CN105547292A - System for improving indoor positioning precision on basis of gyroscope and compass - Google Patents
System for improving indoor positioning precision on basis of gyroscope and compass Download PDFInfo
- Publication number
- CN105547292A CN105547292A CN201511032309.XA CN201511032309A CN105547292A CN 105547292 A CN105547292 A CN 105547292A CN 201511032309 A CN201511032309 A CN 201511032309A CN 105547292 A CN105547292 A CN 105547292A
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- China
- Prior art keywords
- compass
- gyroscope
- target
- dimensional
- locator data
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Classifications
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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
- G01C21/165—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
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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
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Navigation (AREA)
Abstract
The invention provides a system for improving the indoor positioning precision on the basis of a gyroscope and a compass. According to the system, accelerated speed data of an object is calculated in a three-dimensional space through two-dimensional plane direction positioning data supplied by the compass, three-dimensional plane direction positioning data supplied by the gyroscope and a gravity sensor, a velocity vector of the object in the three-dimensional space is calculated by combining an algorithm, and meanwhile differential operation is performed through wireless positioning data based on Bluetooth and the positioning data so that the indoor positioning precision can be significantly improved.
Description
Technical field
The present invention relates to mobile terminal device technical field, particularly relate to a kind of system improving indoor position accuracy based on gyroscope and compass.
Background technology
Digital compass is one of standard configuration of smart mobile phone, and user can use digital compass to know direction very easily.In the prior art, there are following two point defects in digital compass: the small factor that there is a large amount of disturbing magnetic fields in (1) environment, and these small factor long term accumulation can cause compass to be forbidden, still not having testing mechanism to detect that compass is forbidden in prior art needs to correct, therefore user can be caused when guide for use pin, compass indicated direction mistake; (2) user can be pointed out again to correct compass when compass detects that changes of magnetic field is larger, but in fact likely compass itself be not interfered make this prompting user operation become unnecessary operation, waste the time of user.Therefore, prior art existing defects, and need to be improved and develop.
Summary of the invention
The invention provides a kind of system improving indoor position accuracy based on gyroscope and compass, increase substantially indoor position accuracy.
The present invention is achieved through the following technical solutions:
Improve a system for indoor position accuracy based on gyroscope and compass, it comprises:
Compass, obtains the two dimensional surface direction locator data of target Location.
Gyroscope, obtains the three-dimensional space direction locator data of target Location.
Gravity sensor, calculates the object acceleration information of target in three dimensions.
Arithmetical unit, the three-dimensional space direction locator data that the two dimensional surface direction locator data obtained compass, gyroscope obtain and the object acceleration information that calculates in three dimensions of gravity sensor carry out the computing of blending algorithm, obtain the velocity vector of target in three dimensions and target present position.
Bluetooth radio module, obtains the blue teeth wireless locator data of target.
Computing rectification module, carries out calculus of differences according to velocity vector in three dimensions of blue teeth wireless locator data and target and target present position, obtains the velocity vector of the target after correcting in three dimensions and target present position.
Further, described compass is three-dimensional electronic compass.
Further, described three-dimensional electronic compass is made up of three-dimensional magnetoresistive transducer, double-shaft tilt angle sensor and MCU.Three-dimensional magnetoresistive transducer is used for measuring magnetic field of the earth, and obliquity sensor compensates when magnetometer non-standard state; The signal of MCU process magnetometer and obliquity sensor and data export and soft iron, hard iron compensation.
Further, described gyroscope is sensing gyroscope instrument.
Compared with prior art, the invention has the beneficial effects as follows:
The three-dimensional space direction locator data that the present invention is provided by the two dimensional surface direction locator data that utilizes compass to provide, gyroscope and gravity sensor calculate object acceleration information in three dimensions, combination algorithm calculates the velocity vector of object in three dimensions, utilize simultaneously and carry out calculus of differences based on blue teeth wireless locator data and above-mentioned locator data, significantly can improve indoor position accuracy.
Accompanying drawing explanation
Fig. 1 is the system schematic improving indoor position accuracy based on gyroscope and compass of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, a kind of system improving indoor position accuracy based on gyroscope and compass, it comprises:
Compass 100, obtains the two dimensional surface direction locator data of target Location.
Gyroscope 200, obtains the three-dimensional space direction locator data of target Location.
Gravity sensor 300, calculates the object acceleration information of target in three dimensions.
Arithmetical unit 400, the three-dimensional space direction locator data that the two dimensional surface direction locator data obtained compass, gyroscope obtain and the object acceleration information that calculates in three dimensions of gravity sensor carry out the computing of blending algorithm, obtain the velocity vector of target in three dimensions and target present position.
Bluetooth radio module 500, obtains the blue teeth wireless locator data of target.
Computing rectification module 600, carries out calculus of differences according to velocity vector in three dimensions of blue teeth wireless locator data and target and target present position, obtains the velocity vector of the target after correcting in three dimensions and target present position.
Further, described compass 100 is three-dimensional electronic compass.
Further, described three-dimensional electronic compass is made up of three-dimensional magnetoresistive transducer, double-shaft tilt angle sensor and MCU.Three-dimensional magnetoresistive transducer is used for measuring magnetic field of the earth, and obliquity sensor compensates when magnetometer non-standard state; The signal of MCU process magnetometer and obliquity sensor and data export and soft iron, hard iron compensation.
Further, described gyroscope is sensing gyroscope instrument.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. improve a system for indoor position accuracy based on gyroscope and compass, it is characterized in that, comprising:
Compass, obtains the two dimensional surface direction locator data of target Location;
Gyroscope, obtains the three-dimensional space direction locator data of target Location;
Gravity sensor, calculates the object acceleration information of target in three dimensions;
Arithmetical unit, the three-dimensional space direction locator data that the two dimensional surface direction locator data obtained compass, gyroscope obtain and the object acceleration information that calculates in three dimensions of gravity sensor carry out the computing of blending algorithm, obtain the velocity vector of target in three dimensions and target present position;
Bluetooth radio module, obtains the blue teeth wireless locator data of target;
Computing rectification module, carries out calculus of differences according to velocity vector in three dimensions of blue teeth wireless locator data and target and target present position, obtains the velocity vector of the target after correcting in three dimensions and target present position.
2. improve the system of indoor position accuracy as claimed in claim 1 based on gyroscope and compass, it is characterized in that, described compass is three-dimensional electronic compass.
3. improve the system of indoor position accuracy as claimed in claim 2 based on gyroscope and compass, it is characterized in that, described three-dimensional electronic compass is made up of three-dimensional magnetoresistive transducer, double-shaft tilt angle sensor and MCU.Three-dimensional magnetoresistive transducer is used for measuring magnetic field of the earth, and obliquity sensor compensates when magnetometer non-standard state; The signal of MCU process magnetometer and obliquity sensor and data export and soft iron, hard iron compensation.
4. improve the system of indoor position accuracy as claimed in claim 1 based on gyroscope and compass, it is characterized in that, described gyroscope is sensing gyroscope instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511032309.XA CN105547292A (en) | 2015-12-30 | 2015-12-30 | System for improving indoor positioning precision on basis of gyroscope and compass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511032309.XA CN105547292A (en) | 2015-12-30 | 2015-12-30 | System for improving indoor positioning precision on basis of gyroscope and compass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105547292A true CN105547292A (en) | 2016-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511032309.XA Pending CN105547292A (en) | 2015-12-30 | 2015-12-30 | System for improving indoor positioning precision on basis of gyroscope and compass |
Country Status (1)
| Country | Link |
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| CN (1) | CN105547292A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426024A (en) * | 2019-09-05 | 2019-11-08 | 曲靖市野阳测绘科技有限公司 | It is capable of measuring coordinate and receives the whole station RTK handbook of radio station differential signal |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101655554A (en) * | 2009-05-20 | 2010-02-24 | 北京派瑞根科技开发有限公司 | System for tracking object movement locus |
| CN202191683U (en) * | 2011-07-21 | 2012-04-18 | 德信互动科技（北京）有限公司 | Hand-held terminal |
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
| CN104703130A (en) * | 2014-12-11 | 2015-06-10 | 上海智向信息科技有限公司 | Positioning method based on indoor positioning and device for positioning method |
-
2015
- 2015-12-30 CN CN201511032309.XA patent/CN105547292A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101655554A (en) * | 2009-05-20 | 2010-02-24 | 北京派瑞根科技开发有限公司 | System for tracking object movement locus |
| CN202191683U (en) * | 2011-07-21 | 2012-04-18 | 德信互动科技（北京）有限公司 | Hand-held terminal |
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
| CN104703130A (en) * | 2014-12-11 | 2015-06-10 | 上海智向信息科技有限公司 | Positioning method based on indoor positioning and device for positioning method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426024A (en) * | 2019-09-05 | 2019-11-08 | 曲靖市野阳测绘科技有限公司 | It is capable of measuring coordinate and receives the whole station RTK handbook of radio station differential signal |
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Application publication date: 20160504 |
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| RJ01 | Rejection of invention patent application after publication |