 B, by step C and D (and the steps A repeating and B), determined the distance after the n+2 time deflection, through comparing, current distance (distance after the n+2 time deflection) is less than the distance (distance after the n time deflection) before this deflection, so, before determining the n+2 time deflection, the vertical deflection angle of (i.e. the n time deflection) is that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls.
If judgment result is that and equal, the vertical deflection angle of the described exploring block of the corresponding position of mean value of the X deflection angle before definite present level deflection angle and this horizontal deflection is that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls, this is a kind of special circumstances, i.e. twice measurement lays respectively at the position of both sides, target location equal angles distance, therefore, can, by dividing the mode of the deflection angle of twice deflection equally, determine target location.
Need to further be pointed out that; above-mentioned measurement is by default horizontal direction angle step value, to be used as the variation foundation of each deflection; but excessive if angle arranges, will there is larger error in measurement result; if and that angle arranges is too small; can increase number of times and time that deflection is measured, therefore, in actual applications; need to carry out as required the setting of horizontal direction angle step value, such variation can't affect protection scope of the present invention.
It should be noted that, a kind of preferred version that above-mentioned processing procedure is just measured along wall corner line, other technological thoughts based on deflection and measurement, the technical scheme that can reach constructed effect belongs to protection scope of the present invention equally.
(3) described indoor positioning device by described exploring block towards along continuous straight runs rotation predetermined angle, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
In concrete application scenarios, the implementation procedure of this operation specifically can comprise the following steps:
After described indoor positioning device is determined the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line that self arrives described ceiling and a between the walls, by described exploring block along continuous straight runs 90-degree rotation, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
It should be noted that, because the major part design of the interior space is all that adjacent wall is perpendicular to one another, mainly with, indoor positioning device is after completing the measurement of the corresponding vertical deflection angle of first surface wall, just known accurately the position of first surface wall, therefore, if direct 90-degree rotation, there is very large probability directly to find the upright position of the second sidewalls, thereby saving Measuring Time and process that can be a large amount of, certainly, consider the non-perpendicular design of rotation error and indoor wall, also need further trimming process, and this trimming process can be with reference to the measuring process of above-mentioned first surface wall, be not repeated.
It should be noted that; above-mentioned processing procedure just carries out to other walls a kind of preferred version of fast measuring; other technological thoughts based on deflection and measurement, the technical scheme that can reach constructed effect belongs to protection scope of the present invention equally.
Step S103, described indoor positioning device are according to described vertical range, and the vertical deflection angle of the corresponding described exploring block of bee-line described in each, determine that respectively described indoor positioning device arrives the horizontal range of each wall, realize the indoor positioning of described indoor positioning device.
The realization of this step is the numerical evaluation based on trigonometric function rule, at this, no longer describes in detail.
Need to further be pointed out that, described indoor positioning device determines that the mode of distance comprises one or more of following mode:
Image sensing range finding, laser ranging, ultrasonic ranging, infrared distance measurement, and the various ways such as electromagnetic positioning, every can being applied in the technical scheme that the embodiment of the present invention proposes in the indoor scheme that realizes range observation.
Compared with prior art, the technical scheme that the embodiment of the present invention proposes has the following advantages:
The technical scheme proposing by the application embodiment of the present invention, the technical scheme proposing by the application embodiment of the present invention, indoor positioning device according to self to the vertical range between ceiling, and self is to the corresponding vertical deflection angle of bee-line of the wall corner line of ceiling and each between the walls, determine that this indoor positioning device is to the horizontal range of each wall, realize indoor positioning, thereby, can avoid ground obstacle for the interference of indoor positioning, improve the precision of indoor positioning, the requirement of reduction to indoor environment, improve the versatility of indoor positioning technology, reduce the cost of indoor positioning, improve the efficiency of indoor positioning operation.
Design based on identical with said method, the embodiment of the present invention also provides a kind of indoor positioning device, and its structural representation as shown in Figure 3, comprising:
Exploring block 31, for measuring described indoor positioning device to the distance of position to be measured;
Rotary part 32, for supporting described exploring block 31 can detect all orientation;
Control assembly 33, is rotated for controlling described exploring block 31 by described rotary part 32, and processes according to the measured distance value obtaining of described exploring block 31, specifically comprises:
Described control assembly 33 by described rotary part 32 by described exploring block 31 towards vertical sensing ceiling, measure described indoor positioning device to the vertical range between described ceiling;
Described control assembly 33 by described rotary part 32 by described exploring block 31 towards deflection, determine that respectively described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block 31 of bee-line of the wall corner line of described ceiling and each between the walls;
Described control assembly 33 is according to described vertical range, and the vertical deflection angle of the corresponding described exploring block 31 of bee-line described in each, determine that respectively described indoor positioning device arrives the horizontal range of each wall, realize the indoor positioning of described indoor positioning device.
In concrete application scenarios, described control assembly 33, specifically for:
Described control assembly 33 by described rotary part 32 by described exploring block 31 towards vertically, carry out deflection, determine the position of the angle of described ceiling and a between the walls;
Described control assembly 33 carries out deflection by described rotary part 32 by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block 31, determines that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block 31 of bee-line of the wall corner line of described ceiling and described between the walls;
Described control assembly 33 by described rotary part 32 by described exploring block 31 towards along continuous straight runs rotation predetermined angle, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block 31 of bee-line of the wall corner line of described ceiling and other between the walls.
In concrete application scenarios, described rotary part 32, specifically comprises:
Vertical turning axle, feathering axis, vertical step motor, horizontal step motor, vertical fixed cover and horizontal fixed cover.
It should be noted that, described indoor positioning device determines that the mode of distance comprises:
Image sensing range finding, laser ranging, ultrasonic ranging, infrared distance measurement, and the various ways such as electromagnetic positioning, every can being applied in the technical scheme that the embodiment of the present invention proposes in the indoor scheme that realizes range observation.
Compared with prior art, the technical scheme that the embodiment of the present invention proposes has the following advantages:
The technical scheme proposing by the application embodiment of the present invention, the technical scheme proposing by the application embodiment of the present invention, indoor positioning device according to self to the vertical range between ceiling, and self is to the corresponding vertical deflection angle of bee-line of the wall corner line of ceiling and each between the walls, determine that this indoor positioning device is to the horizontal range of each wall, realize indoor positioning, thereby, can avoid ground obstacle for the interference of indoor positioning, improve the precision of indoor positioning, the requirement of reduction to indoor environment, improve the versatility of indoor positioning technology, reduce the cost of indoor positioning, improve the efficiency of indoor positioning operation.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add essential general hardware platform by software and realize, and can certainly pass through hardware, but in a lot of situation, the former is better embodiment.Understanding based on such, the part that technical scheme of the present invention contributes to prior art in essence in other words can embody with the form of software product, this computer software product is stored in a storage medium, comprise that some instructions are with so that a computer equipment (can be personal computer, server, or the network equipment etc.) carry out the method described in each embodiment of the present invention.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the module in accompanying drawing or flow process might not be that enforcement the present invention is necessary.
It will be appreciated by those skilled in the art that the module in the device in embodiment can be distributed in the device of embodiment according to embodiment description, also can carry out respective change and be arranged in the one or more devices that are different from the present embodiment.The module of above-described embodiment can be merged into a module, also can further split into a plurality of submodules.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
Disclosed is above only several specific embodiment of the present invention, and still, the present invention is not limited thereto, and the changes that any person skilled in the art can think of all should fall into protection scope of the present invention.
Claims (10)
1. an indoor orientation method, is characterized in that, comprising:
Indoor positioning device by exploring block towards vertical sensing ceiling, measure described indoor positioning device to the vertical range between described ceiling;
Described indoor positioning device by described exploring block towards deflection, determine that respectively described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and each between the walls;
Described indoor positioning device is according to described vertical range, and the vertical deflection angle of the corresponding described exploring block of bee-line described in each, determine that respectively described indoor positioning device arrives the horizontal range of each wall, realize the indoor positioning of described indoor positioning device.
2. the method for claim 1, it is characterized in that, described indoor positioning device by described exploring block towards deflection, determine that respectively described indoor positioning device, to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and each between the walls, specifically comprises:
Described indoor positioning device carries out deflection by described exploring block towards vertically, determines the position of the angle of described ceiling and a between the walls;
Described indoor positioning device carries out deflection by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block, determines that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls;
Described indoor positioning device rotates predetermined angle by described exploring block towards along continuous straight runs, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
3. method as claimed in claim 2, is characterized in that, described indoor positioning device carries out deflection by described exploring block towards vertically, determines the position of the angle of described ceiling and a between the walls, specifically comprises:
Steps A, described indoor positioning device are according to default vertical direction deflection angle step value, by described exploring block towards vertically, carry out vertical deflection, and obtain the corresponding described ceiling of current vertical deflection angle or described wall to the distance of described indoor positioning device;
Step B, described indoor positioning device judge the size that the corresponding described ceiling of current vertical deflection angle or described wall arrive the distance of described indoor positioning device to the corresponding described ceiling of vertical deflection angle before the distance of described indoor positioning device and this vertical deflection or described wall;
If judgment result is that and be greater than, return and continue execution step A;
If judgment result is that and be less than, determine that the corresponding position of vertical deflection angle before this vertical deflection is the position of the angle of described ceiling and described between the walls;
If judgment result is that and equal, determine that the corresponding position of mean value of current vertical deflection angle and this vertical deflection vertical deflection angle is before the position of the angle of described ceiling and described between the walls.
4. method as claimed in claim 3, it is characterized in that, described indoor positioning device carries out deflection by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block, determine that described indoor positioning device, to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls, specifically comprises:
Step C, described indoor positioning device be according to default horizontal direction deflection angle step value, and described exploring block carried out to horizontal deflection towards along continuous straight runs;
Step D, described indoor positioning device re-execute steps A and step B, determine the position of the angle of corresponding described ceiling and described between the walls after this horizontal deflection, and the corresponding described angle of definite present level deflection angle is to the distance of described indoor positioning device;
Step e, the corresponding described angle of described indoor positioning device judgement present level deflection angle arrive the distance of described indoor positioning device and the size that the corresponding described angle of X deflection angle before this horizontal deflection arrives the distance of described indoor positioning device;
If judgment result is that and be less than, return and continue execution step C;
If judgment result is that and be greater than, the vertical deflection angle of determining this horizontal deflection described exploring block is before that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls;
If judgment result is that and equal, the vertical deflection angle of the described exploring block of the corresponding position of mean value of the X deflection angle before definite present level deflection angle and this horizontal deflection is that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls.
5. method as claimed in claim 2, it is characterized in that, described indoor positioning device rotates predetermined angle by described exploring block towards along continuous straight runs, repeat said process, determine that described indoor positioning device, to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls, specifically comprises:
After described indoor positioning device is determined the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line that self arrives described ceiling and a between the walls, by described exploring block along continuous straight runs 90-degree rotation, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
6. the method as described in any one in claim 1 to 5, is characterized in that, described indoor positioning device determines that the mode of distance comprises one or more of following mode:
Image sensing range finding, laser ranging, ultrasonic ranging, infrared distance measurement, and electromagnetic positioning.
7. an indoor positioning device, is characterized in that, comprising:
Exploring block, for measuring described indoor positioning device to the distance of position to be measured;
Rotary part, for supporting described exploring block can detect all orientation;
Control assembly, is rotated for controlling described exploring block by described rotary part, and processes according to the measured distance value obtaining of described exploring block, specifically comprises:
Described control assembly by described rotary part by described exploring block towards vertical sensing ceiling, measure described indoor positioning device to the vertical range between described ceiling;
Described control assembly by described rotary part by described exploring block towards deflection, determine that respectively described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and each between the walls;
Described control assembly is according to described vertical range, and the vertical deflection angle of the corresponding described exploring block of bee-line described in each, determines that respectively described indoor positioning device, to the horizontal range of each wall, realizes the indoor positioning of described indoor positioning device.
8. indoor positioning device as claimed in claim 7, is characterized in that, described control assembly, specifically for:
Described control assembly by described rotary part by described exploring block towards vertically, carry out deflection, determine the position of the angle of described ceiling and a between the walls;
Described control assembly carries out deflection by described rotary part by the direction towards the wall corner line along described ceiling and described between the walls of described exploring block, determines that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and described between the walls;
Described control assembly by described rotary part by described exploring block towards along continuous straight runs rotation predetermined angle, repeat said process, determine that described indoor positioning device is to the vertical deflection angle of the corresponding described exploring block of bee-line of the wall corner line of described ceiling and other between the walls.
9. indoor positioning device as claimed in claim 7, is characterized in that, described rotary part, specifically comprises:
Vertical turning axle, feathering axis, vertical step motor, horizontal step motor, vertical fixed cover and horizontal fixed cover.
10. the indoor positioning device as described in any one in claim 7 to 9, is characterized in that, described indoor positioning device determines that the mode of distance comprises one or more of following mode:
Image sensing range finding, laser ranging, ultrasonic ranging, infrared distance measurement, and electromagnetic positioning.
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| CN201410312692.3A CN104062626A (en) | 2014-07-03 | 2014-07-03 | Indoor positioning method and indoor positioning device |
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| CN201410312692.3A CN104062626A (en) | 2014-07-03 | 2014-07-03 | Indoor positioning method and indoor positioning device |
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| CN104833354A (en) * | 2015-05-25 | 2015-08-12 | 梁步阁 | Multibasic multi-module network integration indoor personnel navigation positioning system and implementation method thereof |
| CN105424032A (en) * | 2015-12-08 | 2016-03-23 | 小米科技有限责任公司 | Terminal indoor positioning method and device |
| CN106646480A (en) * | 2016-11-04 | 2017-05-10 | 乐视控股（北京）有限公司 | Positioning system in enclosed space, correlation method and apparatus |
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| CN111374776A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Surgical robot equipment with position coordinate capable of being determined and surgical robot system |
| CN111829579A (en) * | 2020-06-02 | 2020-10-27 | 深圳全景空间工业有限公司 | Indoor space reconstruction method |
| CN116668940A (en) * | 2022-10-31 | 2023-08-29 | 荣耀终端有限公司 | Bluetooth device positioning method, electronic device, storage medium and program product |
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