CN104570025A - Positioning device and positioning method thereof - Google Patents
Positioning device and positioning method thereof Download PDFInfo
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- CN104570025A CN104570025A CN201310492568.5A CN201310492568A CN104570025A CN 104570025 A CN104570025 A CN 104570025A CN 201310492568 A CN201310492568 A CN 201310492568A CN 104570025 A CN104570025 A CN 104570025A
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- locating device
- value
- processing module
- module
- satellite place
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a positioning device and a positioning method thereof. The positioning device comprises a GNSS (global navigation satellite system) module, a processing module and a sensor module, wherein the GNSS module is used for obtaining the satellite positioning value of a current position of the positioning device in a timed manner; the sensor module is used for judging whether the positioning device is in a static state or not in a timed manner and calling the processing module if the positioning device is in the static state; the processing module is used for dividing all satellite positioning values obtained by the GNSS module for the last time after the positioning device is in the static state into a plurality of groups, taking the average value of all the satellite positioning values in each group as the average value of the group, taking the average value of the average values of all the groups as the accurate positioning value of the current position of the positioning device, and outputting the accurate positioning value. According to the positioning device and the positioning method, the phenomenon of static drift can be greatly improved, so that a user can obtain relatively accurate satellite positioning value.
Description
Technical field
The present invention relates to a kind of locating device and localization method thereof.
Background technology
GNSS(Global Navigation Satellite System: GLONASS (Global Navigation Satellite System)), it makes a general reference all satellite navigation systems, GPS(GPS as the U.S.), the abbreviation of Muscovite GLONASS(Russian GPS (Global Position System)), the Galileo(satellite navigation system title in Europe), the Beidou satellite navigation system of China, and relevant enhancing system.At present, GNSS navigation has been applied in the middle of all trades and professions, and the navigation chip of market Shang Ge manufacturer generally reaches more than-162dBm in sensitivity, and civilian positioning precision index is also below ten meters.
But in the mountain region of built-up city, topographic relief, sparsely have in the actual scenes such as the woods caused, due to the impact by multipath and GNSS signal, and the restriction of the feature of positioning equipment itself, the static position finally calculated there will be static drift phenomenon, and namely satellite place value and actual bit are equipped with the phenomenon of larger gap.When there is static drift, the current location of positioning equipment display may differ rice up to a hundred with physical location, can have a strong impact on user, bring a lot of inconvenience to user.
Summary of the invention
The technical problem to be solved in the present invention is to overcome in prior art the means lacking and effectively improve static drift, static drift is made to bring the defect of greatly inconvenience to user, there is provided a kind of location more accurate, effectively improve locating device and the localization method thereof of static drift.
The present invention solves above-mentioned technical matters by following technical proposals: a kind of locating device, and it comprises a GNSS module, and its feature is, described locating device also comprises a processing module and a sensor assembly,
Described GNSS module is used for the satellite place value of the current location of locating device described in timing acquisition;
Described sensor assembly is used for timing and judges whether described locating device remains static, if then call described processing module;
Described processing module is used for described GNSS module to be divided into some groups in whole satellite place values of the last static rear acquisition of described locating device, and the mean value getting the whole satellite place values described in each included by group is as cell mean, the mean value then getting whole cell mean exports as the accurate locator value of the current location of described locating device.
Static drift phenomenon is very large on the impact of user, and such as, user is on a strange street, and static drift appears in locating device, can waste user and the plenty of time find physical location; Or some enterprises are when managing vehicle by satnav, also a large amount of puzzlement can be brought to supvr.In prior art, static drift phenomenon is normally solved by the performance improving hardware, the better Signal reception plate of such as usability, but can improve the cost of locating device like this.And locating device of the present invention utilizes sensor assembly and the method for averaging can solve the inaccurate defect of static immobilization well.
A set of communications protocol because current GNSS module can be formulated by NMEA(National Marine Electronics association The NationalMarine Electronics Association) data of form communicate with processing module, and that is satellite place value comprises the navigation informations such as the longitude of current location, latitude, height and speed.The concrete grammar of averaging can be: the mean value of the mean value of degree of learning from else's experience, the mean value of latitude and height, the mean value of the satellite place value then obtained is as accurate locator value.
GNSS module meeting timing acquisition satellite place value, existing locating device receives satellite place value and namely shows, and usually can not process the satellite place value obtained, static drift phenomenon occurs frequent.Whole satellite place values of static for the last time rear acquisition carry out being averaged process by the present invention, effectively can improve positioning precision.The present invention, under the prerequisite improving static drift phenomenon, also has the advantage that the comparatively cheap and algorithm of manufacturing cost easily realizes.Described locating device is the last static refers to the described locating device the last moment of being changed into stationary state by motion state.
Preferably, a satellite place value is only comprised in group described in each.Above-mentioned packet mode be get static rear whole satellite place value mean value as accurate locator value, this accurate locator value significantly can promote the positioning precision of locating device under stationary state, effectively improves static drift phenomenon.
Preferably, enter stationary state at described locating device by motion state and keep in the process of stationary state, described processing module to export as accurate locator value and mean value for getting the accurate locator value that the up-to-date satellite place value that once obtains of described GNSS module and described processing module once export when after this called exports as accurate locator value for the satellite place value that obtained described GNSS module first time when first time is called.
Above-mentioned scheme is that the mean value of the accurate locator value and the up-to-date satellite place value once obtained calculating static rear last time acquisition is as new accurate locator value.Wherein said processing module first time is called to refer in the time period that described locating device is in one section of continuous print stationary state that processing module first time is called, and the initial and termination moment of the time period of stationary state is stopping and the beginning of adjacent twice motion of described locating device respectively.In the time period that the satellite place value that described GNSS module first time obtains refers to described stationary state described GNSS module first time the satellite place value that obtains.
Such as, GNSS module is in static rear acquisition 3 satellite place values, the mean value of the mean value of first twice and the up-to-date satellite place value once obtained is calculated again as accurate locator value after calculating the mean value of first twice, then GNSS module obtains again the 4th satellite place value, and processing module only need calculate the mean value of last accurate locator value and the 4th satellite place value as new accurate locator value.This mode utilizes two values to calculate, and can obtain accurate locator value, and processing speed is very fast with less resource consumption.
Preferably, described GNSS module is also for obtaining the velocity amplitude of described locating device movement, and when described sensor assembly judges that described locating device remains static, described velocity amplitude makes zero and exports by described processing module.
When locating device remains static, static drift occurs, the velocity amplitude that existing locating device exports often there will be non-vanishing phenomenon, brings a lot of puzzlement to user.And when utilizing sensor assembly to detect that mobile device remains static, processing module proofreads described velocity amplitude, make it make zero, make user obtain data more accurately.
Locating device of the present invention can comprise a display module, and described accurate locator value or described velocity amplitude directly can be shown by described display module; Described locating device also can by GPRS(general packet radio service technology) or SMS(short message service) accurate locator value or described velocity amplitude are sent to far-end to show; Described accurate locator value or described velocity amplitude can also pass through AT(Modem commands language) order and directly read by the treating apparatus of computer one class.
Preferably, described sensor assembly is acceleration transducer.A kind of optimal way of sensor assembly is acceleration transducer, and acceleration transducer is a kind of common sensor, can judge whether the device comprising sensor remains static accurately.
The present invention also provides a kind of localization method of locating device as above, and its feature is, described localization method comprises:
The satellite place value of the current location of locating device described in described GNSS module timing acquisition;
Described sensor assembly timing judges whether described locating device remains static, if then call described processing module;
Described GNSS module is divided into some groups in the static rear up-to-date whole satellite place values once obtained of described locating device by described processing module, and the mean value getting the whole satellite place values described in each included by group is as cell mean, the mean value then getting whole cell mean exports as the accurate locator value of the current location of described locating device.
Localization method of the present invention effectively can improve positioning precision and under the prerequisite improving static drift phenomenon, also has the advantage that the comparatively cheap and algorithm of manufacturing cost easily realizes.
Preferably, a satellite place value is only comprised in group described in each.
Above-mentioned packet mode is the mean value getting static rear whole satellite place value, the i.e. accurate locator value of the current location of described locating device, this accurate locator value significantly can promote the positioning precision of locating device under stationary state, effectively improves static drift phenomenon.
Preferably, enter stationary state at described locating device by motion state and keep in the process of stationary state, the satellite place value that described GNSS module first time obtains when first time is called by described processing module to export and the mean value getting the accurate locator value that the up-to-date satellite place value that once obtains of described GNSS module and described processing module once export when after this called exports as accurate locator value as accurate locator value.
This method utilizes two values to calculate, and can obtain accurate locator value, and processing speed is very fast with less resource consumption.
Preferably, the satellite place value of the current location of locating device described in described GNSS module timing acquisition also obtains the velocity amplitude of described locating device movement, when described sensor assembly judges that described locating device remains static, described velocity amplitude makes zero and exports by described processing module.
When locating device remains static, static drift occurs, the velocity amplitude that existing locating device exports often there will be non-vanishing phenomenon, brings a lot of puzzlement to user.And when utilizing sensor assembly to detect that mobile device remains static, processing module proofreads described velocity amplitude, user is made to obtain data more accurately.
Preferably, described sensor assembly is acceleration transducer.
Positive progressive effect of the present invention is: the present invention significantly can improve the phenomenon of static drift, makes user obtain more accurate satellite place value.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment 1 of locating device of the present invention.
Fig. 2 is the locating effect figure of locating device in prior art.
Fig. 3 is the locating effect figure of the embodiment 1 of locating device of the present invention.
Embodiment
Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.
Embodiment 1
See Fig. 1, the present embodiment provides a kind of locating device 1, and it comprises GNSS module 11, GSM(global system for mobile communications) module 12 and an acceleration transducer 13.Wherein gsm module 12 can carry out parsing and the calculating of data, is the optimal way of processing module.Acceleration transducer 13 can judge whether locating device 1 remains static accurately, is a kind of optimal way of sensor assembly.
Wherein gsm module 12 is by I2C(Inter-Integrated Circuit, twin wire universal serial bus) interface be connected with acceleration transducer 13 and by UART(universal asynchronous receiving-transmitting transmitter) interface is connected with GNSS module 11.
The satellite place value of described GNSS module 11 for the current location of locating device described in timing acquisition 1 and the velocity amplitude of described locating device 1 movement.
Described acceleration transducer 13 judges whether described locating device 1 remains static, if then call described gsm module 12 for timing.
Described gsm module 12 for get described GNSS module 11 whole satellite place values of the last static rear acquisition of described locating device 1 mean value as the current location of described locating device 1 accurate locator value and described velocity amplitude is made zero.
Wherein, namely described gsm module 12 gets the mean value of whole satellite place value: whole satellite place value is divided into some groups, a satellite place value is only comprised in group described in each, the cell mean of each group equals the satellite place value that this group comprises, and then gets the mean value of whole cell mean.One described group comprises a kind of packet mode that a satellite place value is whole satellite place value, can improve static drift phenomenon better.
Described locating device 1 comprises a display screen, for showing described accurate locator value and described velocity amplitude, is namely that described accurate locator value and described velocity amplitude are exported by display screen by locating device 1.
The repeatedly static immobilization of existing locating device as shown in Figure 2, the triangle 31 in figure is the position that existing locating device is oriented, and wherein the maximum distance of physical location and position location is more than 120 meters, each position location relative distribution.
And the repeatedly static immobilization of the locating device 1 of the present embodiment shown in Fig. 3, wherein the maximum distance of physical location and position location is below 60 meters, and position location is comparatively concentrated.
The locating device 1 of the present embodiment significantly can improve the phenomenon of static drift, makes user obtain more accurate satellite place value.
Correspondingly, the present invention also provides a kind of localization method of locating device as above, and described localization method comprises:
The satellite place value of the current location of locating device described in described GNSS module timing acquisition and the velocity amplitude of described locating device movement.
Described acceleration transducer timing judges whether described locating device remains static, if then call described gsm module.
Described GNSS module is divided into some groups in the static rear up-to-date whole satellite place values once obtained of described locating device by described gsm module, only comprise a satellite place value in group described in each, and the mean value getting whole cell mean as the current location of described locating device accurate locator value and described velocity amplitude is made zero.
The localization method of the present embodiment significantly can improve the phenomenon of static drift, and algorithm easily realizes, and makes user obtain more accurate satellite place value.
Embodiment 2
The locating device of the present embodiment is substantially identical with the locating device of embodiment 1, difference is only: enter stationary state at described locating device by motion state and keep in the process of stationary state, and described gsm module to export as accurate locator value and mean value for getting the accurate locator value that the up-to-date satellite place value that once obtains of described GNSS module and described gsm module once export when after this called exports as accurate locator value for the satellite place value that obtained described GNSS module first time when first time is called.
The locating device of the present embodiment utilizes two values to calculate, and can obtain accurate locator value, and processing speed is very fast with less resource consumption.
Correspondingly, the localization method of the present embodiment is substantially identical with the localization method of embodiment 1, and difference is only:
The satellite place value that described GNSS module first time obtains when first time is called by described gsm module to export and described velocity amplitude makes zero as accurate locator value by the mean value of getting the accurate locator value that the up-to-date satellite place value that once obtains of described GNSS module and described gsm module once export when after this called as accurate locator value.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (10)
1. a locating device, it comprises a GNSS module, it is characterized in that, described locating device also comprises a processing module and a sensor assembly,
Described GNSS module is used for the satellite place value of the current location of locating device described in timing acquisition;
Described sensor assembly is used for timing and judges whether described locating device remains static, if then call described processing module;
Described processing module is used for described GNSS module to be divided into some groups in whole satellite place values of the last static rear acquisition of described locating device, and the mean value getting the whole satellite place values described in each included by group is as cell mean, the mean value then getting whole cell mean exports as the accurate locator value of the current location of described locating device.
2. locating device as claimed in claim 1, is characterized in that, only comprise a satellite place value in group described in each.
3. locating device as claimed in claim 1, it is characterized in that, enter stationary state at described locating device by motion state and keep in the process of stationary state, described processing module to export as accurate locator value and mean value for getting the accurate locator value that the up-to-date satellite place value that once obtains of described GNSS module and described processing module once export when after this called exports as accurate locator value for the satellite place value that obtained described GNSS module first time when first time is called.
4. locating device as claimed in claim 1, it is characterized in that, described GNSS module is also for obtaining the velocity amplitude of described locating device movement, and when described sensor assembly judges that described locating device remains static, described velocity amplitude makes zero and exports by described processing module.
5. as the locating device in Claims 1-4 as described in any one, it is characterized in that, described sensor assembly is acceleration transducer.
6. as a localization method for the locating device in claim 1 to 5 as described in any one, it is characterized in that, described localization method comprises:
The satellite place value of the current location of locating device described in described GNSS module timing acquisition;
Described sensor assembly timing judges whether described locating device remains static, if then call described processing module;
Described GNSS module is divided into some groups in the static rear up-to-date whole satellite place values once obtained of described locating device by described processing module, and the mean value getting the whole satellite place values described in each included by group is as cell mean, the mean value then getting whole cell mean exports as the accurate locator value of the current location of described locating device.
7. localization method as claimed in claim 6, is characterized in that, only comprise a satellite place value in group described in each.
8. localization method as claimed in claim 6, it is characterized in that, enter stationary state at described locating device by motion state and keep in the process of stationary state, the satellite place value that described GNSS module first time obtains when first time is called by described processing module to export and the mean value getting the accurate locator value that the up-to-date satellite place value that once obtains of described GNSS module and described processing module once export when after this called exports as accurate locator value as accurate locator value.
9. localization method as claimed in claim 6, it is characterized in that, the satellite place value of the current location of locating device described in described GNSS module timing acquisition also obtains the velocity amplitude of described locating device movement, when described sensor assembly judges that described locating device remains static, described velocity amplitude makes zero and exports by described processing module.
10. as the localization method in claim 6 to 9 as described in any one, it is characterized in that, described sensor assembly is acceleration transducer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310492568.5A CN104570025A (en) | 2013-10-18 | 2013-10-18 | Positioning device and positioning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310492568.5A CN104570025A (en) | 2013-10-18 | 2013-10-18 | Positioning device and positioning method thereof |
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| CN201310492568.5A Pending CN104570025A (en) | 2013-10-18 | 2013-10-18 | Positioning device and positioning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106813669A (en) * | 2015-12-01 | 2017-06-09 | 骑记(厦门)科技有限公司 | The modification method and device of movable information |
| CN109839613A (en) * | 2017-11-30 | 2019-06-04 | 中国科学院计算技术研究所 | A kind of radio frequency positioning method and device calibrated using routing information |
| CN110275191A (en) * | 2019-05-24 | 2019-09-24 | 深圳市元征科技股份有限公司 | A kind of static drift modification method, device, mobile unit and storage medium |
| CN110406565A (en) * | 2019-08-01 | 2019-11-05 | 南京富岛信息工程有限公司 | The positioning and rectifying of Intelligent iron shoe and stolen determination method and device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106813669A (en) * | 2015-12-01 | 2017-06-09 | 骑记(厦门)科技有限公司 | The modification method and device of movable information |
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| CN109839613A (en) * | 2017-11-30 | 2019-06-04 | 中国科学院计算技术研究所 | A kind of radio frequency positioning method and device calibrated using routing information |
| CN109839613B (en) * | 2017-11-30 | 2023-05-02 | 中国科学院计算技术研究所 | Radio frequency positioning method and device using path information calibration |
| CN110275191A (en) * | 2019-05-24 | 2019-09-24 | 深圳市元征科技股份有限公司 | A kind of static drift modification method, device, mobile unit and storage medium |
| CN110406565A (en) * | 2019-08-01 | 2019-11-05 | 南京富岛信息工程有限公司 | The positioning and rectifying of Intelligent iron shoe and stolen determination method and device |
| CN110406565B (en) * | 2019-08-01 | 2021-07-20 | 南京富岛信息工程有限公司 | Method and device for positioning, correcting and judging theft of intelligent iron shoe |
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Application publication date: 20150429 |