CN104075714A - Closed compartment positioning navigation system and method based on treading track calculation - Google Patents
Closed compartment positioning navigation system and method based on treading track calculation Download PDFInfo
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Abstract
The invention discloses a closed compartment positioning navigation system based on treading track calculation. The closed compartment positioning navigation system comprises a sensor device for receiving an acceleration value and the directionality property of an environment in which a positioning system is located in real time and generating sensing data and acceleration sensing data, a data processing device which is connected with the sensor device and is used for respectively obtaining direction data and displacement data according to direction sensing data and acceleration data and integrating the direction data and the displacement data to obtain position information, and a human-machine interaction device which is connected with the data processing device and is used for supplying an interaction channel between a user and the positioning system, receiving an instruction input by the user and outputting the position information in real time. The closed compartment positioning navigation system makes use of an MEMS (micro-electromechanical system) sensor, and an embedded system is used as a development platform, so that the closed compartment positioning navigation system is low in development cost, occupies small system space, is easy to operate, does not depend on external facilities, and is suitable for meeting a positioning demand of the user under a closed compartment environment in which a GPS (global positioning system) signal is weak or a satellite signal cannot be received. The invention discloses a closed compartment positioning navigation method based on the treading track calculation.
Description
Technical field
The present invention relates to location technology, relate in particular to a kind of closed in spaces Position Fixing Navigation System and method thereof of calculating based on run trace.
Background technology
At present, the outdoor positioning method based on GPS has obtained good effect with its proven technique and higher precision in military and civilian field.But due to its positioning signal arrive weak when ground and cannot passing through building, therefore be not suitable for enclosure space (as interior of building, the underground space, boats and ships closed in spaces) location, therefore must study new closed in spaces location technology to make up the deficiency of GPS.Main closed in spaces localization method has based on technology such as infrared ray, ultrasound wave, RFID and wireless networks now.But it is subject to respectively the shortcomings such as object blocks, transmission range is shorter, facility expense is higher.Comparatively speaking, the closed in spaces localization method of calculating based on run trace can be calculated position and the directional information of next moment walking after given initial position and direction, is not subject to ectocine, and the positional information of walking can be provided whenever and wherever possible.
Along with popularizing of MEMS (micro electro mechanical system) (Micro-Electro-Mechanic System, MEMS) technology, all kinds of MEMS sensors start to be used widely.If can make full use of direction sensor and accelerometer in MEMS sensor, composition Inertial Measurement Unit (IMU, Inertial Measurement Unit), merge the location thought that run trace is calculated, to effectively improve closed in spaces positioning precision and robustness, and can reduce for improving closed in spaces positioning system signal and cover needed cost.
Summary of the invention
The present invention has overcome existing localization method and need to rely on external signal to realize and be vulnerable to deficiency and the higher defect of existing system maintenance cost of object blocks, has proposed a kind of closed in spaces Position Fixing Navigation System and method thereof of calculating based on run trace.
The present invention proposes a kind of closed in spaces Position Fixing Navigation System of calculating based on run trace, comprising:
Sensor device, it receives acceleration and the direction attribute of described positioning system environment of living in real time, generates direction sensing data and acceleration sensing data;
Data processing equipment, it is connected with described sensor device, obtains directional data and displacement data respectively, and described directional data and displacement data are integrated according to described direction sensing data and described acceleration information, obtains the positional information of integrating;
Human-computer interaction device, it is connected with described data processing equipment, and the exchange channels of user and described positioning system is provided, for receiving the instruction of user's input and exporting in real time described positional information.
In the described closed in spaces Position Fixing Navigation System of calculating based on run trace that the present invention proposes, described sensor device comprises direction sensor and acceleration transducer; Described direction sensor obtains direction sensing data for the direction attribute of surveying described positioning system; Described acceleration transducer obtains acceleration sensing data for the acceleration attribute of surveying described positioning system.
In the described closed in spaces Position Fixing Navigation System of calculating based on run trace that the present invention proposes, described sensor device is MEMS sensor.
In the described closed in spaces Position Fixing Navigation System of calculating based on run trace that the present invention proposes, described data processing equipment comprises:
Direction calculating unit, it is for obtaining directional data according to described direction sensing data calculating with respect to the side-play amount of the inceptive direction of prior setting;
Paces monitoring means, its calculating is also monitored described acceleration sensing data and calculates the quantity of paces;
Step-size estimation unit, it provides step-length information according to described acceleration sensing data;
Displacement computing unit, it calculates apart from obtaining displacement data according to the quantity of described paces and described step-length information;
Positional information synthesis unit, it taking described directional data as angle of deviation, taking described displacement information as deflection distance, obtains the positional information of next unit moment point on the positional information basis in last unit moment.
In the described closed in spaces Position Fixing Navigation System of calculating based on run trace that the present invention proposes, described human-computer interaction device comprises:
By key control unit, it provides user input instruction;
Show output unit, it is with described data processing equipment and be describedly connected by key control unit, for receiving the instruction that user inputs and showing current positional information;
Voice-output unit, it is connected with described demonstration output unit, after described positional information is converted to speech data, exports in the mode of sound.
The invention allows for a kind of closed in spaces positioning navigation method of calculating based on run trace, comprise the steps:
Step 1: gather direction sensing data and acceleration sensing data;
Step 2: calculate described direction sensing data and obtain directional data, calculate described acceleration sensing data and obtain displacement data, integrate described directional data and described displacement data obtains positional information;
Step 3: export current positional information and realize location.
In the described closed in spaces positioning navigation method of calculating based on run trace that the present invention proposes, described step 2 comprises the steps:
Step 2a: obtain directional data with respect to the side-play amount of the inceptive direction of prior setting according to described direction sensing data calculating;
Step 2b: calculate and monitor the mould value of described acceleration sensing data, according to the quantity of described magnitude calculation paces;
Step 2c: obtain step-length information according to the step-length of paces of described acceleration sensing data estimation;
Step 2d: according to the quantity of described paces and described step-length information displacement calculating data;
Step 2e: on the positional information basis of last unit moment point, taking described directional data as angle of deviation, taking described displacement data as deflection distance, obtain the positional information of next unit moment point.
In the described closed in spaces positioning navigation method of calculating based on run trace that the present invention proposes, in the time that the peak-peak of described mould value and the difference of minimum peak are greater than threshold value, judge paces of generation, represent with following formula:
|a|
max-|a|
min＞C
Wherein, | a|
maxrepresent the peak-peak of described mould value, | a|
minrepresent the minimum peak of described mould value, C represents to judge the threshold value of taking a step.
In the described closed in spaces positioning navigation method of calculating based on run trace that the present invention proposes, the step-length of described paces represents with following formula:
L＝A+B*F+C*SV
Wherein, L represents step-length, and F represents cadence, and SV represents acceleration variance, and A, B, C represent respectively model coefficient.
The present invention utilizes general MEMS sensor, taking embedded system as development platform, has cost of development lower, system space takies few, clear in structure, this convenience of upgraded edition, simple to operate and do not rely on the features such as outside plant, be applicable to the location requirement of user under the weak closed in spaces environment of gps signal.
Brief description of the drawings
Fig. 1 is the structural drawing that the present invention is based on the closed in spaces Position Fixing Navigation System of run trace reckoning.
Fig. 2 is the oscillogram of acceleration sensing data in the present invention.
Fig. 3 is the schematic diagram that shows the positional information of human-computer interaction device demonstration.
Fig. 4 is the process flow diagram that the present invention is based on the closed in spaces positioning navigation method of run trace reckoning.
Embodiment
In conjunction with following specific embodiments and the drawings, the present invention is described in further detail.Implement process of the present invention, condition, experimental technique etc., except the content of mentioning specially below, be universal knowledege and the common practise of this area, the present invention is not particularly limited content.
Consult Fig. 1, the closed in spaces Position Fixing Navigation System that the present invention is based on run trace reckoning comprises: sensor device 10, data processing equipment 20 and human-computer interaction device 30.Sensor device 10 receives acceleration and the direction attribute of positioning system environment of living in real time, generates sensing data and acceleration sensing data.Data processing equipment 20 is connected with sensor device 10, it calculates the directional data of walking process according to direction sensing data, according to acceleration sensing data displacement calculating data, and directional data and displacement data are sent into positional information generation unit obtain positional information.Human-computer interaction device 30 is connected with data processing equipment 20, and it is connected with data processing equipment 20, and the exchange channels of user and positioning system is provided, for receiving the instruction and real-time output position information of user's input.
Sensor device 10 is MEMS sensor, and it comprises direction sensor 11 and acceleration transducer 12; Direction sensor 11 obtains direction sensing data for the direction attribute of detecting and locating system; Acceleration transducer 12 obtains acceleration sensing data for the acceleration attribute of detecting and locating system.These acceleration sensing data comprise 3-axis acceleration, and 3-axis acceleration is the acceleration value a of three orthogonal directions
x, a
yand a
z.As shown in Figure 2, the curve map that the 3-axis acceleration obtaining of surveying under 100Hz sample frequency changes with walking process.
Consult Fig. 1, data processing equipment 20 comprises direction calculating unit 21, paces monitoring means 22, paces monitoring means 22, step-size estimation unit 23 and displacement computing unit 24, below the function of each unit is described further.
Direction calculating unit 21 is for according to direction sensing data, calculating obtains directional data with respect to the side-play amount of the inceptive direction of prior setting.For example, in direction calculating unit 21 the positive north of regulation for Y-axis and set up rectangular coordinate system, by the angle of deviation in direction sensing data judge positioning system now with respect to the side-play amount of direct north as obtaining directional data.The time that direction calculating unit 21 is monitored taking each step, as node, is read the angle of deviation of each timing node to calculate in real time the directional data of current time.
Through human motion Epidemiological Analysis, people's cadence was no more than for 5 step/seconds conventionally, therefore, required the sample frequency of acceleration transducer 12 to be greater than 30Hz.Owing to can producing in the process of walking human body continuity and being periodic motion, the accekeration detecting also can constantly be cyclical variation (as shown in Figure 2).Therefore, paces monitoring means 22 calculates and monitors the mould value of acceleration sensing data.The mould value of acceleration represents with following formula:
in formula, a
xi, a
yi, a
zirepresent respectively the 3-axis acceleration numerical value of i sampled point, | a
i| represent the mould value of i sampled point acceleration sensing data.The image of mould value is roughly the dipping and heaving curve similar to Fig. 2.Mould value reaches difference between peak-peak or minimum peak and maximum (little) and minimum (greatly) and is bigger than a certain threshold value and judges and produced paces, thus the quantity of calculating paces.Formula is as follows:
|a|
max-|a|
min＞C
Wherein | a|
maxrepresent the peak-peak of mould value, | a|
minrepresent the minimum peak of mould value, C represents to judge the threshold constant of taking a step.
Step-size estimation unit 23 is according to the step-length of paces of acceleration sensing data estimation.The acceleration information of collecting according to paces detecting unit, carries out modeling to the behavior of walking, then utilizes model to estimate walking step-length.
Human physiology shows, stride length and frequency when human motion and acceleration of motion exist certain relation:
L＝A+B*F+C*SV
Wherein L represents step-length, and F represents cadence, and SV represents acceleration variance, and A, B, C represent respectively model coefficient, and the model parameter of different people is different, while using this model, need to demarcate in advance.
Displacement computing unit 24 calculates apart from obtaining displacement data according to the quantity of paces and step-length information.
Positional information synthesis unit 25, it is on the positional information basis of last unit moment point, the directional information being obtained taking direction calculating unit 21 is as angle of deviation, and the displacement information being obtained taking displacement computing unit 24 is deflection distance, obtains the positional information of next unit moment point.
Consult Fig. 1, human-computer interaction device 30 comprises by key control unit 31, shows output unit 32 and voice-output unit 33.By key control unit 31, for controlling human-computer interaction device 30, it can be a touch-screen, user by touch-control control positioning system operation, close and the operation such as Data Update, zero clearing.
Show output unit 32, its be connected by key control unit 31 and data processing equipment 20, can receive user's instruction, and show current positional information according to instruction.As shown in Figure 3, taking direct north as Y-axis and set up rectangular coordinate system in, k-1 moment user in (x
k-1, y
k-1) locate; In the time of the k moment, show that output unit 32 has obtained directional data and the displacement data of current time, therefrom analyzes known user with angle of deviation θ
kthe direction l that walked
kthe displacement of length, therefore in the time that the k moment finishes, this user has moved to (x in this rectangular coordinate system
k, y
k) position.By that analogy, show that output unit 32 can show in real time according to directional data and displacement data the position at the current place of user.In use, the planimetric map in a region be set in advance in human-computer interaction device 30 and set a reference position, showing that output unit 32 can be by showing that current positional information completes the location of this user in this region in planimetric map.
Voice-output unit 33 is for positional information is converted to speech data, and with loudspeaker or other forms, positional information read.
The invention allows for a kind of closed in spaces positioning navigation method of calculating based on run trace simultaneously.As shown in Figure 4, localization method of the present invention comprises the steps:
Step 1: gather direction sensing data and acceleration sensing data;
Step 2: calculated direction sensing data obtains directional data, calculates acceleration sensing data and obtains displacement data, integrates directional data and displacement data and obtains positional information;
Step 3: export current positional information and realize location.
Wherein, step 2 comprises the steps:
Step 2a: calculating obtains directional data with respect to the side-play amount of the inceptive direction of prior setting according to direction sensing data;
Step 2b: calculate and monitor the mould value of acceleration sensing data, mould value reaches peak-peak or minimum peak judgement produces paces, thereby calculates the quantity of paces;
Step 2c: obtain step-length information according to the step-length of paces of acceleration sensing data estimation;
Step 2d: according to the quantity of paces and step-length information displacement calculating data;
Step 2e: on the positional information basis of last unit moment point, taking directional data as angle of deviation, taking displacement data as deflection distance, obtain the positional information of next unit moment point.
Wherein, the peak-peak of mould value or minimum peak are judged and are produced paces according to following formula:
|a|
max-|a|
min＞C
Wherein | a|
maxrepresent the peak-peak of mould value, | a|
minrepresent the minimum peak of mould value, C represents to judge the threshold constant of taking a step.
The step-length of paces represents with following formula:
L＝A+B*F+C*SV
In formula, L represents step-length, and F represents cadence, and SV represents acceleration variance, and A, B, C represent respectively model coefficient
Embodiment 1
The present embodiment is the air navigation aid of the closed in spaces Position Fixing Navigation System based on run trace reckoning.The present embodiment utilizes the MEMS sensor that smart mobile phone is generally built-in with now, taking smart mobile phone Android system as development platform, sensing data is processed to realize and mate with certain indoor sealing map datum, realize the sealing indoor positioning of certain precision.In the present embodiment, the standard A PI function that utilizes smart mobile phone Android system to provide, call the MEMS sensor (as sensor device 10) being integrated in mobile phone, utilize the data of sensor, in conjunction with above-mentioned algorithm, Data Integration is generated to positional information and calculates user's run trace, and in conjunction with the indoor map in known somewhere, realize obtaining of customer position information.
First user determines initial position in smart mobile phone.Android SDK provides the application programming interface API of various sensors in the mobile devices such as smart mobile phone.The present embodiment mainly adopts 3-axis acceleration sensor (as acceleration transducer 12) and direction sensor 11 to gather respectively direction sensing data and the acceleration sensing data in walking process.
Processor in smart mobile phone is processed direction sensing data and acceleration sensing data as data processing equipment 20.
(a) paces monitoring
Paces monitoring means 22 dynamically updates the data of 3-axis acceleration sensor with the sampling rate of 100Hz, change into while successively decreasing (or increasing progressively) trend by increasing progressively (or successively decreasing) trend if monitor sometime (being certain sampled point) acceleration sensing data, record the numerical value of this moment 3-axis acceleration sensor respectively as this axial maximum (or minimum) value.Three axial acceleration phase adductions are averaged to the mould value that obtains acceleration sensing data, and this mould value represents with following formula:
In formula, a
xi, a
yi, a
zirepresent respectively the 3-axis acceleration numerical value of i sampled point, | a
i| represent the mould value of i sampled point acceleration sensing data.
Continue monitoring acceleration sensing data, until acceleration sensing data are while changing by (or increasing progressively) trend of successively decreasing minimum (or maximum) value that records this moment while increasing progressively (or successively decreasing) trend into and ask for mould value, relatively former and later two mould values, if in the time that their difference meets following formula, be judged as and produced the action (i.e. paces) of once taking a step:
|a|
max-|a|
min＞C
In formula, | a|
maxrepresent the peak-peak of mould value, | a|
minrepresent the minimum peak of mould value, C represents to judge the threshold constant of taking a step.
Continue to monitor according to the method described above acceleration transducer, thereby calculate the paces quantity producing in the process of walking
(b) step-length detects
According to the kinematics model of human body, stride length and frequency and acceleration of motion when body motion exist certain relation, therefore in step-size estimation unit 23, set up following walking step-length model, thereby estimate the step-length information of each paces, step-length information is as shown in the formula expression:
L＝A+B*F+C*SV
Wherein L represents step-length, and F represents cadence, and SV represents acceleration variance, and A, B, C represent respectively model coefficient.
(c) displacement calculating data
Displacement computing unit 24 utilizes above-mentioned paces quantity and step-length information to calculate and record the displacement output of each paces moment (i.e. sampled point in (a) paces monitoring), generates displacement data and is sent in positional information synthesis unit 25.
(d) direction monitoring
In carrying out above-mentioned (a) to (c), direction calculating unit 21 is called the api function of Android system, after receive direction sensing data, calculate the side-play amount generation directional data with respect to the inceptive direction of prior setting, directional data is imported in positional information synthesis unit 25 and processed.
(e) Data Integration
Positional information synthesis unit 25 has been integrated directional data and thereby displacement data obtains the positional information after integration, and positional information synthesis unit 25 is sent to positional information in human-computer interaction device 30.
Human-computer interaction device 30 is taking directional data as mobile angle of deviation, taking displacement data as displacement, the current position of user from initial position real-time update walking process, and the map of coupling apparatus internal preset, thus active user's position in this map, shown in real time.When user is by inputting after its instructions by key control unit 31, human-computer interaction device 30 calls demonstration output and the voice output API of Android system, show that output unit 32 shows user's positional information in real time by the mode of image, and voice-output unit 33 is exported user's positional information by the mode of voice.
Itself occupies little space system, need to add function, to upgrade version more convenient simple, do not need too many manpower and materials to maintain maintenance, and this has just improved gerentocratic work efficiency, has reduced expense economically.
The present invention is particularly useful for the location of the weak closed in spaces environment of gps signal.Positioning system of the present invention can be the portable equipment based on ARM platform.In closed in spaces environment, the ships such as such as pleasure boat, the location that its cabin of passenger's portability positioning system of the present invention realizes cabin interior.Because the present invention can also be equipped with the planimetric map of this compartment environment, in the time that ship meets accident, the positional information that passenger self also can real-time update oneself, and flee to safety area under the guide of planimetric map.Positioning system of the present invention has the external environment condition of not relying on, and the self adaptive strong advantage of system, is particularly suitable for using under the emergency circumstance of escaping rescue.
Protection content of the present invention is not limited to above embodiment.Do not deviating under the spirit and scope of inventive concept, variation and advantage that those skilled in the art can expect are all included in the present invention, and taking appending claims as protection domain.
Claims (9)
1. a closed in spaces Position Fixing Navigation System of calculating based on run trace, is characterized in that, comprising:
Sensor device (10), it receives acceleration and the direction attribute of described positioning system environment of living in real time, generates direction sensing data and acceleration sensing data;
Data processing equipment (20), it is connected with described sensor device (10), obtain directional data and displacement data according to described direction sensing data and described acceleration information respectively, and described directional data and displacement data are integrated, obtain the positional information of integrating;
Human-computer interaction device (30), it is connected with described data processing equipment (20), and the exchange channels of user and described positioning system is provided, for receiving the instruction of user's input and exporting in real time described positional information.
2. the closed in spaces Position Fixing Navigation System of calculating based on run trace as claimed in claim 1, is characterized in that, described sensor device (10) comprises direction sensor (11) and acceleration transducer (12); Described direction sensor (11) obtains direction sensing data for the direction attribute of surveying described positioning system; Described acceleration transducer (12) obtains acceleration sensing data for the acceleration attribute of surveying described positioning system.
3. the closed in spaces Position Fixing Navigation System of calculating based on run trace as claimed in claim 1, is characterized in that, described sensor device (10) is MEMS sensor.
4. the closed in spaces Position Fixing Navigation System of calculating based on run trace as claimed in claim 1, is characterized in that, described data processing equipment (20) comprising:
Direction calculating unit (21), it is for obtaining directional data according to described direction sensing data calculating with respect to the side-play amount of the inceptive direction of prior setting;
Paces monitoring means (22), its calculating is also monitored described acceleration sensing data and calculates the quantity of paces;
Step-size estimation unit (23), it provides step-length information according to described acceleration sensing data;
Displacement computing unit (24), it calculates apart from obtaining displacement data according to the quantity of described paces and described step-length information;
Positional information synthesis unit (25), it taking described directional data as angle of deviation, taking described displacement information as deflection distance, obtains the positional information of next unit moment point on the positional information basis in last unit moment.
5. the closed in spaces Position Fixing Navigation System of calculating based on run trace as claimed in claim 1, is characterized in that, described human-computer interaction device (30) comprising:
By key control unit (31), it provides user input instruction;
Show output unit (32), it is with described data processing equipment (20) and be describedly connected by key control unit (31), for receiving the instruction that user inputs and showing current positional information;
Voice-output unit (33), it is connected with described demonstration output unit (32), after described positional information is converted to speech data, exports in the mode of sound.
6. a closed in spaces positioning navigation method of calculating based on run trace, is characterized in that, comprises the steps:
Step 1: gather direction sensing data and acceleration sensing data;
Step 2: calculate described direction sensing data and obtain directional data, calculate described acceleration sensing data and obtain displacement data, integrate described directional data and described displacement data obtains positional information;
Step 3: export current positional information and realize location.
7. the closed in spaces positioning navigation method of calculating based on run trace as claimed in claim 6, is characterized in that, described step 2 comprises the steps:
Step 2a: obtain directional data with respect to the side-play amount of the inceptive direction of prior setting according to described direction sensing data calculating;
Step 2b: calculate and monitor the mould value of described acceleration sensing data, according to the quantity of described magnitude calculation paces;
Step 2c: obtain step-length information according to the step-length of paces of described acceleration sensing data estimation;
Step 2d: according to the quantity of described paces and described step-length information displacement calculating data;
Step 2e: on the positional information basis of last unit moment point, taking described directional data as angle of deviation, taking described displacement data as deflection distance, obtain the positional information of next unit moment point.
8. the closed in spaces positioning navigation method of calculating based on run trace as claimed in claim 7, is characterized in that, judges paces of generation in the time that the peak-peak of described mould value and the difference of minimum peak are greater than threshold value, represents with following formula:
|a|
max-|a|
min＞C
Wherein, | a|
maxrepresent the peak-peak of described mould value, | a|
minrepresent the minimum peak of described mould value, C represents to judge the threshold value of taking a step.
9. the closed in spaces positioning navigation method of calculating based on run trace as claimed in claim 7, is characterized in that, the step-length of described paces represents with following formula:
L＝A+B*F+C*SV
Wherein, L represents step-length, and F represents cadence, and SV represents acceleration variance, and A, B, C represent respectively model coefficient.
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