CN104567862B - A kind of movement locus acquisition methods positioned based on bipod - Google Patents
A kind of movement locus acquisition methods positioned based on bipod Download PDFInfo
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- CN104567862B CN104567862B CN201510025347.6A CN201510025347A CN104567862B CN 104567862 B CN104567862 B CN 104567862B CN 201510025347 A CN201510025347 A CN 201510025347A CN 104567862 B CN104567862 B CN 104567862B
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- pin
- signal transceiver
- rear end
- bipod
- signal
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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
Abstract
The present invention relates to a kind of movement locus acquisition methods positioned based on bipod, with bipod alternately as reference point, the direction moved a step and step-length are often transported by RSSI detection another pin, so as to obtain movement locus.The invention provides a kind of movement locus acquisition methods positioned based on bipod, it can be in the case where not utilizing external equipment, and need to only wear signal transceiver can just complete the position fixing process of object to be positioned.By means of the invention it is possible to efficiently solve the trajectory track and navigator fix when being in indoor and outdoor and there is no gps signal, the dependable with function of positioning is substantially increased.
Description
Technical field
The present invention relates to movement locus acquisition methods, more specifically to a kind of movement locus positioned based on bipod
Acquisition methods.
Background technology
Some equipment can be positioned in outdoor by alignment systems such as GPS, and its people of wearing displayed on the terminals
The track walked about, this wearable device is easy to use, and reliability is high, can determine positioning precision at tens meters even
Within ten meters.But, when people are walked in the place covered without gps signal, these equipment just can not be measured normally, than
Such as indoors, in cavern, seabed and dense forest, people often can not normally use the equipment.
The problem of in order to solve not positioning under the conditions of non-GPS, we expect reaching that interior is fixed using other method
The purpose of position, i.e., not by GPS but directly use some sensor instrument distances from reusing certain algorithm and draw and be positioned people's
Motion state realizes self poisoning, so as to exclude the dependence to external positioning systems in root.Due to some unknown
The place of shape, we are sometimes difficult to install reference coordinate in the area, so we can only be by the state shape before and after oneself motion
In contrast with, draw the track that people moves using the method for front and rear pin relative displacement.
The content of the invention
Only needing to wearable device it is an object of the invention to overcome the deficiencies of the prior art and provide one kind can just complete to treat
Position the movement locus acquisition methods positioned based on bipod of the position fixing process of object.
Technical scheme is as follows：
A kind of movement locus acquisition methods positioned based on bipod, with bipod alternately as reference point, are detected by RSSI
Another pin often transports the direction moved a step and step-length, so as to obtain movement locus.
Preferably, installing signal transceiver in left foot and right crus of diaphragm respectively, detected by the signal transceiver between bipod
Signal intensity, draw the longitudinal separation between bipod.
Preferably, every pin is mounted on signal transceiver in front and rear end respectively, detection, detects four respectively every time
Individual signal intensity, the front end of motionless pin to the front end of motion pin and the signal intensity of the rear foot, the rear end of motionless pin is to moving pin
Front end and the signal intensity of the rear foot.
Preferably, according to four signal intensities detected, the letter of the front and rear end of motionless pin is calculated respectively
The distance of number transceiver to the signal transceiver of the front and rear end of motion pin.
Preferably, according to the distance of default left foot and the signal transceiver of the front and rear end of right crus of diaphragm, and it is motionless
Distance of the signal transceiver of the front and rear end of pin to the signal transceiver of the front and rear end of motion pin；Before motionless pin
The signal transceiver at end is origin, and the straight line where the signal transceiver of the front and rear end of motionless pin is axle, sets up xy coordinates
System, draws the coordinate of the signal transceiver of the front and rear end of motion pin, and then draws direction and the step-length of the step of current kinetic one.
Beneficial effects of the present invention are as follows：
The invention provides a kind of movement locus acquisition methods positioned based on bipod, it can not utilize external equipment
In the case of, need to only wear signal transceiver can just complete the position fixing process of object to be positioned.By the present invention,
The trajectory track and navigator fix when being in indoor and outdoor and not having gps signal can be efficiently solved, positioning is substantially increased
Dependable with function.
The present invention is available for the positioning of human body itself and the measurement of motion state.Especially when in no gps signal
Tera incognita, by the invention it is possible to know the track oneself passed by and motion state.For example, working as to walk a piece of without signal
Forest in when, can see the travel track of oneself so as to unlikely on video terminal by the present invention when passing through forest
In lost, or it can be used for exploring topography and geomorphology.
Brief description of the drawings
Fig. 1 is the coordinate schematic diagram of bipod ranging；
Fig. 2 is the principle schematic that the direction of motion and step-length are calculated according to the coordinate of four end points.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Do not positioned oneself to realize by the realization of external reference equipment, the present invention is moved with oneself as reference point
Direction and step-length.The wherein measurement of step-length, it is possible to use based on RSSI (Received Signal Strength
Indication the distance that ranging skill) is come between measuring node, principle utilizes received signal strength RSSI and transmission range d
Particular kind of relationship (RSSI ranging localization principles belong to prior art, repeat no more), distance is calculated by measuring signal intensity.
Therefore, the present invention provides a kind of movement locus acquisition methods positioned based on bipod, with bipod alternately as reference
Point, often transports the direction moved a step and step-length, so as to obtain movement locus by RSSI detection another pin.
Specifically, signal transceiver is installed in left foot and right crus of diaphragm respectively, detected by the signal transceiver between bipod
Signal intensity, draws the longitudinal separation between bipod.
In order to accurately measure in the direction often made a move, the present embodiment, every pin is mounted in front and rear end respectively
Signal transceiver, every time detection detects four signal intensities, the front end to the front end of motion pin and the letter of the rear foot of motionless pin respectively
Number intensity, the rear end to the front end of motion pin and the signal intensity of the rear foot of motionless pin.According to four signal intensities detected, point
Do not calculate motionless pin front and rear end signal transceiver to motion pin front and rear end signal transceiver away from
From.
Because the distance between two signal transceivers on same pin are fixed and known, according to default left foot
With the distance of the signal transceiver of the front and rear end of right crus of diaphragm, and the front and rear end of motionless pin signal transceiver to motion
The distance of the signal transceiver of the front and rear end of pin.Two signal transceivers of motionless pin only need respectively transmission signal allow motion
Two signal transceivers of pin receive signal, carry out ranging according to signal intensity, then draw the relative of bipod according to the distance
Displacement.When people starts to walk about, it is assumed that left feetfirst motionless, right crus of diaphragm is first stepped, then using left foot as reference point, and that measures is relative
The distance that displacement is walked by right crus of diaphragm, right crus of diaphragm lands motionless rear left foot and stepped, now again using right crus of diaphragm as reference point, the left foot measured
Relative displacement is the step-length of second step, measures the step-length that right crus of diaphragm is stepped by reference of left foot again after the landing of next step left foot, such as
This is iterated, and the coordinate and step-length according to reference point can be obtained each time, the direction of human motion also can be just drawn
With distance, so as to obtain movement locus, the speed of people's movement can also be further calculated.
In the present embodiment, the preparation method in the direction of each step is：Using the signal transceiver of the front end of motionless pin as origin,
Straight line where the signal transceiver of the front and rear end of motionless pin is axle, sets up xy coordinate systems, draw the front end of motion pin with
The coordinate of the signal transceiver of rear end, and then draw direction and the step-length of the step of current kinetic one.
If A, B are respectively the position of the front and rear end setting signal transceiver of left foot, C, D be respectively right crus of diaphragm front end with
The position of rear end setting signal transceiver, wherein, AB, CD length r1、r2It is known.
As shown in figure 1, when using AB as when referring to, if A is origin, AB is y-axis, then B coordinate it is also known that, be (0 ,-yB)。
Two signal transceivers of left foot can be measured to four distances of two signal transceivers of right crus of diaphragm by RSSI methods.
Using A by centre of sphere L1 as radius ball and the circle handed over using the ball that B is centre of sphere L3 as radius by C points, similarly using A as
Centre of sphere L2 by radius ball with the circle handed over using the ball that B is centre of sphere L4 as radius by D points, due to CD apart from r2, it is known that and pin
Landing moment CD orientation is uniquely determined, therefore can draw 2 points of C, D coordinate.Similarly can be with when lower a moment is using C as origin
Try to achieve 2 points of A, B coordinate.Have four end points coordinate and relative distance can be in the hope of human motion distance and advance
Direction.
Implement step as follows：
1) assume that left foot first plants oneself, right crus of diaphragm is stepped, and now using left foot A points as origin, AB is y-axis, by AB length r1
, it is known that then yB=r1；
2) after right crus of diaphragm steps landing, four distances i.e. L1, L2, L3, L4 can be measured by RSSI methods；
3) according to the acquired data of first two steps, C, D relative A coordinate are calculated；
4) according to the coordinate of four end points, the direction of motion and step-length are analyzed using mathematical tool, as shown in Fig. 2 in order to manage
Solution is convenient, and the state A ' B ' that next step left foot steps the moment are marked in Fig. 2, specific as follows：
4.1) AB, CD midpoint F are taken respectively1And F2, midpoint F can be obtained according to A, B, C, D coordinate1And F2Coordinate, then
Calculate F1F2Length S1；
4.2) each angle theta can be calculated by each coordinate1、θ2；
4.3)S1Can be as right crus of diaphragm movement locus, and angle is then the direction of motion；
5) after right crus of diaphragm lands, left foot is stepped, as long as now using C as origin, CD is y-axis, is repeated the above steps 1) to step
It is rapid 4), can equally obtain direction and the step-length of this step.
Left and right pin checker, continuous iteration may finally obtain the direction of motion and advance distance of human body, so as to realize
The positioning of human body itself.
Above-described embodiment is intended merely to the explanation present invention, and is not used as limitation of the invention.As long as according to this hair
Bright technical spirit, is changed, modification etc. will all fall in the range of the claim of the present invention to above-described embodiment.
Claims (2)
1. a kind of movement locus acquisition methods positioned based on bipod, it is characterised in that install signal in left foot and right crus of diaphragm respectively
Transceiver, the signal intensity detected by the signal transceiver between bipod, is drawn the longitudinal separation between bipod, is handed over bipod
For as a reference point, the direction moved a step and step-length are often transported by RSSI detection another pin, so as to obtain movement locus；Tool
Body is：
Every pin is mounted on signal transceiver in front and rear end respectively, every time detection, four signal intensities is detected respectively, no
The front end of dynamic pin to the front end of motion pin and the signal intensity of the rear foot, the rear end to the front end of motion pin and the letter of the rear foot of motionless pin
Number intensity；According to four signal intensities detected, the signal transceiver that the front and rear end of motionless pin is calculated respectively is arrived
Move the distance of the signal transceiver of the front and rear end of pin；
When people starts to walk about, it is assumed that left feetfirst motionless, right crus of diaphragm is first stepped, then using left foot as reference point, and that measures is relative
The distance that displacement is walked by right crus of diaphragm, right crus of diaphragm lands motionless rear left foot and stepped, now again using right crus of diaphragm as reference point, the left foot measured
Relative displacement is the step-length of second step, measures the step-length that right crus of diaphragm is stepped by reference of left foot again after the landing of next step left foot, such as
This is iterated, and coordinate and step-length according to reference point are all obtained each time, that is, draws direction and the distance of human motion, so that
Obtain movement locus.
2. the movement locus acquisition methods according to claim 1 positioned based on bipod, it is characterised in that according to default
The distance of the signal transceiver of the front and rear end of left foot and right crus of diaphragm, and the signal transceiver of the front and rear end of motionless pin are arrived
Move the distance of the signal transceiver of the front and rear end of pin；Using the signal transceiver of the front end of motionless pin as origin, motionless pin
Front and rear end signal transceiver where straight line be axle, set up xy coordinate systems, draw the front and rear end of motion pin
The coordinate of signal transceiver, and then draw direction and the step-length of the step of current kinetic one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510025347.6A CN104567862B (en) | 2015-01-19 | 2015-01-19 | A kind of movement locus acquisition methods positioned based on bipod |
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| CN201510025347.6A CN104567862B (en) | 2015-01-19 | 2015-01-19 | A kind of movement locus acquisition methods positioned based on bipod |
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| CN109282806B (en) * | 2017-07-20 | 2024-03-22 | 罗伯特·博世有限公司 | Method, apparatus and storage medium for determining pedestrian position |
| CN112070936B (en) * | 2020-09-07 | 2022-02-08 | 车链云(深圳)科技有限公司 | Pedestrian target identification monitoring method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103376441B (en) * | 2012-04-24 | 2015-10-28 | 中国海洋大学 | Many precision indoor locating system and adopt the localization method of this system |
| CN103052154B (en) * | 2012-12-03 | 2015-01-14 | 北京航空航天大学 | Device and method for performing low-power consumption indoor locating by utilizing Zigbee wireless interfaces |
| CN103813448A (en) * | 2014-02-26 | 2014-05-21 | 江苏亿通高科技股份有限公司 | Indoor positioning method based on RSSI |
| 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 |
| CN104251702B (en) * | 2014-09-18 | 2018-06-29 | 重庆大学 | A kind of pedestrian navigation method measured based on relative pose |
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