CN105783920A - Indoor and outdoor positioning method, positioning system, and positioning foot rings - Google Patents
Indoor and outdoor positioning method, positioning system, and positioning foot rings Download PDFInfo
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- CN105783920A CN105783920A CN201610253434.1A CN201610253434A CN105783920A CN 105783920 A CN105783920 A CN 105783920A CN 201610253434 A CN201610253434 A CN 201610253434A CN 105783920 A CN105783920 A CN 105783920A
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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
- G01C21/14—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 recording the course traversed by the object
Abstract
The invention discloses an indoor and outdoor positioning method, a positioning system and positioning foot rings. The method comprises the following steps: (1) separately putting on the foot rings on a left ankle and a right ankle, wherein radio receiving and transmitting modules, ultrasonic wave receiving and transmitting modules and double magnetic compasses are arranged on the foot rings; (2) performing TDOA distance measurement based on the ultrasonic wave receiving and transmitting modules and the radio receiving and transmitting modules, so as to obtain a real-time distance between two feet within a walking cycle; (3) performing course angle detection based on the double magnetic compasses; (4) acquiring the stride di and the course angle theta i of a track based on the step (2) and the step (3); (5) substituting the stride di and the course angle theta i obtained in the step (4) into a calculating formula for reckoning the pedestrian track, namely a north coordinate shown in the description, an east coordinate shown in the description, so as to obtain the current pedestrian position coordinate. According to the indoor and outdoor positioning method, the positioning system and the positioning foot rings disclosed by the invention, hardware is integrated on the foot rings, and the foot rings are convenient to disassemble, assemble and carry, high in capacity of resisting disturbance, reliability, stability and generality, and free from complicated mounting and connecting, and is directly disassembled and assembled, so that the foot rings are suitable for any people.
Description
Technical field
The present invention relates to positioning and navigation field, particularly relate to a kind of indoor and outdoor localization method and alignment system, location foot ring.
Background technology
The seamless location navigation of indoor and outdoor how realizing full spatial domain is always up the focus that each great institutions falls over each other to study.Outdoor positioning relies primarily on the satellite navigations such as the GPS/ Big Dipper, and technology maturation, reliability are high.The indoor positioning of main flow relies on wireless location, as WIFI positions, bluetooth location, Zigbee location, mobile communications network location, relies in the GPS/ Big Dipper signal cabin retransmission unit location etc..But these indoor wireless position all of base station location to be needed to set in advance, once environment change or network coverage change, the positioning result finally given arises that gross error.And it is view distance environment that indoor wireless location needs the environment between base station and receiver, and human body blocks, multipath transmisstion, co-channel interference are very big to location precision.
Some indoor orientation methods are also had not rely on base station, as relied on indoor earth magnetism power location and inertia auxiliary positioning.Earth magnetism indoor positioning is the method for a kind of absolute force fingerprint recognition coupling.This method needs huge fingerprint database, and database establishment difficulty is big, maintenance cost is high.Rely on pedestrian's reckoning indoor orientation method of MEMS inertia device, such as pedometer, taximeter.The forms of motion such as the method is independent of external environment, can independently position in real time, but positioning precision is low, poor stability, and there is inertial drift, it is impossible to is suitable for and runs, jump.
On market, the seamless alignment system of indoor and outdoor of report mainly has high moral map, " legendary ruler of great antiquity, the first of the Three August Ones and " system.GPS/LBS, indoor dependence WIFI or bluetooth location is relied on outside high moral Map Collection.The seamless location technology of indoor and outdoor that " legendary ruler of great antiquity, the first of the Three August Ones and " system is the Big Dipper outdoor airmanship of China and mobile communication base station location technology combines.Both localization methods depend on fixed base stations in indoor positioning.
How to realize being independent of external environment condition, and the seamless location of indoor and outdoor of noninertia drift is a difficult problem urgently to be resolved hurrily.
Summary of the invention
In order to solve above-mentioned the deficiencies in the prior art, the invention provides a kind of indoor and outdoor localization method, this method have employed and relies on the TDOA method of ultrasonic signal and wireless signal to carry out stride detection, noninertia drifting problem, by by hardware integration on foot ring, easy disassembly and easy to carry, capacity of resisting disturbance is strong, reliability is high, stability is strong, and versatility is high, connecting without complicated installation, directly dismounting is applicable to anyone, especially for child and old man；Solve that existing localization method hardware installation is complicated, not readily portable, dismounting inconvenience, and interference is relatively strong, stability is more weak and the problem that cannot realize versatility.This method is independent of fixed base stations, disturbs without non line of sight, it may be achieved indoor and outdoor independently positions, and solves the difficult problem that during existing indoor and outdoor seamless location, dependence fixed base stations, inertial drift and interference are strong.Present invention also offers a kind of indoor and outdoor alignment system and location foot ring.
The technical problem to be solved is achieved by the following technical programs:
A kind of indoor and outdoor localization method, it comprises the following steps:
(1) dress location with foot ring on ankle；Described location foot ring is provided with radio transceiver chip, ultrasonic transceiver module and double; two magnetic compass；Described radio transceiver chip includes corresponding radio transmitter module and radio reception module, and described ultrasonic transceiver module includes corresponding ultrasonic emitting module and ultrasound wave receiver module；
(2) TDOA range finding is carried out based on ultrasonic transceiver module and radio transceiver chip, it is thus achieved that real-time distance between bipod in walking cycle；
(3) course angle detection is carried out based on double; two magnetic compasses；
(4) based on the stride of step (2), (3) acquisition pedestrian's flight pathWith computing course angle；
(5) stride of step (4) and computing course angle are substituted into computing formula and the north orientation coordinate of pedestrian's reckoning:, east orientation coordinate:, namely obtain current pedestrian's position coordinates；Wherein,Representing the initial position of pedestrian, i represents i-th walking cycle, and n represents n walking cycle of walking.
Further, described location foot ring includes left foot ring and right crus of diaphragm ring；Described left foot ring is as signal sending end, including the first master controller, the radio transmitter module that is connected with described first master controller, ultrasonic emitting module, the first magnetic compass, described first master controller is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously, and described first magnetic compass and described radio transmitter module are arranged in a mutually vertical manner；Described right crus of diaphragm ring processes end as signal reception, including the second master controller, radio reception module, ultrasound wave receiver module, the second magnetic compass and the wireless communication module being connected with described second master controller, described second master controller is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path, and described second magnetic compass and described radio reception module are arranged in a mutually vertical manner.
Further, in step (1), when described left and right foot ring is worn on ankle, described ultrasonic transceiver module inside bipod, the dead ahead that double; two magnetic compasses are walked towards people.
Further, described radio transmitter module is arranged on the arc top place of described first ring-type supporting body, and described ultrasonic emitting module is near described radio transmitter module；Described radio reception module is arranged on the arc top place of described second ring-type supporting body, and described ultrasound wave receiver module is near described radio reception module.
Further, in step (1), described radio transmitter module and radio reception module to be mutually aligned when dressing.
Further, the horizontal plane transmitting-receiving angle of described ultrasonic transceiver module is 100 ~ 180 °, and vertical plane transmitting-receiving angle is 100 ~ 180 °.
Further, described ultrasonic transceiver module is one group of ultrasonic transceiver module or organizes ultrasonic transceiver module more；Described many group ultrasonic transceiver modules are 4 groups of ultrasonic transceiver modules.
Further, step (4) specifically includes: obtain step change curve according to the real-time bipod spacing recorded in walking cycle, and this step change curve is alternately made up of sinusoidal wave and square wave；Take the peak value stride as current Periodic Traveling people's flight path of walking of sine wave, and take the course angle (course angle that namely sinusoidal wave peak value moment is corresponding) in stride maximum moment as computing course angle。
Further, described radio transceiver chip is preferably but not limited to Zigbee transceiver module.
A kind of indoor and outdoor alignment system, comprising: it includes intelligent terminal and the location foot ring of intelligent terminal's communication connection, described location foot ring includes left foot ring and right crus of diaphragm ring；Described left foot ring is as signal sending end, including the first master controller, the radio transmitter module that is connected with described first master controller, ultrasonic emitting module, the first magnetic compass, described first master controller is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously, and described first magnetic compass and described radio transmitter module are arranged in a mutually vertical manner；Described right crus of diaphragm ring processes end as signal reception, including the second master controller, radio reception module, ultrasound wave receiver module, the second magnetic compass and the wireless communication module being connected with described second master controller, described second master controller is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path, and described second magnetic compass and described radio reception module are arranged in a mutually vertical manner.
Further, described radio transmitter module is arranged on the arc top place of described first ring-type supporting body, and described ultrasonic emitting module is near described radio transmitter module；Described radio reception module is arranged on the arc top place of described second ring-type supporting body, and described ultrasound wave receiver module is near described radio reception module.
Further, described radio transceiver chip is preferably but not limited to Zigbee transceiver module.
Further, the horizontal plane transmitting-receiving angle of described ultrasonic transceiver module is 100 ~ 180 °, and vertical plane transmitting-receiving angle is 100 ~ 180 °.
Further, described ultrasonic transceiver module is one group of ultrasonic transceiver module or organizes ultrasonic transceiver module more；Described many group ultrasonic transceiver modules are 4 groups of ultrasonic transceiver modules.
A kind of angle ring, including left foot ring and right crus of diaphragm ring；Described left foot ring is as signal sending end, including the first master controller, the radio transmitter module that is connected with described first master controller, ultrasonic emitting module, the first magnetic compass, described first master controller is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously, and described first magnetic compass and described radio transmitter module are arranged in a mutually vertical manner；Described right crus of diaphragm ring processes end as signal reception, including the second master controller, radio reception module, ultrasound wave receiver module, the second magnetic compass and the wireless communication module being connected with described second master controller, described second master controller is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path, and described second magnetic compass and described radio reception module are arranged in a mutually vertical manner.
Further, described radio transmitter module is arranged on the arc top place of described first ring-type supporting body, and described ultrasonic emitting module is near described radio transmitter module；Described radio reception module is arranged on the arc top place of described second ring-type supporting body, and described ultrasound wave receiver module is near described radio reception module.
Further, described radio transceiver chip is preferably but not limited to Zigbee transceiver module.
Further, the horizontal plane transmitting-receiving angle of described ultrasonic transceiver module is 100 ~ 180 °, and vertical plane transmitting-receiving angle is 100 ~ 180 °.
Further, described ultrasonic transceiver module is one group of ultrasonic transceiver module or organizes ultrasonic transceiver module more；Described many group ultrasonic transceiver modules are 4 groups of ultrasonic transceiver modules.
There is advantages that this method have employed relies on the TDOA method of ultrasonic signal and wireless signal to carry out stride detection, the problem of noninertia drift, by by hardware integration on foot ring, easy disassembly and easy to carry, capacity of resisting disturbance is strong, reliability is high, stability is strong, and versatility is high, connecting without complicated installation, directly dismounting is applicable to anyone, especially for child and old man；Solve that existing localization method hardware installation is complicated, not readily portable, dismounting inconvenience, and interference is relatively strong, stability is more weak and the problem that cannot realize versatility.This method is independent of fixed base stations, disturbs without non line of sight, it may be achieved indoor and outdoor independently positions, and solves the difficult problem that during existing indoor and outdoor seamless location, dependence fixed base stations, inertial drift and interference are strong.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of indoor and outdoor localization method of the present invention；
Fig. 2 is the structural representation of left foot ring of the present invention；
Fig. 3 is the side view of Fig. 2；
Fig. 4 is the structural representation of right crus of diaphragm ring of the present invention；
Fig. 5 is the level transmitting-receiving angle schematic diagram of ultrasonic transceiver module of the present invention；
Fig. 6 is the vertically transmitting-receiving angle schematic diagram of ultrasonic transceiver module of the present invention；
Fig. 7 is the schematic diagram of step change curve in indoor and outdoor localization method of the present invention；
Fig. 8 is the schematic diagram that in indoor and outdoor localization method of the present invention, course angle calculates；
Fig. 9 is the theory diagram of indoor and outdoor alignment system of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention will be described in detail.
Embodiment 1
Refer to Fig. 1 to 8, a kind of indoor and outdoor localization method based on TDOA and double; two magnetic compass realizes according to the following steps:
(1) dress location with foot ring on ankle；Described location foot ring is provided with radio transceiver chip, ultrasonic transceiver module and double; two magnetic compass；
When implementing, described location foot ring includes the left and right foot ring on the left and right ankle being worn on user respectively.
As shown in Figure 2,3, described left foot ring is as signal sending end, comprising: the first ring-type supporting body 1, and the Zigbee transmitter module 11 being arranged on described first ring-type supporting body 1, ultrasonic emitting module the 12, first magnetic compass the 13, first master controller the 14, first battery module 15；Described first ring-type supporting body 1 has an opening, C-shape under vertical view state, but is not limited to this；It is worn on left ankle by this opening, described opening opposite position is the arc top of ring-type supporting body, described Zigbee transmitter module 11 is arranged on the arc top place of described first ring-type supporting body 1, described ultrasonic emitting module 12 is near described Zigbee transmitter module 11, and the described first relatively described Zigbee transmitter module 11 of magnetic compass 13 is vertically mounted on described first ring-type supporting body 1 side；Described first master controller 14 is connected with described Zigbee transmitter module 11, ultrasonic emitting module the 12, first magnetic compass 13 and the first battery module 15 respectively, is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously；
As shown in Figure 4, described right crus of diaphragm ring processes end as signal reception, comprising: the second ring-type supporting body 2, and the Zigbee receiver module 21 being arranged on described second ring-type supporting body 2, ultrasound wave receiver module the 22, second magnetic compass the 23, second master controller the 24, second battery module 25 and wireless communication module 26.Described second ring-type supporting body 2 has an opening, C-shape under vertical view state, but is not limited to this；It is worn on right ankle by this opening, described opening opposite position is the arc top of ring-type supporting body, described Zigbee receiver module 21 is arranged on the arc top place of described second ring-type supporting body 2, described ultrasound wave receiver module 22 is near described Zigbee receiver module 21, and the described second relatively described Zigbee receiver module 21 of magnetic compass 23 is vertically mounted on described second ring-type supporting body 2 side；Described second master controller 24 is connected with described Zigbee receiver module 21, ultrasound wave receiver module the 22, second magnetic compass the 23, second battery module 25 and wireless communication module 26 respectively, is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path and be wirelessly transmitted on intelligent terminal by this pedestrian position coordinate.
It should be noted that, in order to improve accuracy of detection, reduce interference, when described left and right foot ring is worn on ankle, require that described ultrasonic emitting module and ultrasound wave receiver module are inside bipod, the dead ahead that first magnetic compass and the second magnetic compass are walked towards people is namely towards people's toe direction, it is more preferred to, it is respectively fitted over the Zigbee transmitter module on the bipod ring of two ankles and Zigbee receiver module and to be mutually aligned when dressing.
It should be noted that, in the foot ring of described left and right, each module all adopts existing module, and the module model that the annexation between each module, effect that those skilled in the art play according to each module and reality adopt is readily apparent the interconnected relationship obtaining each module, do not repeat them here.
(2) TDOA range finding is carried out based on ultrasonic transceiver module and Zigbee transceiver module, obtaining the real-time distance between bipod in walking cycle, this step is specific as follows: the timer timer counter difference time of advent range finding of Initialize installation, transmission received ultrasonic signal and radio, the second master controller.Wherein, when sending ultrasound wave and radio, need to ensure to be simultaneously emitted by two kinds of signals, when implementing, can send according to certain timing cycle, as sent once every 50ms, but be not limited to this；Transmission of wireless signals speed is, first arrive Zigbee receiver module, start timer, start counting up；Ultrasonic signal propagation speed is about, rear arrival ultrasound wave receiver module, after arrival, triggering timing terminates, and stops calculating；Timing time is multiplied byIt is the distance between bipod, it is achieved that the real-time distance between bipod when people walks.
(3) carrying out course angle detection based on double; two magnetic compasses, this step is specific as follows: Initialize installation, kalman filtering error compensate, double; two magnetic compass error correction.Wherein double; two magnetic compass error corrections relate to " splayfoot " error delta when people walks, and angle, final heading takes the average of bipod course angle, to eliminate " splayfoot " error delta during walking, as shown in Figure 8.
It should be noted that generally, walk in one direction, course angle is constant, when only turning, course angle just can change, but tie up to have at ankle place due to double; two magnetic compasses and rock, and the course angle recorded in a walking cycle also correspondence has changed a cycle.In same walking cycle, the bipod spacing that course angle is surveyed with TDOA is one to one, i.e. the corresponding course angle of each bipod spacing.
(4) based on the stride of step (2), (3) acquisition pedestrian's flight pathWith computing course angle；Specifically including: obtain step change curve according to the real-time bipod spacing recording in walking cycle, this step change curve is alternately made up of sinusoidal wave and square wave；Take the peak value stride as current Periodic Traveling people's flight path of walking of sine wave, and take the course angle (course angle that namely sinusoidal wave peak value moment is corresponding) in stride maximum moment as computing course angle.Due to the directionality of ultrasonic propagation, and it is installed on inside pedestrian's ankle；When ultrasonic signal normally receives, the bipod spacing recorded is in sine wave change, and when cannot receive, the rectangular ripple of bipod spacing recorded changes.In reality is walked, sinusoidal wave and square wave is alternately present in periodicity, as shown in Figure 7.
(5) by the stride of step (4)With computing course angleSubstitute into computing formula and the north orientation coordinate of pedestrian's reckoning:, east orientation coordinate:, the track and localization of pedestrian's track can be realized, i.e. real-time update pedestrian position coordinate；Wherein,Represent the initial position of pedestrian, it is possible to be (0,0), it is also possible to being obtained by GPS location, its acquisition methods is not limited to this；I represents i-th walking cycle；N represents n walking cycle of walking.
It should be noted that, step (2) to (5) shows the method for tracking and positioning carrying out pedestrian's track in a walking cycle, being continuous print walking cycle during concrete walking, namely repeat step (2) to (5), the position coordinates connecting each walking cycle is pedestrian's track.
(6) described right crus of diaphragm ring is through wireless communication module and intelligent terminal's communication connection, shows the pedestrian position coordinate of foot ring in real time, and then realize the indoor and outdoor location of pedestrian on intelligent terminal.
It should be noted that, refer to Fig. 5,6, ultrasonic transceiver module (transmitter module and receiver module) has high directivity, launch the feature of limited angle, it is 100 ~ 180 ° that the transmitting-receiving angle of ultrasonic transceiver module of the present invention is preferably horizontal plane transmitting-receiving angle, and vertical plane transmitting-receiving angle is 100 ~ 180 °, it is more preferred to, horizontal plane transmitting-receiving angle is 180 °, and vertical plane transmitting-receiving angle is 180 °；Can, according to practical situation, selecting to set suitable horizontal plane transmitting-receiving angle and vertical plane transmitting-receiving angle, as, when for normal walking states, horizontal plane transmitting-receiving angle is preferably 100 °, vertical plane transmitting-receiving angle is preferably 100 °；When for strenuous exercise's state being, horizontal plane transmitting-receiving angle is preferably 180 °, and vertical plane transmitting-receiving angle is preferably 180 °.Present invention preferably employs multiple sending and receiving sensor and carry out TDOA range finding so that ultrasonic signal transmitting-receiving angle is big as far as possible, it is more preferred to, adopt four groups of ultrasonic transceiver modules；It is also possible that adopt a ultrasonic transceiver module, it is near described Zigbee transceiver module；But being not limited to this, the quantity of ultrasonic transceiver module, with setting angle, is that the model according to ultrasonic transceiver module is with Parameters variation.
It should be noted that carry out kalman filtering error in course angle detection based on magnetic compass to compensate that to obtain course angle be prior art, do not repeat them here.Described wireless communication module can be bluetooth module, WiFi module etc., and described wireless communication module may be installed on described right crus of diaphragm ring or left foot ring, it is preferable that is arranged on described right crus of diaphragm ring.Can according to the walking habits of user, described left foot ring and right crus of diaphragm ring can exchange and be worn on right ankle and left ankle, can select according to practical situation.
A kind of indoor and outdoor localization method of the present embodiment, it realizes the seamless location of indoor and outdoor based on TDOA and double, two magnetic compass, including dressing foot ring, bipod spacing detects, course angle detects, the calculating of pedestrian position coordinate, this method have employed and relies on the TDOA method of ultrasonic signal and wireless signal to carry out bipod spacing detection, the problem of noninertia drift, by by hardware integration on foot ring, easy disassembly and easy to carry, capacity of resisting disturbance is strong, reliability is high, stability is strong, and versatility is high, connect without complicated installation, directly dismounting is applicable to anyone, especially for child and old man；Solve that existing localization method hardware installation is complicated, not readily portable, dismounting inconvenience, and interference is relatively strong, stability is more weak and the problem that cannot realize versatility.This method is independent of fixed base stations, disturbs without non line of sight, it may be achieved indoor and outdoor independently positions, and solves the difficult problem that during existing indoor and outdoor seamless location, dependence fixed base stations, inertial drift and interference are strong.
Embodiment 2
As it is shown in figure 9, a kind of indoor and outdoor alignment system based on TDOA and double; two magnetic compass, it includes intelligent terminal and the location foot ring of intelligent terminal's communication connection, display pedestrian's position coordinates in real time, and then realizes the indoor and outdoor location of pedestrian.Described location foot ring includes the left and right foot ring on the left and right ankle being worn on user respectively.
As shown in Figure 2,3, described left foot ring is as signal sending end, comprising: the first ring-type supporting body 1, and the Zigbee transmitter module 11 being arranged on described first ring-type supporting body 1, ultrasonic emitting module the 12, first magnetic compass the 13, first master controller the 14, first battery module 15；Described first ring-type supporting body 1 has an opening, C-shape under vertical view state, but is not limited to this；It is worn on left ankle by this opening, described opening opposite position is the arc top of ring-type supporting body, described Zigbee transmitter module 11 is arranged on the arc top place of described first ring-type supporting body 1, described ultrasonic emitting module 12 is near described Zigbee transmitter module 11, and the described first relatively described Zigbee transmitter module 11 of magnetic compass 13 is vertically mounted on described first ring-type supporting body 1 side；Described first master controller 14 is connected with described Zigbee transmitter module 11, ultrasonic emitting module the 12, first magnetic compass 13 and the first battery module 15 respectively, is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously；
As shown in Figure 4, described right crus of diaphragm ring processes end as signal reception, comprising: the second ring-type supporting body 2, and the Zigbee receiver module 21 being arranged on described second ring-type supporting body 2, ultrasound wave receiver module the 22, second magnetic compass the 23, second master controller the 24, second battery module 25 and wireless communication module 26.Described second ring-type supporting body 2 has an opening, C-shape under vertical view state, but is not limited to this；It is worn on right ankle by this opening, described opening opposite position is the arc top of ring-type supporting body, described Zigbee receiver module 21 is arranged on the arc top place of described second ring-type supporting body 2, described ultrasound wave receiver module 22 is near described Zigbee receiver module 21, and the described second relatively described Zigbee receiver module 21 of magnetic compass 23 is vertically mounted on described second ring-type supporting body 2 side；Described second master controller 24 is connected with described Zigbee receiver module 21, ultrasound wave receiver module the 22, second magnetic compass the 23, second battery module 25 and wireless communication module 26 respectively, is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path and be wirelessly transmitted on intelligent terminal by this pedestrian position coordinate.
It should be noted that, in order to improve accuracy of detection, reduce interference, when described left and right foot ring is worn on ankle, require that described ultrasonic emitting module and ultrasound wave receiver module are inside bipod, the dead ahead that first magnetic compass and the second magnetic compass are walked towards people is namely towards people's toe direction, it is more preferred to, it is respectively fitted over the Zigbee transmitter module on the bipod ring of two ankles and Zigbee receiver module and to be mutually aligned when dressing.
It should be noted that, in the foot ring of described left and right, each module all adopts existing module, and the module model that the annexation between each module, effect that those skilled in the art play according to each module and reality adopt is readily apparent the interconnected relationship obtaining each module, do not repeat them here.
It should be noted that, refer to Fig. 5,6, ultrasonic transceiver module (transmitter module and receiver module) has high directivity, launch the feature of limited angle, it is 100 ~ 180 ° that the transmitting-receiving angle of ultrasonic transceiver module of the present invention is preferably horizontal plane transmitting-receiving angle, and vertical plane transmitting-receiving angle is 100 ~ 180 °, it is more preferred to, horizontal plane transmitting-receiving angle is 180 °, and vertical plane transmitting-receiving angle is 180 °；Can, according to practical situation, selecting to set suitable horizontal plane transmitting-receiving angle and vertical plane transmitting-receiving angle, as, when for normal walking states, horizontal plane transmitting-receiving angle is preferably 100 °, vertical plane transmitting-receiving angle is preferably 100 °；When for strenuous exercise's state being, horizontal plane transmitting-receiving angle is preferably 180 °, and vertical plane transmitting-receiving angle is preferably 180 °.Present invention preferably employs multiple sending and receiving sensor and carry out TDOA range finding so that ultrasonic signal transmitting-receiving angle is big as far as possible, more preferably low, adopts four groups of ultrasonic transceiver modules；It is also possible that adopt a ultrasonic transceiver module, it is near described Zigbee transceiver module；But being not limited to this, the quantity of ultrasonic transceiver module, with setting angle, is that the model according to ultrasonic transceiver module is with Parameters variation.
Described wireless communication module can be bluetooth module, WiFi module etc., and described wireless communication module may be installed on described right crus of diaphragm ring or left foot ring, it is preferable that is arranged on described right crus of diaphragm ring.Can according to the walking habits of user, described left foot ring and right crus of diaphragm ring can exchange and be worn on right ankle and left ankle, can select according to practical situation.
A kind of indoor and outdoor alignment system of the present embodiment, it realizes the seamless location of indoor and outdoor based on TDOA and double; two magnetic compass, native system have employed and relies on the TDOA method of ultrasonic signal and wireless signal to carry out stride detection, noninertia drift problem, by by hardware integration on foot ring, easy disassembly and easy to carry, capacity of resisting disturbance is strong, reliability is high, stability is strong, and versatility is high, connecting without complicated installation, directly dismounting is applicable to anyone, especially for child and old man；Solve existing positioning system hardware and complicated, not readily portable, dismounting inconvenience is installed, and interference is relatively strong, stability is more weak and the problem that cannot realize versatility.Native system is independent of fixed base stations, disturbs without non line of sight, it may be achieved indoor and outdoor independently positions, and solves the difficult problem that during existing indoor and outdoor seamless location, dependence fixed base stations, inertial drift and interference are strong.
Embodiment described above only have expressed embodiments of the present invention; it describes comparatively concrete and detailed; but therefore can not be interpreted as the restriction to the scope of the claims of the present invention; in every case the technical scheme adopting the form of equivalent replacement or equivalent transformation to obtain, all should drop within protection scope of the present invention.
Claims (10)
1. an indoor and outdoor localization method, it comprises the following steps:
(1) dress location with foot ring on ankle；Described location foot ring is provided with radio transceiver chip, ultrasonic transceiver module and double; two magnetic compass；
(2) TDOA range finding is carried out based on ultrasonic transceiver module and radio transceiver chip, it is thus achieved that real-time distance between bipod in walking cycle；
(3) course angle detection is carried out based on double; two magnetic compasses；
(4) based on the stride of step (2), (3) acquisition pedestrian's flight pathWith computing course angle；
(5) by the stride of step (4)With computing course angleSubstitute into computing formula and the north orientation coordinate of pedestrian's reckoning:, east orientation coordinate:, i.e. current pedestrian's position coordinates；Wherein,Representing the initial position of pedestrian, i represents i-th walking cycle, and n represents n walking cycle of walking.
2. indoor and outdoor localization method according to claim 1, it is characterised in that described location foot ring includes left foot ring and right crus of diaphragm ring；Described left foot ring is as signal sending end, including the first master controller, the radio transmitter module that is connected with described first master controller, ultrasonic emitting module, the first magnetic compass, described first master controller is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously, and described first magnetic compass and described radio transmitter module are arranged in a mutually vertical manner；Described right crus of diaphragm ring processes end as signal reception, including the second master controller, radio reception module, ultrasound wave receiver module, the second magnetic compass and the wireless communication module being connected with described second master controller, described second master controller is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path, and described second magnetic compass and described radio reception module are arranged in a mutually vertical manner.
3. indoor and outdoor localization method according to claim 1, it is characterised in that in step (1), described ultrasonic transceiver module inside bipod, the dead ahead that double; two magnetic compasses are walked towards people.
4. indoor and outdoor localization method according to claim 1, it is characterised in that described radio transmitter module is arranged on the arc top place of described first ring-type supporting body, and described ultrasonic emitting module is near described radio transmitter module；Described radio reception module is arranged on the arc top place of described second ring-type supporting body, and described ultrasound wave receiver module is near described radio reception module.
5., according to the arbitrary described indoor and outdoor localization method of claim 2 to 4, it is characterised in that in step (1), described radio transmitter module and radio reception module to be mutually aligned when dressing.
6. according to the arbitrary described indoor and outdoor localization method of claim 2 to 4, it is characterised in that the horizontal plane transmitting-receiving angle of described ultrasonic transceiver module is 100 ~ 180 °, and vertical plane transmitting-receiving angle is 100 ~ 180 °.
7. according to the arbitrary described indoor and outdoor localization method of claim 2 to 4, it is characterised in that described ultrasonic transceiver module is one group of ultrasonic transceiver module or organizes ultrasonic transceiver module more.
8. indoor and outdoor localization method according to claim 1, it is characterised in that step (4) specifically includes: obtain step change curve according to the real-time bipod spacing recorded in walking cycle, this step change curve is alternately made up of sinusoidal wave and square wave；Take the peak value stride as current Periodic Traveling people's flight path of walking of sine wave, and take course angle corresponding to sinusoidal wave peak value moment as computing course angle。
9. an indoor and outdoor alignment system, comprising: it includes intelligent terminal and the location foot ring of intelligent terminal's communication connection, described location foot ring includes left foot ring and right crus of diaphragm ring；Described left foot ring is as signal sending end, including the first master controller, the radio transmitter module that is connected with described first master controller, ultrasonic emitting module, the first magnetic compass, described first master controller is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously, and described first magnetic compass and described radio transmitter module are arranged in a mutually vertical manner；Described right crus of diaphragm ring processes end as signal reception, including the second master controller, radio reception module, ultrasound wave receiver module, the second magnetic compass and the wireless communication module being connected with described second master controller, described second master controller is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path, and described second magnetic compass and described radio reception module are arranged in a mutually vertical manner.
10. an angle ring, it is characterised in that include left foot ring and right crus of diaphragm ring；Described left foot ring is as signal sending end, including the first master controller, the radio transmitter module that is connected with described first master controller, ultrasonic emitting module, the first magnetic compass, described first master controller is mainly used in controlling each module and being responsible for sending radio signal and ultrasonic signal simultaneously, and described first magnetic compass and described radio transmitter module are arranged in a mutually vertical manner；Described right crus of diaphragm ring processes end as signal reception, including the second master controller, radio reception module, ultrasound wave receiver module, the second magnetic compass and the wireless communication module being connected with described second master controller, described second master controller is mainly used in controlling each module and being responsible for and receives radio signal and ultrasonic signal, process signal and calculate the pedestrian position coordinate obtaining pedestrian's flight path, and described second magnetic compass and described radio reception module are arranged in a mutually vertical manner.
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