CN104237951A - Method for reconstructing overall arrangement of pipe network in wall - Google Patents
Method for reconstructing overall arrangement of pipe network in wall Download PDFInfo
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- CN104237951A CN104237951A CN201410529509.5A CN201410529509A CN104237951A CN 104237951 A CN104237951 A CN 104237951A CN 201410529509 A CN201410529509 A CN 201410529509A CN 104237951 A CN104237951 A CN 104237951A
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Abstract
The invention discloses a method for reconstructing overall arrangement of a pipe network in a wall. The method comprises the following steps of (S1) scanning a wall surface by using a smart phone of an operator and acquiring data detected by an accelerometer, a gyroscope and a magnetic sensor which are arranged in the smart phone in a movement process of the operator; (S2) calculating displacement data of the smart phone in the movement process according to the data which are detected by the accelerometer and the gyroscope; (S3) acquiring mapping points of pipes in the wall on the wall surface according to the displacement data and the data detected by the magnetic sensor; and (S4) acquiring the mapping points of the pipes in the wall on the wall surface and reconstructing the overall arrangement of the pipe network according to the mapping points of the pipes in the wall on the wall surface. The magnetic sensor is used for detecting field intensity of an induced magnetic field which is generated by the pipes in the wall under the magnetization effect of a geomagnetic field. The method for reconstructing the overall arrangement of the pipe network in the wall is low in hardware cost and convenient to use; equipment and a system are simple; a function of reconstructing the overall arrangement of the pipe network in the wall can be simply and quickly fulfilled; and the method is suitable for families.
Description
Technical field
The present invention relates to electronic technology field, specifically the method for reconstructing of external channeling in a kind of body of wall.
Background technology
Nowadays, along with people improve constantly for space availability ratio and requirement attractive in appearance, body of wall is tended to pipeline to be embedded in interior decoration more when installing home pipeline such as draining feedwater piping etc. inner with conserve space with do not affect indoor beauty.Meanwhile, modern architecture is mostly adopt the form of reinforced concrete to form, and that is to say and bury reinforcing bar underground to strengthen the physical strength of body of wall in body of wall.But, to be the pipeline needing to know in body of wall when us be the problem that this design brings when how to arrange, we just need body of wall to be carried out certain destruction and could know by goods, and this kind of situation is especially lost at interior decoration drawing or seem more urgent when not easily obtaining.
Situation like this is often encountered: when the pipeline in body of wall has breakage in daily life, in order to reduce the destructiveness to body of wall as far as possible, and help rationally effectively construction, usually the layout obtaining pipe network is needed, but these layouts or be difficult to because of management factors obtain, or be not good at and lose because keeping.In such cases, method or the system of low cost, convenient acquisition this kind of information have very strong practical value undoubtedly.
In order to solve the problem of body of wall interior conduit layout, in the products such as current commercial product is Wall Scanner such as, Radar Scanner, adopt some high-end technologies such as Radar Technology, multi-sensor technology more.Although these products detecting and identifying within the walls object there is higher accuracy, but because its technology and equipment adopted is than higher-end, thus expensive, and often portability is poor.
Be directed to this problem of reconstruct of body of wall interior conduit layout, existing technology many employings GPR (penetrating antenna technology), or mechanical piggy (Mechanical Pig), or the mode adopting sensor capsule to travel through whole piping network carries out the reconstruct of external channeling in body of wall.In above several method: GPR and mechanical piggy two kinds of technology all need the equipment or the system that adopt more accurate complexity, and its shortcoming has two: one, and cost is very high, not easily obtains; Its two, equipment or system complex are heavy, are not suitable for household and use.And for adopting the mode of sensor capsule traversal, the method has multiple restriction for pipe network, such as: the pipe diameter size of whole pipe network must be equal; Caliber needs larger to prevent sensor capsule from blocking pipeline; Whole pipe network needs to be a system etc. be communicated with.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide the method for reconstructing of external channeling in a kind of body of wall, hardware cost is low, and equipment and system are simply, easy to use, is applicable to household and uses.
In order to achieve the above object, the embodiment of the present invention provides the method for reconstructing of external channeling in a kind of body of wall, comprises the steps:
S1, smart mobile phone be inswept metope under the drive of operator, and in motion process, obtain the data detected by accelerometer, gyroscope and Magnetic Sensor be built in described smart mobile phone; Wherein, the field intensity of induced field of described Magnetic Sensor for detecting pipeline within the walls and producing under the magnetization of terrestrial magnetic field;
S2, data detected by described accelerometer and described gyroscope, calculate the displacement data of described smart mobile phone in motion process;
S3, data detected by described displacement data and described Magnetic Sensor, obtain within the walls pipeline at the mapping point of metope;
S4: obtain multiple described within the walls pipeline at the mapping point of metope, and according to described in multiple within the walls pipeline to rebuild the layout of pipe network at the mapping point of metope.
Further, in step sl, described smart mobile phone under the drive of operator, with the inswept metope of the form of stroke movement; Described stroke movement refers to that smart mobile phone originates in stationary state and stops the of short duration of stationary state and move fast.
Further, in step sl, described smart mobile phone passes through the repeatedly inswept metope of stroke movement under the drive of operator; The time interval is left between stroke movement described in adjacent twice.Leaving the time interval between stroke movement described in adjacent twice can make the calibration of acceleration and speed more accurate.
Further, described step S2 comprises:
S21, respectively filtering process is carried out to the data detected by described accelerometer, described Magnetic Sensor and described gyroscope, obtain acceleration information, magnetic field data and angular velocity data;
S22, utilize described acceleration information and described angular velocity data, adopt the mode of complementary filter to estimate the attitude angle of described smart mobile phone in motion process; Wherein, when described smart mobile phone be determined remain static time, utilize described acceleration information to be set to 0.98 to the estimated value of attitude angle shared weight in complementary filter, utilize described angular velocity data to be 0.02 to weight shared by pose estimation value; When described smart mobile phone be determined be kept in motion time, utilize described acceleration information to be set to 0.02 to the estimated value of attitude angle shared weight in complementary filter, utilize described angular velocity data to be 0.98 to weight shared by the estimated value of attitude angle;
S23, utilize estimated by the attitude angle of described smart mobile phone in motion process, the component that the gravity eliminating described smart mobile phone according to mechanics principle projects in direction of motion, obtains the accekeration that described smart mobile phone displacement produces;
S24, integral and calculating is carried out to described accekeration, obtain the velocity amplitude of described smart mobile phone motion;
S25, an integration is carried out to gained velocity amplitude, obtain the displacement data of described smart mobile phone motion.
Further, described step S3 comprises: the local maximum in the data detected by described Magnetic Sensor or the displacement data corresponding to local minimum, described in orienting within the walls pipeline in the position of metope mapping point, thus obtain described within the walls pipeline at the mapping point of metope.
Further, described step S4 comprises: obtain multiple described within the walls pipeline at the mapping point of metope, by obtained multiple described within the walls pipeline connect into line segment at the mapping point of metope, obtain the two dimensional topology figure of pipe network in body of wall.
Further, described step S24 comprises:
Judge the motion state of described smart mobile phone;
When described smart mobile phone remains static down, accekeration and the velocity amplitude of described smart mobile phone are regarded as null value;
When described smart mobile phone is kept in motion down, an integral and calculating is carried out to described accekeration, obtain the velocity amplitude of described smart mobile phone motion.This beneficial effect improved is to obtain velocity amplitude more accurately by calibrating acceleration, and by forcing the velocity amplitude under stationary state to be set to 0 value, reduces the drift of integral process speed.Thus displacement data accurately can be obtained.
Further, the method for the motion state of the described smart mobile phone of described judgement, comprising:
According to Mean value of index EMA computing formula, obtain the Mean value of index EMA that the acceleration of described smart mobile phone is corresponding; Wherein, described Mean value of index EMA computing formula is:
Wherein, μ is a constant; Represent the accekeration on i-th x and y direction respectively, N is that in filtering window, acceleration information is counted;
When described Mean value of index EMA is greater than threshold value, judge that described smart mobile phone is kept in motion; When described Mean value of index EMA is less than or equal to threshold value, judge that described smart mobile phone remains static.
Further, in the step s 21, be by slip mean filter, respectively filtering process carried out to the data detected by described accelerometer, described Magnetic Sensor and described gyroscope; The moving window of described slip mean filter is 7.
Further, in step S22, described complementary filter comprises the first computing unit, the second computing unit and totalizer; Then step S22 specifically comprises:
By described first computing unit, conversion process is carried out to described acceleration information, obtain the attitude angle corresponding to accelerometer;
By described second computing unit, integration is carried out to described angular velocity data, obtain the attitude angle corresponding to gyroscope;
By described totalizer, the attitude angle corresponding to described accelerometer and the attitude angle corresponding to described gyroscope are carried out additive operation according to set weight, obtain the attitude angle of described smart mobile phone in motion process.
Compared to prior art, in a kind of body of wall provided by the present invention, the method for reconstructing of external channeling is by fully utilizing the multiple sensors be built in smart mobile phone, also namely: accelerometer, magnetic sensors and gyroscope, realize the function of rebuilding external channeling in body of wall quickly and easily.The step that described method comprises mainly comprises: inswept with the data obtaining embedded in mobile phone three kinds of sensors at metope by smart mobile phone; By adopting the method such as slip mean filter and complementary filter to the fine adjustment of accelerometer and gyroscope readings, and drift is carried out to the speed of gained after an integration process, calculate the displacement of mobile phone movement exactly; The displacement above step produced is combined with the reading of magnetic inductor, and described in acquisition, pipeline, at the mapping point of metope, and then rebuilds the layout of pipe network within the walls.Beneficial effect of the present invention is that hardware cost is low, and equipment and system are simply, easy to use, is applicable to household and uses.Use crowd widely because smart mobile phone has, thus in a kind of body of wall provided by the present invention, the applicable crowd of the method for reconstructing of external channeling is also very wide, has important improvement meaning compared to existing technology.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the method for reconstructing of external channeling in a kind of body of wall of providing of the embodiment of the present invention;
Fig. 2 is the particular flow sheet of the step S2 in Fig. 1;
Fig. 3 is the structured flowchart of the complementary filter in Fig. 2;
Fig. 4 a, Fig. 4 b and Fig. 4 c are the schematic diagram of three attitude angle of mobile phone;
Fig. 5 is external channeling figure in body of wall inner wall that in a kind of body of wall of being provided by the embodiment of the present invention, the method for reconstructing of external channeling obtains.
Embodiment
Refer to Fig. 1, it is the process flow diagram that the embodiment of the present invention provides the method for reconstructing of external channeling in a kind of body of wall.The embodiment of the present invention provides the method for reconstructing of external channeling in a kind of body of wall, comprises the steps:
S1, smart mobile phone be inswept metope under the drive of operator, and in motion process, obtain the data detected by accelerometer, gyroscope and Magnetic Sensor be built in described smart mobile phone; Wherein, the field intensity of induced field of described Magnetic Sensor for detecting pipeline within the walls and producing under the magnetization of terrestrial magnetic field;
S2, data detected by described accelerometer and described gyroscope, calculate the displacement data of described smart mobile phone in motion process;
S3, data detected by described displacement data and described Magnetic Sensor, obtain within the walls pipeline at the mapping point of metope;
S4: obtain multiple described within the walls pipeline at the mapping point of metope, and according to described in multiple within the walls pipeline to rebuild the layout of pipe network at the mapping point of metope.
Particularly, in step sl, described smart mobile phone is with the inswept metope of the form of stroke movement; Described stroke movement refers to that smart mobile phone originates in stationary state and stops the of short duration rapid movement of stationary state.And in step sl, described smart mobile phone passes through the repeatedly inswept metope of stroke movement under the drive of operator; Leave the time interval between stroke movement described in adjacent twice to check in order to acceleration and speed.In the present embodiment, the described time interval is 1 second to 2 seconds.
Refer to Fig. 2, it is the particular flow sheet of the step S2 in Fig. 1.Described step S2 specifically comprises:
S21, respectively filtering process is carried out to the data detected by described accelerometer, described Magnetic Sensor and described gyroscope, obtain acceleration information, magnetic field data and angular velocity data.In the present embodiment, wave filter used is slip mean filter, and the window width of described slip mean filter is 7.As variant embodiment, this place also can adopt smoothing filter, and window width is 5, and exponent number is 3.
S22, utilize described acceleration information and described angular velocity data, adopt the mode of complementary filter to estimate the attitude angle of described smart mobile phone in motion process; Wherein, when described smart mobile phone be determined remain static time, utilize described acceleration information to be set to 0.98 to the estimated value of attitude angle shared weight in complementary filter, utilize described angular velocity data to be 0.02 to weight shared by pose estimation value; When described smart mobile phone be determined be kept in motion time, utilize described acceleration information to be set to 0.02 to the estimated value of attitude angle shared weight in complementary filter, utilize described angular velocity data to be 0.98 to weight shared by the estimated value of attitude angle.Accelerometer is very easily by the sensor of external disturbance, but measured value is relatively little over time.And gyroscope can obtain angular relationship by integration, dynamic property is good, little by external disturbance, but measured value changes larger in time.Can find out, their relative merits are complementary, combine the effect that just can have.So the method for two data fusion is exactly algorithm for design increase gyrostatic weights in short-term time scale, increase acceleration weights in longer time yardstick, it is just truer that such system exports angle.
Refer to Fig. 3, it is the structured flowchart of the complementary filter in Fig. 2.In step S22, described complementary filter comprises the first computing unit 1, second computing unit 2 and totalizer 3.Step S22 specifically comprises:
By described first computing unit 1, conversion process is carried out to described acceleration information, obtain the attitude angle θ acce corresponding to accelerometer;
By described second computing unit 2, integration is carried out to described angular velocity data, obtain the attitude angle θ gyro corresponding to gyroscope;
By described totalizer 3, the attitude angle θ acce corresponding to described accelerometer and the attitude angle θ gyro corresponding to described gyroscope is carried out additive operation according to set weight, obtain the attitude angle θ of described smart mobile phone in motion process, realize the calibration to attitude angle θ.
S23, utilize estimated by the attitude angle θ of described smart mobile phone in motion process, the component that the gravity eliminating described smart mobile phone according to mechanics principle projects in direction of motion, obtain the accekeration that described smart mobile phone displacement produces, to realize the object of acceleration calibration.As shown in Fig. 4 a to Fig. 4 b, it is the schematic diagram of three attitude angle of mobile phone.Fig. 4 a represents that the attitude angle rotated around z-axis in xoy plane is Yaw (crab angle); Fig. 4 b represents that the attitude angle rotated around y-axis in xoz plane is Roll (roll angle); Fig. 4 c represents that the attitude angle rotated around x-axis in zoy plane is Pitch (angle of pitch).When eliminating the component of acceleration that gravity causes, consider that the movement of mobile phone is close to wall and is carried out, thus think mobile phone rotation only in one plane (namely parallel with metope plane) carry out.If definition metope place plane is xoy plane, namely the rotation of mobile phone is carried out around z-axis, and used attitude angle θ is the rotation angle around z-axis, situation as shown in fig. 4 a.
S24, integral and calculating is carried out to described accekeration, obtain the velocity amplitude of described smart mobile phone motion.
In order to reduce the speed drift after integration, realize the calibration of speed, step S24 specifically comprises:
Judge the motion state of described smart mobile phone;
When described smart mobile phone remains static down, accekeration and the velocity amplitude of described smart mobile phone are regarded as null value;
When described smart mobile phone is kept in motion down, an integral and calculating is carried out to described accekeration, obtain the velocity amplitude of described smart mobile phone motion.
Wherein, the method for the motion state of the described smart mobile phone of described judgement, comprising:
According to Mean value of index EMA (Exponential Moving Average) computing formula, obtain the Mean value of index EMA that the acceleration of described smart mobile phone is corresponding; Wherein, described Mean value of index EMA computing formula is:
Wherein, μ is a constant, gets 0.1 herein; Refer to the accekeration on i-th x and y direction respectively, N is that in filtering window, acceleration information is counted, herein according to slip mean filter then N=7; The threshold value of Mean value of index EMA is 5.4m/s
2.
When described Mean value of index EMA is greater than threshold value, judge that described smart mobile phone is kept in motion; When described Mean value of index EMA is less than or equal to threshold value, judge that described smart mobile phone remains static.
S25, an integration is carried out to gained velocity amplitude, obtain the displacement data of described smart mobile phone motion.
Particularly, described step S3 comprises: the local maximum in the data detected by described Magnetic Sensor or the displacement data corresponding to local minimum, described in orienting within the walls pipeline in the position of metope mapping point, thus obtain described within the walls pipeline at the mapping point of metope.
The principle of this localization method is: the induced field that pipeline (belonging to the ferromagnetic object of strip) produces under the magnetization of terrestrial magnetic field is in the space of the both sides being axis of symmetry with its axis, the reverse in direction can be there is in the component in its magnetic field, cause Magnetic Sensor intensity size (being the synthesis of geomagnetic field intensity and induced field intensity) measured on this component direction to change, and and then cause the change of synthesizing magnetic induction density.And, due to the field intensity of induced field and apart from ferromagnetic distance negative correlation, therefore, in the position the closer to central axis, this change is all the more obvious, namely the point on the central axis of pipeline is its field intensity relative to the point in its space, both sides is the maximum or Local Minimum in local, specifically occurs that locally maximum or Local Minimum depends on character and the space arrangement position thereof of ferromagnetic object.Utilize the above characteristic of the ferromagnetic object of strip, the position of the central axis of pipeline can be oriented by the mapping point oriented on the central axis of pipeline, thus symbolize the position of pipeline.When described smart mobile phone moves through directly over pipeline, due to the change of the induction magnetic pole that pipeline is magnetized produced, the reading of Magnetic Sensor can experience a local maximum point or local minimum points.And in conjunction with described displacement data, namely this local maximum point or displacement (relative to first motion point) corresponding to smallest point correspond to this pipeline maps any position at metope.
Particularly, described step S4 comprises: obtain multiple described within the walls pipeline at the mapping point of metope, by obtained multiple described within the walls pipeline connect into line segment at the mapping point of metope, obtain the two dimensional topology figure of pipe network in body of wall.As long as constantly move described smart mobile phone, obtain the mapping point of abundant described pipeline within the walls at metope, the point on the central axis on all pipelines can be oriented; After line, the layout of all pipelines can be obtained.As shown in Figure 5, it is external channeling figure in body of wall inner wall that in a kind of body of wall of being provided by the embodiment of the present invention, the method for reconstructing of external channeling obtains.The point occurred in Fig. 6 is body of wall interior conduit and is mapped to point on metope.Obtained multiple pipeline is connected into line segment at the mapping point of metope, the capable two dimensional topology figure being pipe network in body of wall of final obtained X-Y scheme.
Compare and prior art, a kind of method of rebuilding based on external channeling in the body of wall of smart mobile phone provided by the present invention is by fully utilizing the multiple sensors be built in smart mobile phone, also namely: accelerometer, magnetic sensors and gyroscope, realize the function that in body of wall quickly and easily, external channeling is rebuild.The step that described method comprises mainly comprises: inswept with the data obtaining embedded in mobile phone three kinds of sensors at metope with specific action cell phone; By adopting the method such as slip mean filter and complementary filter to the fine adjustment of accelerometer and gyroscope readings, and drift is carried out to the speed of gained after an integration process, calculate the displacement of mobile phone movement exactly; By the combination of displacement data and magnetic induction data, pipeline within the walls can be oriented and be mapped to the corresponding point of metope, thus adopt the way of simple curve reconstruct to rebuild out by layout of beam line.Beneficial effect of the present invention is that hardware cost is low, and equipment and system are simply, easy to use, is applicable to household and uses.Use crowd widely because smart mobile phone has, thus a kind of applicable crowd based on the method for external channeling reconstruction in the body of wall of smart mobile phone provided by the present invention is also very wide, has important improvement meaning compared to existing technology.
Below be only the preferred embodiment of the present invention, it should be pointed out that above-mentioned preferred implementation should not be considered as limitation of the present invention.Protection scope of the present invention should be as the criterion with claim limited range.For those skilled in the art, without departing from the spirit and scope of the present invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the method for reconstructing of external channeling in body of wall, is characterized in that, comprise the steps:
S1, smart mobile phone be inswept metope under the drive of operator, and in motion process, obtain the data detected by accelerometer, gyroscope and Magnetic Sensor be built in described smart mobile phone; Wherein, the field intensity of induced field of described Magnetic Sensor for detecting pipeline within the walls and producing under the magnetization of terrestrial magnetic field;
S2, data detected by described accelerometer and described gyroscope, calculate the displacement data of described smart mobile phone in motion process;
S3, data detected by described displacement data and described Magnetic Sensor, obtain within the walls pipeline at the mapping point of metope;
S4, obtain multiple described within the walls pipeline at the mapping point of metope, and according to described in multiple within the walls pipeline to rebuild the layout of pipe network at the mapping point of metope.
2. the method for reconstructing of external channeling in a kind of body of wall according to claim 1, is characterized in that:
In step sl, described smart mobile phone under the drive of operator, with the inswept metope of the form of stroke movement; Described stroke movement refers to that smart mobile phone originates in stationary state and stops the of short duration of stationary state and move fast.
3. the method for reconstructing of external channeling in a kind of body of wall according to claim 2, is characterized in that:
In step sl, described smart mobile phone passes through the repeatedly inswept metope of stroke movement under the drive of operator; The time interval is left between stroke movement described in adjacent twice.
4. the method for reconstructing of external channeling in a kind of body of wall according to claim 3, it is characterized in that, described step S2 comprises:
S21, respectively filtering process is carried out to the data detected by described accelerometer, described Magnetic Sensor and described gyroscope, obtain acceleration information, magnetic field data and angular velocity data;
S22, utilize described acceleration information and described angular velocity data, adopt the mode of complementary filter to estimate the attitude angle of described smart mobile phone in motion process; Wherein, when described smart mobile phone be determined remain static time, utilize described acceleration information to be set to 0.98 to the estimated value of attitude angle shared weight in complementary filter, utilize described angular velocity data to be 0.02 to weight shared by pose estimation value; When described smart mobile phone be determined be kept in motion time, utilize described acceleration information to be set to 0.02 to the estimated value of attitude angle shared weight in complementary filter, utilize described angular velocity data to be 0.98 to weight shared by the estimated value of attitude angle;
S23, utilize estimated by the attitude angle of described smart mobile phone in motion process, the component that the gravity eliminating described smart mobile phone according to mechanics principle projects in direction of motion, obtains the accekeration that described smart mobile phone displacement produces;
S24, integral and calculating is carried out to described accekeration, obtain the velocity amplitude of described smart mobile phone motion;
S25, an integration is carried out to gained velocity amplitude, obtain the displacement data of described smart mobile phone motion.
5. a kind of method of rebuilding based on external channeling in the body of wall of smart mobile phone according to claim 4, it is characterized in that, described step S3 comprises:
Local maximum in data detected by described Magnetic Sensor or the displacement data corresponding to local minimum, described in orienting within the walls pipeline in the position of metope mapping point, thus obtain described within the walls pipeline at the mapping point of metope.
6. a kind of method of rebuilding based on external channeling in the body of wall of smart mobile phone according to claim 5, it is characterized in that, described step S4 comprises:
Obtain multiple described within the walls pipeline at the mapping point of metope, by obtained multiple described within the walls pipeline connect into line segment at the mapping point of metope, obtain the two dimensional topology figure of pipe network in body of wall.
7. the method for reconstructing of external channeling in a kind of body of wall according to claim 4, it is characterized in that, described step S24 comprises:
Judge the motion state of described smart mobile phone;
When described smart mobile phone remains static down, accekeration and the velocity amplitude of described smart mobile phone are regarded as null value;
When described smart mobile phone is kept in motion down, an integral and calculating is carried out to described accekeration, obtain the velocity amplitude of described smart mobile phone motion.
8. the method for reconstructing of external channeling in a kind of body of wall according to claim 7, it is characterized in that, the method for the motion state of the described smart mobile phone of described judgement, comprising:
According to Mean value of index EMA computing formula, obtain the Mean value of index EMA that the acceleration of described smart mobile phone is corresponding; Wherein, described Mean value of index EMA computing formula is:
Wherein, μ is a constant; With
represent the accekeration on i-th x and y direction respectively, N is that in filtering window, acceleration information is counted;
When described Mean value of index EMA is greater than threshold value, judge that described smart mobile phone is kept in motion; When described Mean value of index EMA is less than or equal to threshold value, judge that described smart mobile phone remains static.
9. the method for reconstructing of external channeling in a kind of body of wall according to claim 4, is characterized in that:
In the step s 21, be by slip mean filter, respectively filtering process carried out to the data detected by described accelerometer, described Magnetic Sensor and described gyroscope; The moving window of described slip mean filter is 7.
10. the method for reconstructing of external channeling in a kind of body of wall according to claim 4, it is characterized in that, in step S22, described complementary filter comprises the first computing unit, the second computing unit and totalizer; Then step S22 specifically comprises:
By described first computing unit, conversion process is carried out to described acceleration information, obtain the attitude angle corresponding to accelerometer;
By described second computing unit, integration is carried out to described angular velocity data, obtain the attitude angle corresponding to gyroscope;
By described totalizer, the attitude angle corresponding to described accelerometer and the attitude angle corresponding to described gyroscope are carried out additive operation according to set weight, obtain the attitude angle of described smart mobile phone in motion process.
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| WO2018133152A1 (en) * | 2017-01-23 | 2018-07-26 | 金华马卡科技有限公司 | Hidden feature positioning device and positioning method |
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