CN104976997A - Integrated design method of personal indoor navigation system - Google Patents
Integrated design method of personal indoor navigation system Download PDFInfo
- Publication number
- CN104976997A CN104976997A CN201410130890.8A CN201410130890A CN104976997A CN 104976997 A CN104976997 A CN 104976997A CN 201410130890 A CN201410130890 A CN 201410130890A CN 104976997 A CN104976997 A CN 104976997A
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- Prior art keywords
- module
- navigation
- navigation system
- measurement unit
- inertial measurement
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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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)
- Navigation (AREA)
Abstract
The invention relates to the technical field of micro-inertial navigation, and in particular relates to an integrated design method of a personal indoor navigation system. The integrated design method comprises the following steps: (1), designing a system position, wherein the position design needs to meet at least two requirements, namely, (a), the installation position of a navigation module needs to ensure that the motion state and the static state of a human-body foot are easy to detect in a dividing manner and the duration time of the static state is longer, and (b), installation of the navigation module, a communication module and a power supply module should be hidden as much as possible and protective measures are adopted to avoid friction and collision damage in the use process; (2), designing the modules; and (3), assembling. The integrated design method disclosed by the invention has the effects that by means of the method disclosed by the invention, the personal indoor navigation system which has a navigation function and is suitable for a specific individual can be designed; and furthermore, the designed personal indoor navigation system is small in size and light in weight and is applied to indoor navigation.
Description
Technical field
The present invention relates to micro-inertial navigation technical field, be specifically related to a kind of individual indoor navigation system integral design method.
Background technology
The high precision had due to satellite navigation, low-power consumption, the unique advantage such as portable, its application is in daily life increasingly extensive, but because satellite-signal can not be located and the navigation needs that cannot meet user by blocking satellite user machine in the confined spaces such as indoor, underground and work factory building.
Individual's indoor navigation system does not rely on satellite navigation, completely autonomous unique advantage and be subject to increasing attention due to it, American-European countries headed by the U.S. to the research and development starting of this system comparatively early, but not yet there is goods shelf products, blank in order to fill up the domestic research and development to this technology and product, the design of individual indoor navigation system is proposed.
Summary of the invention
The object of the invention is the defect for prior art, a kind of individual indoor navigation system integral design method is provided.
The present invention is achieved in that a kind of individual indoor navigation system integral design method, comprises the steps:
Step one: alliance designs
Position Design at least comprises following two requirements:
The selection of (a) navigation module installation site the motion state of human foot and stationary state should be made easily to distinguish detection and the stationary state duration longer;
B the installation of () navigation module, communication module and supply module should be tried one's best hidden and be taked safeguard measure to avoid friction in use procedure, damaged in collision;
After determining individual indoor navigation system installation site, perform step 2,
Step 2: modular design
According to the installation site that step one is determined, the size of designing power supply module, communication module and navigation module and power,
Step 3: assembling
According to designing in advance, modules being assembled, and tests.
A kind of individual indoor navigation system, wherein, comprise the navigation shoe as carrier, in the instep position of navigation shoe, power module and communication module are set, arrange navigation module in the heel position of navigation shoe, described power module provides the energy to communication module and navigation module, and navigation module navigates according to the position detected, velocity information, and output signal is transferred to communication module, communication module is used for mutual with higher level's main frame.
The individual indoor navigation system of one as above, wherein, described navigation module 3 comprises micro inertial measurement unit, digital computation processing module, navigation module integrated framework, wherein micro inertial measurement unit is for generation of navigation information, the data that digital computation processing module is used for micro inertial measurement unit produces process, and navigation module integrated framework is the integrated installation mechanical frock of micro inertial measurement unit and digital computation processing module.
The individual indoor navigation system of one as above, wherein, the technical indicator of described micro inertial measurement unit is:
(a) gyro to measure area requirement
X-direction :≤1000 °/s;
Y direction :≤800 °/s;
Z-direction :≤1200 °/s;
(b) accelerometer measures area requirement
X-direction :≤18g;
Y direction :≤15g;
Z-direction :≤15g.
The individual indoor navigation system of one as above, wherein, described digital computation processing module comprises with lower part:
A) with micro inertial measurement unit power, communication interface;
B) central processing unit of very fast calculation process speed is possessed;
C) for the FLASH region of software storage;
D) for the ram space of running software;
E) for the external communication interface of Bootload and data communication;
F) with the power supply interface of supply module adaptation.
The individual indoor navigation system of one as above, wherein, navigation module integrated framework is made up of upper and lower layer shell and screw, arranges micro inertial measurement unit, digital computation processing module between upper and lower layer shell.
Effect of the present invention is: the people's indoor navigation system with navigation feature can being designed applicable unique individual by method of the present invention, and the people's indoor navigation system volume designed is little, lightweight, is applicable to carrying out indoor navigation.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation that the invention provides navigational system;
Accompanying drawing 2 is composition frame charts of individual indoor navigation system;
Accompanying drawing 3 is structural representations of navigation module integrated framework.
In figure: 1. power module, 2. communication module, 3. navigation module, 4. navigation shoe.
Embodiment
A kind of individual indoor navigation system integral design method, comprises the steps:
Step one: alliance designs
Individual's indoor navigation system is individual portable device, and following two requirements must be included in Position Design:
The selection of (a) navigation module installation site the motion state of human foot and stationary state should be made easily to distinguish detection and the stationary state duration longer;
B the installation of () navigation module, communication module and supply module should be tried one's best hidden and be taked safeguard measure to avoid friction in use procedure, damaged in collision;
After determining individual indoor navigation system installation site, perform step 2.
Step 2: modular design
According to the installation site that step one is determined, the size of designing power supply module, communication module and navigation module and power.
This step method for designing is conventionally carried out.
Step 3: assembling
According to designing in advance, modules being assembled, and tests.
As shown in Figure 1, a kind of individual indoor navigation system, comprises the navigation shoe 4 as carrier, arranges power module 1 and communication module 2 in the instep position of navigation shoe 4, arranges navigation module 3 in the heel position of navigation shoe 4.Described power module 1 provides the energy to communication module 2 and navigation module 3, and navigation module 3 navigates according to the position detected, velocity information, and output signal is transferred to communication module 2, and communication module 2 is for mutual with higher level's main frame.
Described navigation module 3 comprises micro inertial measurement unit, digital computation processing module, navigation module integrated framework.Wherein micro inertial measurement unit chooses the micro inertial measurement unit researched and developed based on ripe micro-electromechanical technology, and the principle that micro inertial measurement unit is chosen is that navigation elements volume is little, lightweight, low in energy consumption.The data that digital computation processing module is used for micro inertial measurement unit produces process, and can select matured product of the prior art.Navigation module integrated framework is the integrated installation mechanical frock of micro inertial measurement unit and digital computation processing module; effect that is fixing, protection is played to whole navigation module; navigation module integrated framework manufactures according to the size design of micro inertial measurement unit, digital computation processing module, and this technology is mature technology to those skilled in the art.
The technical indicator of described micro inertial measurement unit is:
(a) gyro to measure area requirement
X-direction :≤1000 °/s;
Y direction :≤800 °/s;
Z-direction :≤1200 °/s;
(b) accelerometer measures area requirement
X-direction :≤18g;
Y direction :≤15g;
Z-direction :≤15g;
Described digital computation processing module comprises with lower part:
G) with micro inertial measurement unit power, communication interface;
H) central processing unit of very fast calculation process speed is possessed;
I) for the FLASH region of software storage;
J) for the ram space (in sheet or outside sheet) of running software;
K) for the external communication interface of Bootload and data communication;
L) with the power supply interface of supply module adaptation.
Navigation module integrated framework as shown in Figure 3, is made up of upper and lower layer shell and screw, arranges micro inertial measurement unit, digital computation processing module between upper and lower layer shell.
Claims (6)
1. an individual indoor navigation system integral design method, is characterized in that, comprise the steps:
Step one: alliance designs
Position Design at least comprises following two requirements:
The selection of (a) navigation module installation site the motion state of human foot and stationary state should be made easily to distinguish detection and the stationary state duration longer;
B the installation of () navigation module, communication module and supply module should be tried one's best hidden and be taked safeguard measure to avoid friction in use procedure, damaged in collision;
After determining individual indoor navigation system installation site, perform step 2,
Step 2: modular design
According to the installation site that step one is determined, the size of designing power supply module, communication module and navigation module and power,
Step 3: assembling
According to designing in advance, modules being assembled, and tests.
2. an individual indoor navigation system, it is characterized in that: comprise the navigation shoe (4) as carrier, power module (1) and communication module (2) are set in the instep position of navigation shoe (4), in the heel position of navigation shoe (4), navigation module (3) is set, described power module (1) provides the energy to communication module (2) and navigation module (3), navigation module (3) navigates according to the position detected, velocity information, and output signal being transferred to communication module (2), communication module (2) is for mutual with higher level's main frame.
3. a kind of individual indoor navigation system as claimed in claim 2, it is characterized in that: described navigation module 3 comprises micro inertial measurement unit, digital computation processing module, navigation module integrated framework, wherein micro inertial measurement unit is for generation of navigation information, the data that digital computation processing module is used for micro inertial measurement unit produces process, and navigation module integrated framework is the integrated installation mechanical frock of micro inertial measurement unit and digital computation processing module.
4. a kind of individual indoor navigation system as claimed in claim 3, is characterized in that: the technical indicator of described micro inertial measurement unit is:
(a) gyro to measure area requirement
X-direction :≤1000 °/s;
Y direction :≤800 °/s;
Z-direction :≤1200 °/s;
(b) accelerometer measures area requirement
X-direction :≤18g;
Y direction :≤15g;
Z-direction :≤15g.
5. a kind of individual indoor navigation system as claimed in claim 3, is characterized in that: described digital computation processing module comprises with lower part:
A) with micro inertial measurement unit power, communication interface;
B) central processing unit of very fast calculation process speed is possessed;
C) for the FLASH region of software storage;
D) for the ram space of running software;
E) for the external communication interface of Bootload and data communication;
F) with the power supply interface of supply module adaptation.
6. a kind of individual indoor navigation system as claimed in claim 3, is characterized in that: navigation module integrated framework is made up of upper and lower layer shell and screw, arranges micro inertial measurement unit, digital computation processing module between upper and lower layer shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410130890.8A CN104976997A (en) | 2014-04-02 | 2014-04-02 | Integrated design method of personal indoor navigation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410130890.8A CN104976997A (en) | 2014-04-02 | 2014-04-02 | Integrated design method of personal indoor navigation system |
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| CN104976997A true CN104976997A (en) | 2015-10-14 |
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| CN201410130890.8A Pending CN104976997A (en) | 2014-04-02 | 2014-04-02 | Integrated design method of personal indoor navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111190344A (en) * | 2018-11-15 | 2020-05-22 | 北京自动化控制设备研究所 | Design method of satellite navigation military code time service equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101694391A (en) * | 2009-07-28 | 2010-04-14 | 姚戈 | Walking navigation instrument |
| CN102261915A (en) * | 2011-04-27 | 2011-11-30 | 浙江大学 | Pedestrian inertial navigation device and method |
| CN103230120A (en) * | 2013-05-09 | 2013-08-07 | 熊廷美 | Intelligent shoe system |
| CN103499354A (en) * | 2013-09-24 | 2014-01-08 | 哈尔滨工程大学 | Neyman-Pearson criterion-based zero speed detection method |
| CN203480031U (en) * | 2013-08-28 | 2014-03-12 | 无锡慧思顿科技有限公司 | Intelligent shoes based on multi-group sensors |
-
2014
- 2014-04-02 CN CN201410130890.8A patent/CN104976997A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101694391A (en) * | 2009-07-28 | 2010-04-14 | 姚戈 | Walking navigation instrument |
| CN102261915A (en) * | 2011-04-27 | 2011-11-30 | 浙江大学 | Pedestrian inertial navigation device and method |
| CN103230120A (en) * | 2013-05-09 | 2013-08-07 | 熊廷美 | Intelligent shoe system |
| CN203480031U (en) * | 2013-08-28 | 2014-03-12 | 无锡慧思顿科技有限公司 | Intelligent shoes based on multi-group sensors |
| CN103499354A (en) * | 2013-09-24 | 2014-01-08 | 哈尔滨工程大学 | Neyman-Pearson criterion-based zero speed detection method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111190344A (en) * | 2018-11-15 | 2020-05-22 | 北京自动化控制设备研究所 | Design method of satellite navigation military code time service equipment |
| CN111190344B (en) * | 2018-11-15 | 2022-01-11 | 北京自动化控制设备研究所 | Design method of satellite navigation military code time service equipment |
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