CN104567862A - Two-feet-positioning-based motion trail acquisition method - Google Patents

Two-feet-positioning-based motion trail acquisition method Download PDF

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Publication number
CN104567862A
CN104567862A CN201510025347.6A CN201510025347A CN104567862A CN 104567862 A CN104567862 A CN 104567862A CN 201510025347 A CN201510025347 A CN 201510025347A CN 104567862 A CN104567862 A CN 104567862A
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China
Prior art keywords
pin
signal transceiver
bipod
rear end
signal
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CN201510025347.6A
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CN104567862B (en
Inventor
莫冰
曾显彬
朱金林
杨逸纯
毛文辉
蔡钧
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Right And Wrong Electronic Science And Technology Co Ltd In Foochow
Huaqiao University
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Right And Wrong Electronic Science And Technology Co Ltd In Foochow
Huaqiao University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a two-feet-positioning-based motion trail acquisition method which comprises the following steps: by taking two feet as reference points alternatively, detecting the direction and step length of each motion step of the other foot through RSSI, thus obtaining the motion trail. According to the two-feet-positioning-based motion trail acquisition method provided by the invention, the positioning process of a to-be-positioned article can be completed only by wearing a signal transceiver on a wearer under the condition of not utilizing external equipment. Through the two-feet-positioning-based motion trail acquisition method, the trail tracking and navigation positioning when no GPS signal exists indoors and outdoors can be effectively solved, and the positioning reliability and the positioning practicability can be greatly enhanced.

Description

A kind of movement locus acquisition methods based on bipod location
Technical field
The present invention relates to movement locus acquisition methods, more particularly, relate to a kind of movement locus acquisition methods based on bipod location.
Background technology
Some equipment can position by positioning systems such as GPS in outdoor, and in terminal, show the track dressed its people and walk about, and this wearable device is easy to use, and reliability is high, positioning precision can be determined within tens meters even ten meters.But when people walk when the place not having gps signal to cover, these equipment just cannot normally be measured, such as in indoor, cavern, in seabed and dense forest, people often cannot normally use this equipment.
In order to solve the problem cannot located under non-GPS condition, we expect using additive method to reach the object of indoor positioning, namely not by GPS but directly use some sensor instrument distances from, re-using certain algorithm draws by the motion state of location people to realize self poisoning, thus in root, get rid of the dependence to external positioning systems.Due to the place in some unknown landform, we are difficult to install reference coordinate in this area sometimes, so the state before and after oneself motion can only be formed contrast by us, before and after using, the method for pin relative displacement draws the track that people moves.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of the movement locus acquisition methods based on bipod location needing wearable device just can complete the position fixing process of object to be positioned is provided.
Technical scheme of the present invention is as follows:
Based on a movement locus acquisition methods for bipod location, alternately as a reference point with bipod, that detects another pin by RSSI often transports the direction and step-length that move a step, thus obtains movement locus.
As preferably, install signal transceiver respectively at left foot and right crus of diaphragm, the signal intensity detected by the signal transceiver between bipod, draws the longitudinal separation between bipod.
As preferably, every pin is all provided with signal transceiver in front end and rear end respectively, detects at every turn, detects four signal intensities respectively, the front end of front end to motion pin of motionless pin and the signal intensity of the rear foot, the front end of rear end to motion pin of motionless pin and the signal intensity of the rear foot.
As preferably, according to four signal intensities detected, calculate the front end of motionless pin and the signal transceiver of the rear end distance to the signal transceiver of the front end of motion pin and rear end respectively.
As preferably, according to the distance of the left foot preset and the front end of right crus of diaphragm and the signal transceiver of rear end, and the front end of motionless pin and the signal transceiver of rear end are to the distance of the signal transceiver of the front end of motion pin and rear end; With the signal transceiver of the front end of motionless pin for initial point, the straight line at the front end of motionless pin and the signal transceiver place of rear end is axle, set up xy coordinate system, draw the coordinate of the front end of motion pin and the signal transceiver of rear end, and then draw direction and the step-length of current kinetic one step.
Beneficial effect of the present invention is as follows:
The invention provides a kind of movement locus acquisition methods based on bipod location, signal transceiver when not utilizing external unit, only can need be worn the position fixing process that just can complete object to be positioned by it.By the present invention, effectively can solving the trajectory track when being in when indoor and outdoor does not have gps signal and navigator fix, substantially increasing the dependable with function of location.
The present invention can be used for the location of human body self and the measurement of motion state.Especially when there is no the tera incognita of gps signal, by the present invention, the track and motion state of oneself passing by can be known.Such as, when walking in the forest that a slice does not have signal, the travel track of oneself can be seen by the present invention on video terminal when passing through forest thus being unlikely to lost, or may be used for exploring topography and geomorphology.
Accompanying drawing explanation
Fig. 1 is the coordinate schematic diagram of bipod range finding;
Fig. 2 is the principle schematic calculating direction of motion and step-length according to the coordinate of four end points.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
In order to realize not by external reference equipment teaching display stand location, the present invention is certainly to obtain direction of motion and step-length as reference point.The wherein measurement of step-length, the distance that the range finding skill based on RSSI (Received Signal Strength Indication) is come between measured node can be utilized, principle utilizes the particular kind of relationship of received signal strength RSSI and transmission range d (RSSI ranging localization principle belongs to prior art, repeat no more), calculate distance by measuring signal intensity.
Therefore, the invention provides a kind of movement locus acquisition methods based on bipod location, alternately as a reference point with bipod, that detects another pin by RSSI often transports the direction and step-length that move a step, thus obtains movement locus.
Particularly, install signal transceiver respectively at left foot and right crus of diaphragm, the signal intensity detected by the signal transceiver between bipod, draws the longitudinal separation between bipod.
In order to accurately measure the direction often made a move, in the present embodiment, every pin is all provided with signal transceiver in front end and rear end respectively, each detection, detect four signal intensities respectively, the front end of front end to motion pin of motionless pin and the signal intensity of the rear foot, the front end of rear end to motion pin of motionless pin and the signal intensity of the rear foot.According to four signal intensities detected, calculate the front end of motionless pin and the signal transceiver of the rear end distance to the signal transceiver of the front end of motion pin and rear end respectively.
Because the distance between two signal transceivers on same pin is fixing and known, according to the left foot preset and the distance of the front end of right crus of diaphragm and the signal transceiver of rear end, and the front end of motionless pin and the signal transceiver of rear end are to the distance of the signal transceiver of the front end of motion pin and rear end.Two signal transceivers of motionless pin only need transmit respectively and allow two signal transceiver Received signal strength of motion pin, find range, then draw the relative displacement of bipod according to this distance according to signal intensity.When people starts to walk about, suppose that a left side is motionless feetfirst, right crus of diaphragm first steps, it is then reference point with left foot, the distance that the relative displacement of measuring is walked for right crus of diaphragm, right crus of diaphragm lands motionless rear left foot and steps, be now reference point again with right crus of diaphragm, the relative displacement of the left foot measured is the step-length of second step, be again with reference to measuring the step-length that right crus of diaphragm steps with left foot after next step left foot lands, so iterate, the coordinate according to reference point and step-length can be obtained each time, also direction and the distance of human motion can just be drawn, thus obtain movement locus, the speed of people's movement can also be calculated further.
In the present embodiment, the preparation method in the direction of each step is: with the signal transceiver of the front end of motionless pin for initial point, the straight line at the front end of motionless pin and the signal transceiver place of rear end is axle, set up xy coordinate system, draw the coordinate of the front end of motion pin and the signal transceiver of rear end, and then draw direction and the step-length of current kinetic one step.
If A, B are respectively the front end of left foot and the position of rear end signalization transceiver, C, D are respectively the front end of right crus of diaphragm and the position of rear end signalization transceiver, wherein, and the length r of AB, CD 1, r 2known.
As shown in Figure 1, when taking AB as reference, if A is initial point, AB is y-axis, then the coordinate of B is also known, is (0 ,-y b).Four distances of two signal transceivers to two signal transceivers of right crus of diaphragm of left foot can be measured by RSSI method.
Take A as the flexible C point excessively that the centre of sphere L1 ball being radius and the ball being radius for centre of sphere L3 with B are handed over, it is in like manner the flexible D point excessively that the centre of sphere L2 ball being radius and the ball being radius for centre of sphere L4 with B are handed over A, because CD distance r2 is known, and pin lands moment CD orientation uniquely determines, therefore the coordinate of C, D 2 can be drawn.In like manner can in the hope of the coordinate of A, B 2 time lower a moment will take C as initial point.There are the coordinate of four end points and relative distance just can in the hope of the Distance geometry working direction of human motion.
Specific implementation step is as follows:
1) suppose that left foot first plants oneself, right crus of diaphragm steps, now with left foot A point for initial point, AB is y-axis, by AB length r 1known, then y b=r 1;
2) after right crus of diaphragm steps and lands, four distances and L1, L2, L3, L4 can be measured by RSSI method;
3) according to the acquired data of first two steps, the coordinate of the relative A of C, D is calculated;
4) according to the coordinate of four end points, utilize mathematical tool to analyze direction of motion and step-length, as shown in Figure 2, in order to understand conveniently, in Fig. 2, mark the state A ' B ' that next step left foot steps the moment, specific as follows:
4.1) AB, CD mid point F is got respectively 1and F 2, mid point F can be obtained according to A, B, C, D coordinate 1and F 2coordinate, then calculate F 1f 2length S 1;
4.2) each angle theta can be calculated by each coordinate 1, θ 2;
4.3) S 1can be used as right crus of diaphragm movement locus, angle is then direction of motion;
5) after right crus of diaphragm lands, left foot steps, as long as be now initial point with C, CD is y-axis, repeats above-mentioned steps 1) to step 4), direction and the step-length of this step can be obtained equally.
Left and right pin checker, continuous iteration, finally can obtain direction of motion and the advance distance of human body, thus achieve the location of human body self.
Above-described embodiment is only used to the present invention is described, and is not used as limitation of the invention.As long as according to technical spirit of the present invention, change above-described embodiment, modification etc. all will be dropped in the scope of claim of the present invention.

Claims (5)

1. based on a movement locus acquisition methods for bipod location, it is characterized in that, alternately as a reference point with bipod, that detects another pin by RSSI often transports the direction and step-length that move a step, thus obtains movement locus.
2. the movement locus acquisition methods based on bipod location according to claim 1, is characterized in that, install signal transceiver respectively at left foot and right crus of diaphragm, and the signal intensity detected by the signal transceiver between bipod, draws the longitudinal separation between bipod.
3. the movement locus acquisition methods based on bipod location according to claim 2; it is characterized in that; every pin is all provided with signal transceiver in front end and rear end respectively; each detection; detect four signal intensities respectively; the front end of front end to motion pin of motionless pin and the signal intensity of the rear foot, the front end of rear end to motion pin of motionless pin and the signal intensity of the rear foot.
4. the movement locus acquisition methods based on bipod location according to claim 3; it is characterized in that; according to four signal intensities detected, calculate the front end of motionless pin and the signal transceiver of the rear end distance to the signal transceiver of the front end of motion pin and rear end respectively.
5. the movement locus acquisition methods based on bipod location according to claim 4, it is characterized in that, according to the left foot preset and the distance of the front end of right crus of diaphragm and the signal transceiver of rear end, and the front end of motionless pin and the signal transceiver of rear end are to the distance of the signal transceiver of the front end of motion pin and rear end; With the signal transceiver of the front end of motionless pin for initial point, the straight line at the front end of motionless pin and the signal transceiver place of rear end is axle, set up xy coordinate system, draw the coordinate of the front end of motion pin and the signal transceiver of rear end, and then draw direction and the step-length of current kinetic one step.
CN201510025347.6A 2015-01-19 2015-01-19 A kind of movement locus acquisition methods positioned based on bipod Expired - Fee Related CN104567862B (en)

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CN109164830A (en) * 2018-08-03 2019-01-08 深圳市迅驰智能电子科技有限公司 A kind of automatic follower method of balance car and balance car
CN109282806A (en) * 2017-07-20 2019-01-29 罗伯特·博世有限公司 For determining the method, apparatus and storage medium of pedestrian position
CN112070936A (en) * 2020-09-07 2020-12-11 姜锡忠 Pedestrian target identification monitoring method and system

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CN103994767A (en) * 2014-05-12 2014-08-20 东北大学 Rescuer indoor cooperated positioning device and method
CN104111452A (en) * 2014-06-12 2014-10-22 京东方科技集团股份有限公司 Wireless distance monitoring apparatus
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CN103052154A (en) * 2012-12-03 2013-04-17 北京航空航天大学 Device and method for performing low-power consumption indoor locating by utilizing Zigbee wireless interfaces
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