CN104515518A - Portable space wireless positioning system - Google Patents
Portable space wireless positioning system Download PDFInfo
- Publication number
- CN104515518A CN104515518A CN201310451318.7A CN201310451318A CN104515518A CN 104515518 A CN104515518 A CN 104515518A CN 201310451318 A CN201310451318 A CN 201310451318A CN 104515518 A CN104515518 A CN 104515518A
- Authority
- CN
- China
- Prior art keywords
- data
- acceleration
- module
- wireless
- magnetic field
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Gyroscopes (AREA)
Abstract
The invention relates to a portable space wireless positioning system. Each submodule includes the following six parts. (1) and (2) are respectively an induction chip MPU6050 composed of a three-axis acceleration sensor and a triaxial gyroscope, (3) is a three-axis magnetometer RM G144, the two induction chips send the induced each axis acceleration, acceleration and magnetic field intensity to a main processor (4) through an I2C bus, the central processing unit (4) conducts digital filtering on the data transmitted from the sensors so as to make the signal effectively resist interference. Then the data are subjected to packaging, correcting code adding and other operations so as to reduce the error code of the transmission process to minimum. The data are sent to a wireless transmission module (6). A power module (5) is responsible for power supply of the whole system. On the remote receiving end side, a receiving module (7) is responsible for receiving and decoding, can receive and integrate multi-path wireless data and send the data to a USB HOST module (8), and the data are processed into computer system (9) recognizable computer data. The computer (9) applies the received each submodule data to processing and modeling, thus completing the task of establishing and portraying a space trajectory system.
Description
Technical field
The present invention the present invention relates to a kind of wireless localization apparatus, specifically relates to a kind of portable space wireless location system.
Background technology
Space orientation technique high-tech area use a lot, but at civil area, especially in daily life of a family life or due to high cost, low precision and have impact on its popularization and use.A kind of portable space wireless location system of the present invention, by by inertia strapdown gyroscope and space magnetic field induction installation, is integrated in a very little module.By integrated means, the space motion path of said module can be measured by remote-wireless in a computer.Sports, classroom instruction demonstration, the tracking of various experiments of measuring, lost article etc. aspect can be widely used in.By the MEMS of integrated high-performance low price, and multiple correcting algorithm, achieve portable and wireless location system that is low cost.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide a kind of portable space wireless location system, real-time space orientation can be processed efficiently, according to the data of each submodule wireless transmission, be applied in a large amount of occasion.
In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions:
The technical problem to be solved in the present invention is to provide a kind of wireless localization apparatus, by magnetic field, gyroscope and acceleration transducer, can process real-time space orientation efficiently, complete the control to the various equipment of periphery according to the different conditions of human body.For solving the problems of the technologies described above, the present invention includes following several part: each submodule comprises following six parts, 1 and 2 is the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, 3 is three-axle magnetic field meter RM G144, these two sensing chips are by I2C bus, the acceleration of each axle sensed, acceleration and magnetic field intensity are sent to primary processor 4, these sensors are passed the data of coming and carry out digital filtering by central processing unit 4, enable signal effectively anti-interference.Then these data are carried out package, added the operations such as correction code.To allow the error code mistake of transmitting procedure drop to minimum.These data are sent to wireless transmitter module 6.Power module 5 is responsible for the power supply of whole system.
Long-range receiving end here, be responsible for receiving the decode, and the receive data by wireless of multichannel can be integrated, and sends to USB HOST module 8, processes data into the computer data that computer system 9 can identify by receiver module 7.Each submodule data that computing machine 9 will receive, carry out processing and modeling, complete setting up and describing space tracking system of task.
Compared with prior art, the invention has the beneficial effects as follows:
A kind of portable space wireless location system of the present invention, by by inertia strapdown gyroscope and space magnetic field induction installation, is integrated in a very little module.By integrated means, the space motion path of said module can be measured by remote-wireless in a computer.Sports, classroom instruction demonstration, the tracking of various experiments of measuring, lost article etc. aspect can be widely used in.By the MEMS of integrated high-performance low price, and multiple correcting algorithm, achieve portable and wireless location system that is low cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of portable space wireless location system of the present invention
Fig. 2 is the schematic flow sheet of a kind of portable space wireless location system of the present invention
Fig. 3 is the principle schematic that a kind of portable space wireless location system of the present invention determines absolute position, space.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:
As shown in Figure 1,1 and 2 is the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, 3 is three-axle magnetic field meter RM G144, the acceleration of each axle sensed, acceleration and magnetic field intensity, by I2C bus, are sent to primary processor 4 by these two sensing chips.
These sensors are passed the data of coming and carry out digital filtering by central processing unit 4, enable signal effectively anti-interference.
Then these data are carried out package, added the operations such as correction code.To allow the error code mistake of transmitting procedure drop to minimum.Then these data are sent to wireless transmitter module 6.
Power module 5 is responsible for the power supply of whole system.Receiver module 7 is responsible for receiving the decode, the information integration that each submodule is sent and process after, send to USB HOST equipment 8, USB HOST module 8 processes data into the computer data that computer system 9 can identify, transmitting and receiving module 6,7 all adopts bluetooth equipment or special 2.4G radio communication.
As shown in Figure 2, be the step that computer system 9 carries out required for the calculating of space.First absolute space coordinates are determined.First, after start 9 when determining that angular velocity is 0 under original state, the accekeration of each axle, determines that the acceleration of these three axles is made a concerted effort value and direction thereof.Determine the field strength values of three axles now, calculate their size direction, conjunction magnetic field.
As shown in Figure 3, taking gravity direction as the negative direction of Z axis, take magnetic force direction as Y-axis positive dirction, gets and just gives unique direction of this both direction to be X-axis, and with the positive dirction of right hand theorem determination X-axis.Now just can break away from the position residing for chip, the real-time position residing for determination space, depicts in absolute space, positioning chip the position of moving.
After completing initialization, computing machine 9 is according to the acceleration information of each axle of real-time acquisition acceleration transducer 1 and gyro sensor 2 and acceleration information.Utilize the absolute coordinate system set up as described above, the integrated acceleration according to each axle calculates current speed value, then integration calculates the shift value of each axle.According to magnitude of angular velocity, integration calculates current angle.Then these data are recorded among database.
After obtaining each current axle acceleration, according to the variable quantity of angle, the real-time angle calculating current gravity and should be in, then by the size of gravity in initialization procedure above, calculate the component that gravity is fastened at three absolute coordinatess respectively, and weed out.
Then according to the data that three axle magnetometric sensors 3 are real-time, with the angle obtained, velocity information comparison, the weighting doing two data is corrected.To guarantee that the nonlinearities change of accekeration and gyrostatic drift equal error can not produce the error of accumulation in data final again, ensure the stability of system cloud gray model.
After completing above calculating, the triaxial coordinate point of getting the bid residing for settled front space track location system in space coordinates that just can be real-time, its present speed of acquisition, angle, acceleration that also can be real-time.These data are all recorded in the database in central processing unit buffer memory, in order to the program real-time calling differentiated.
Complete the calculation of attitude and the differentiation of actuating signal afterwards.Can be judged whether by the data in database above to complete range of motion, and current residing state.
Computer system 9 by real-time collecting to the positional information of each submodule store, just can complete the repertoire of portable mobile wireless positioning system.
The undeclared part related in the present invention is same as the prior art or adopt prior art to be realized.
Claims (2)
1. a portable space wireless location system by: each submodule comprises following six parts, (1) with (2) be the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, (3) be a three-axle magnetic field meter RM G144, these two sensing chips are by I2C bus, by the acceleration of each axle sensed, acceleration and magnetic field intensity send to primary processor (4), these sensors are passed the data of coming and carry out digital filtering by central processing unit (4), enable signal effectively anti-interference, then these data are carried out package, add the operations such as correction code, to allow the error code mistake of transmitting procedure drop to minimum, these data are sent to wireless transmitter module (6), power module (5) is responsible for the power supply of whole system.
2. a kind of portable space wireless location system according to claim 1, it is characterized in that: (1) (2) (3) sensing chip is by I2C bus, by the acceleration of each axle sensed, acceleration and magnetic field intensity send to primary processor (4), receiver module (7) is responsible for receiving the decode, the receive data by wireless of multichannel can be integrated, send to USB HOST module (8), process data into the computer data that computer system (9) can identify, each submodule data that computing machine (9) will receive, carry out processing and modeling, complete setting up and describing space tracking system of task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310451318.7A CN104515518A (en) | 2013-09-28 | 2013-09-28 | Portable space wireless positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310451318.7A CN104515518A (en) | 2013-09-28 | 2013-09-28 | Portable space wireless positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104515518A true CN104515518A (en) | 2015-04-15 |
Family
ID=52791181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310451318.7A Pending CN104515518A (en) | 2013-09-28 | 2013-09-28 | Portable space wireless positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104515518A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112986908A (en) * | 2021-04-26 | 2021-06-18 | 网络通信与安全紫金山实验室 | Positioning calibration method, system and storage medium |
| CN113737620A (en) * | 2021-09-24 | 2021-12-03 | 燕山大学 | Multi-index acquisition device and method for asphalt pavement conditions |
-
2013
- 2013-09-28 CN CN201310451318.7A patent/CN104515518A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112986908A (en) * | 2021-04-26 | 2021-06-18 | 网络通信与安全紫金山实验室 | Positioning calibration method, system and storage medium |
| CN113737620A (en) * | 2021-09-24 | 2021-12-03 | 燕山大学 | Multi-index acquisition device and method for asphalt pavement conditions |
| CN113737620B (en) * | 2021-09-24 | 2023-01-24 | 燕山大学 | Multi-index acquisition device and method for asphalt pavement conditions |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104515519A (en) | Space track positioning system based on accelerated speed, gyroscope and magnetic field nine-axis sensors | |
| CN104515532A (en) | Human motion simulation apparatus based on bluetooth | |
| CN104406585B (en) | Based on the laser tracker target ball alignment system that inertia is detected | |
| US10521011B2 (en) | Calibration of inertial measurement units attached to arms of a user and to a head mounted device | |
| CN106445130B (en) | A kind of motion capture gloves and its calibration method for gesture identification | |
| CN103226398B (en) | Based on the data glove of micro-inertia sensor network technology | |
| CN109141410B (en) | Multi-sensor fusion positioning method for AGV (automatic guided vehicle) combined navigation | |
| CN101886927B (en) | Three-dimensional motion tracking system and method based on inertial sensor and geomagnetic sensor | |
| CN203759869U (en) | Gesture sensing type aircraft remote controller | |
| CN109807911B (en) | Outdoor patrol robot multi-environment combined positioning method based on GNSS, UWB, IMU, laser radar and code disc | |
| CN104764451A (en) | Target posture tracking method based on inertia and geomagnetic sensor | |
| CN104956648B (en) | Method and apparatus for sensing the orientation of object in space in fixed reference frame | |
| CN106979780A (en) | A kind of unmanned vehicle real-time attitude measuring method | |
| CN204329975U (en) | A kind of laser tracker target ball locating device detected based on inertia | |
| CN106840152A (en) | A kind of high-precision integrated navigation system and method towards indoor mobile robot | |
| CN104772756A (en) | Mechanical arm based on inertial measurement units and control method thereof | |
| CN104266648A (en) | Indoor location system based on Android platform MARG sensor | |
| CN104515522A (en) | Underwater magnetic field and six-axis inertia combined positioning system | |
| CN107923740A (en) | Sensor device, sensing system and information processing equipment | |
| CN103712598A (en) | Attitude determination system and method of small unmanned aerial vehicle | |
| CN104316080A (en) | Device for resolving tilt compensation quaternion of attitude gyroscope | |
| CN103076023A (en) | Method and device for calculating step | |
| CN103776442A (en) | Regional wireless positioning and micro-serial inertial navigation integrated system and positioning method thereof | |
| CN204788411U (en) | Wall climbing robot navigational positioning system based on sound localization , INS | |
| CN104516353A (en) | Distributed underwater biotic robot attitude stabilizing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150415 |