CN105898864A - Positioning base station, positioning terminal and spatial positioning system - Google Patents
Positioning base station, positioning terminal and spatial positioning system Download PDFInfo
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- CN105898864A CN105898864A CN201610370578.5A CN201610370578A CN105898864A CN 105898864 A CN105898864 A CN 105898864A CN 201610370578 A CN201610370578 A CN 201610370578A CN 105898864 A CN105898864 A CN 105898864A
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- China
- Prior art keywords
- light source
- location
- magnetic field
- base station
- sensor
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
Abstract
The invention discloses a positioning terminal, a positioning base station and a spatial positioning system. The positioning base station is fixedly arranged at a predetermined position in a space; the positioning base station comprises a laser scanner and a magnetic field generator; the laser scanner is used for spraying positioning light beams in the space in a predetermined spraying period; the sections of the positioning light beams are straight; the magnetic field generator is used for generating a low-frequency electromagnetic field having the known intensity; the positioning terminal comprises an optical sensor module, a magnetic field receiving sensor and a processor; the optical sensor module receives the positioning light beams sprayed by the laser scanner; the magnetic field receiving sensor receives the low-frequency electromagnetic field generated by the magnetic field generator; and the processor is used for determining the position of the positioning terminal according to the positioning light beam receiving time of the optical sensor module, the spraying period, the predetermined position of the positioning base station, the intensity of the low-frequency electromagnetic field emitted by the magnetic field generator and the intensity of the low-frequency electromagnetic field received by the magnetic field receiving sensor. High-precision spatial positioning can be realized with low cost.
Description
Technical field
The present invention relates to space orientation field, particularly relate to a kind of locating base station, location terminal and space orientation
System.
Background technology
In recent years, along with the development of wireless communication technology and gradually popularizing of intelligent terminal, take based on position
The application of business (Location Based Service, LBS) provides just for production and life in many fields
Prompt experience, becomes the important component part of social life.In unscreened open environment, utilize GPS
Satellite-signal and communication base station signal realize location, have become as industry usual way.But, use GPS
Satellite-signal and the poor stability of communication base station signal framing, it is easily subject to signal and blocks and signal covering etc.
The impact of factor, the error of gps satellite signal and communication base station signal framing often reaches several meters simultaneously,
The most tens of rice, it is impossible to meet the demand of precise positioning.
Along with general fit calculation and the further investigation of Distributed Communication Technology, indoor wireless communication obtains with network technology
To fast development, for based on WLAN (Wireless Local Area Networks, WLAN), indigo plant
The space orientation technique of tooth and wireless sensor network (Wireless Sensor Network, WSN) provides
Probability.But, interior space location technology based on networks such as WLAN, WSN there is also network
Input cost is higher, the network design time is longer in construction, it is impossible to meet the drawbacks such as hi-Fix demand.
Along with becoming increasingly prosperous of field of virtual reality, the pattern wearing real world devices the most gradually enriches, virtual trip
Play starts appearance, and in immersion interactive experience, accurate space orientation tracer technique seems particularly critical,
The quickest, convenient, realize accurate space orientation economically, become one of problem demanding prompt solution.
Summary of the invention
It is an object of the invention to provide a kind of locating base station, location terminal and space positioning system, with economical,
Quickly, mode realizes accurate space orientation easily.
In order to realize foregoing invention purpose, the invention provides a kind of space positioning system, including location terminal
And locating base station, locating base station is fixedly installed pre-position in space；Locating base station includes laser scanning
Device and magnetic field generator, described laser scanner is for strafing location light with the predetermined cycle of strafing in space
Bundle, the cross section of described location light beam is straightway；Described magnetic field generator is used for producing low frequency known to intensity
Electromagnetic field；Location terminal includes that optical sensor module, magnetic field receive sensor and processor, and described light senses
Device module is for receiving the location light beam that laser scanner is strafed, and described magnetic field receives sensor and is used for receiving magnetic
The low frequency electromagnetic field that field generator produces；Described processor is for receiving location light according to optical sensor module
Bundle time, described in strafe the cycle, described locating base station precalculated position, described magnetic field generator launch low
Frequency electromagnetic field intensity and described magnetic field receive the low frequency electromagnetic field intensity that sensor receives, and it is described fixed to determine
The position of position terminal.
Preferably, described laser scanner includes the first scanning light source and the second scanning light source；First scanning light
Source, pivoted with the described cycle of strafing, and strafed the first location light beam to described space；Second scanning light source,
Pivot with the described cycle of strafing, strafe the second location light beam to described space；Described first location light beam
Cross section and second location light beam cross section intersect.
Preferably, described laser scanner also includes synchronizing light source, is used for when meeting entry condition to described
Space sends synchronizable optical signal.
Preferably, described synchronization light source is infrared LED light source.
Preferably, near the first scanning light source and/or the second scanning light source, it is respectively arranged with a position sensing,
For sensing the first scanning light source and/or the gyrobearing of the second scanning light source, and send open to synchronizing light source
Dynamic signal.
Preferably, described position sensing is hall position sensor or light sensor.
Preferably, the transmitting coil in described magnetic field generator is the coil that three orthogonal manner are fixing；Described
It is the coil that three orthogonal manner are fixed that magnetic field receives the receiving coil in sensor.
Preferably, the receiving coil receiving sensor in described magnetic field is provided centrally with a FERRITE CORE.
Preferably, described location terminal also includes motion sensor.
Preferably, the cross section of described first location light beam is vertical with the cross section of the second location light beam.
Accordingly, the present invention also provides for a kind of locating base station, including laser scanner and magnetic field generator, institute
State magnetic field generator for producing low frequency electromagnetic field known to intensity；Described laser scanner includes the first scanning
Light source, the second scanning light source and synchronization light source；First scanning light source and the second scanning light source are all strafed with predetermined
Cycle pivots, and strafes the first location light beam and the second location light beam respectively to space to be positioned, and described the
The cross section of one location light beam and the cross section of the second location light beam are intersected；Described synchronization light source, for opening satisfied
Dynamic condition sends synchronizable optical signal to described space.
Preferably, described synchronization light source is infrared LED light source.
Preferably, near the first scanning light source and/or the second scanning light source, it is respectively arranged with a position sensing,
For sensing the first scanning light source and/or the gyrobearing of the second scanning light source, and send open to synchronizing light source
Dynamic signal.
Preferably, the cross section of described first location light beam is vertical with the cross section of the second location light beam.
Preferably, the transmitting coil in described magnetic field generator is the coil that three orthogonal manner are fixing.
Accordingly, the present invention also provides for a kind of location terminal, receives sensing including optical sensor module, magnetic field
Device and processor, described optical sensor module is for receiving locating base station with determining of strafing of the predetermined cycle of strafing
Position light beam, described magnetic field receives sensor for receiving low frequency electromagnetic known to the intensity that locating base station produces
?；Described processor for according to optical sensor module receive location light beam time, described in strafe the cycle,
The precalculated position of described locating base station, the low frequency electromagnetic field intensity of described locating base station transmitting and described magnetic field
Receive the low frequency electromagnetic field intensity that sensor receives, determine the position of described location terminal.
Preferably, the receiving coil during described magnetic field receives sensor is the coil that three orthogonal manner are fixing.
Preferably, the receiving coil receiving sensor in described magnetic field is provided centrally with a FERRITE CORE.
Preferably, optical sensor module includes one or more light sensor.
Preferably, described location terminal also includes motion sensor.
Compared with prior art, there is advantages that
The mode that the present invention uses laser to add magnetic field combination positions, and determines that location terminal is away from location with magnetic field
The distance of base station, determines the location terminal orientation relative to locating base station with laser, and the two combination finally determines
The accurate location of location terminal, by the mode of low cost, it is achieved high-precision spatial positions.With pure optical alignment
Comparing, calculate simpler, certainty of measurement is easier to control；Compared with the pure Magnetic oriented, it is to avoid physics because of
Element causes error change big, and certainty of measurement and effect are more excellent.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings:
Fig. 1 is embodiment of the present invention space positioning system structural representation；
Fig. 2 is a kind of structural representation of embodiment of the present invention locating base station；
The signal that the first scanning light source that Fig. 3 a provides for the embodiment of the present invention is scanned in the horizontal direction
Figure；
The signal that the second scanning light source that Fig. 3 b provides for the embodiment of the present invention is scanned in vertical direction
Figure；
The light source that synchronizes that Fig. 4 provides for the embodiment of the present invention sends the schematic diagram of synchronizable optical signal；
Fig. 5 is for arrange Hall element and Magnet schematic diagram at embodiment of the present invention scanning light source adnexa；
Fig. 6 is the transmitting coil schematic diagram of magnetic field generator in the embodiment of the present invention；
Fig. 7 is a kind of structural representation of embodiment of the present invention location terminal；
Fig. 8 is a kind of receiving coil structural representation that in the embodiment of the present invention, magnetic field accepts sensor；
Fig. 9 is that embodiment of the present invention location terminal receives periodic pulse signal figure one；
Figure 10 is that embodiment of the present invention location terminal receives periodic pulse signal figure two；
Figure 11 is that embodiment of the present invention location terminal receives periodic pulse signal figure three.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
Embodiment one:
See Fig. 1, for embodiment of the present invention space positioning system structural representation, this space positioning system bag
Including location terminal 2 and locating base station 1, locating base station 1 is fixedly installed pre-position in space, location
Base station 1 includes laser scanner and magnetic field generator, and described laser scanner is for strafing week with predetermined
Phase strafes location light beam in space, and the cross section of described location light beam is straightway, and laser scanner can be
One word laser scanner；Described magnetic field generator is used for producing low frequency electromagnetic field known to intensity；Location terminal
2 include that optical sensor module, magnetic field receive sensor and processor, and described optical sensor module is used for receiving
The location light beam that laser scanner is strafed, described magnetic field receives sensor for receiving what magnetic field generator produced
Low frequency electromagnetic field；Described processor for receiving time, described of location light beam according to optical sensor module
Strafe the cycle, described locating base station precalculated position, described magnetic field generator launch low frequency electromagnetic field intensity with
And described magnetic field receives the low frequency electromagnetic field intensity that sensor receives, determine the position of described location terminal.
In whole space orientation scheme, the position of location terminal 2 determines that mode is: determine location by magnetic field
The terminal distance away from locating base station, determines the location terminal direction relative to locating base station by laser, the two
Combine last solution and calculate the accurate location of location terminal.
Low frequency electromagnetic field range measurement principle: derive according to Bi-Sa-draw law and Faraday law of electromagnetic induction,
The low frequency electromagnetic field attenuation law when spatial transmission can be derived according to the two law, can be more accurate
The physical distance drawn between emission of magnetic field source and magnetic field receiving terminal, this conclusion academicly pass through anti-
Cumulative evidence is bright, belongs to known technology, so derivation and formula are described in detail the most in this article.
Laser Measuring orientation principle: assume that laser is strafed by θ/second angular velocity, starts timing from starting position,
Start to position light beam being positioned the time that terminal receives from location light beam is the t1 second, then location terminal institute
Orientation start position angle α=θ * t1 with location light beam.Strafed by both direction laser, i.e.
Can accurately determine the location terminal direction vector relative to base station.
Owing to embodiment of the present invention space positioning system comprising location terminal and locating base station two parts, below
Locating base station and location terminal structure is introduced respectively with embodiment two and embodiment three.
Embodiment two:
Seeing Fig. 2, for a kind of structural representation of embodiment of the present invention locating base station 1, the present embodiment positions
Base station 1 includes laser scanner 11 and magnetic field generator 12.
Described magnetic field generator 12 is used for producing low frequency electromagnetic field known to intensity, in described magnetic field generator
Transmitting coil be preferably the coil that three orthogonal manner are fixing, as shown in Figure 6.In one embodiment,
Three coils can be launched in turn as default sequential has low frequency electromagnetic field known to same frequency, intensity；
In another embodiment, three coils can also launch the low frequency electromagnetic field of different frequency simultaneously.
Described laser scanner 11 includes first scanning light source the 111, second scanning light source 112 and synchronizes light source
113；First scanning light source 111 and the second scanning light source 112 all pivot with the predetermined cycle of strafing, point
The first location light beam and the second location light beam, the cross section of described first location light beam is not strafed to space to be positioned
Intersecting (the most non-parallel) with the cross section of the second location light beam, preferred version is: the cross section of the first location light beam
Vertical with the cross section of the second location light beam.First scanning light source 111 and the second scanning light source 112 can be all
One word laser scanning light source, refer to Fig. 3 a and Fig. 3 b, and Fig. 3 a first sweeps for what the embodiment of the present invention provided
Retouch the schematic diagram that light source 111 is scanned in the horizontal direction；Fig. 3 b provide for the embodiment of the present invention
The schematic diagram that two scanning light sources 112 are scanned in vertical direction.
Described synchronization light source 113, for sending synchronizable optical signal when meeting entry condition to described space,
Whole effective located space can all be covered by synchronizable optical signal, sees Fig. 4, carries for the embodiment of the present invention
The light source that synchronizes of confession sends the schematic diagram of synchronizable optical signal.Described synchronization light source can be infrared LED light source.
In embodiments of the present invention, the instruction that the enabling signal of synchronizable optical signal can be sent by controller,
Method for example with broadcasting instructions, it is also possible to by the direction of rotation of sensor sensing scanning light source, by biography
Sense signal is as enabling signal.
In one embodiment, near the first scanning light source and/or the second scanning light source, it is respectively provided with one
Individual position sensing, for sensing the first scanning light source and/or the gyrobearing of the second scanning light source, and to same
Step light source sends enabling signal.Described position sensor can be hall position sensor or light sensor,
The sensor that can certainly can realize this function for other, does not limits at this.Fig. 5 is with the second scanning light
As a example by source 112, when position sensor 3 is Hall element, on the shell of the second scanning light source 112,
Supporting one or more Magnet is set, as being provided with Magnet 31 and Magnet 32 in Fig. 5, when Magnet rotates through
In journey when Hall element, Hall element produces a signal of telecommunication, and this signal is both as synchronizing light source
Enabling signal.In the specific implementation, when Magnet 31 is directed at Hall element, the second scanning light source 112
It is in scanning light beam original position, when Magnet 32 is directed at Hall element, at the second scanning light source 112
In scanning light beam end position.The calculation when number of concrete supporting Magnet is implemented according to reality different and
Increase and decrease, do not limit at this.In Fig. 5, when position sensor 3 is light sensor, second
On the shell of scanning light source 112, supporting one or more Magnet reflective marker is set so that reflective marker pair
During quasi-optical dependent sensor, light sensor one signal of telecommunication of generation, as synchronizing light source enabling signal, is specifically joined
The number of set reflective marker, calculation when implementing also according to reality is different and increases and decreases, at this not
Limit.
Embodiment three:
Seeing Fig. 7, for a kind of structural representation of embodiment of the present invention location terminal 2, the present invention implements fixed
Position terminal 2 includes that optical sensor module 21, magnetic field receive sensor 22 and processor 23.
Described optical sensor module 21 includes one or more light sensor, is used for receiving laser scanner
The location light beam that 12 strafe, each light sensor can generate the signal of telecommunication under the effect of location light beam, when
When light sensor is multiple, being distributed by known spacings between light sensor, light sensor can be red
Outer light sensitive diode, infrared phototriode or silicon cell.Light sensor in optical sensor module 21
Device, can select the infrared light sensitive diode of the infrared ray responsive to characteristic frequency, and now, locating base station is sent out
Location light beam and the synchronizable optical signal demand of injection mate with light sensor module so that sensor module 21
In infrared light sensitive diode be positioned after light beam and synchronizable optical signal irradiate, export corresponding pulse letter
Number.
Described magnetic field receives sensor 22 and is used for receiving the low frequency electromagnetic field that magnetic field generator 11 produces, described
It can be the coil that three orthogonal manner are fixed that magnetic field receives the receiving coil in sensor 22, such as Fig. 6 institute
Show.In order to reduce receiving coil volume, increase pcrmeability, facilitate coil to be wound around, preferably at described magnetic simultaneously
The centrally disposed square of receiving coil in the reception sensor 22 of field or the FERRITE CORE of circle, as
Shown in Fig. 8.
In order to make locating effect more preferable, more stable, in certain embodiments, it is also possible to set in the terminal of location
Put motion sensor, the exercise data of motion sensor senses location terminal, utilize exercise data to location eventually
The locus of end is modified calculating and making up.Motion sensor can be IMU inertial sensor, add
One or more in velocity sensor, gyroscope.When the localizer of the embodiment of the present invention is installed in other
When using on intelligent terminal, this motion sensor can use the motion sensor on intelligent terminal.
Embodiment four:
The present embodiment introduces a kind of space positioning system structure, including a locating base station and at least one location
Terminal, its effective orientation range can be in a sector, i.e. location terminal only moves in effective orientation range,
Space positioning system just can accurately calculate the position of this location terminal, and this structure is suitable for little range position
Location, the most only needs the VR class game that little scope health moves.
Embodiment of the present invention locating base station includes laser scanner and magnetic field generator, and laser scanner includes X
Axle scanning light source, Y axis scanning light source and synchronization light source, the location light beam that X-axis scanning light source scans out shows
Being intended to see Fig. 3 a, Y axis scanning light source scanning location light beam schematic diagram out sees Fig. 3 b；X-axis is swept
Retouch light source, Y axis scanning light source and synchronization light source and all launch the infrared light supply of characteristic frequency, scan light in X-axis
Source and Y axis scanning light source adnexa are respectively arranged with a hall position sensor, at X-axis scanning light source and
On the shell of Y axis scanning light source, it is respectively arranged with 1 Magnet, when X-axis scanning light source or Y axis scanning
When light source is in setting enlightenment orientation, Magnet is just directed at hall position sensor, and Hall element now produces
A raw signal of telecommunication, as the enabling signal of synchronization light source, i.e. X-axis scanning light source and Y axis scanning light source
When strafing startup every time, synchronize light source and all can launch a synchronizing signal.Strafing of embodiment of the present invention indication
Start specific bit light beam to start to strafe and rotate to when setting startup orientation.
The location terminal of the embodiment of the present invention includes that optical sensor module, magnetic field receive sensor and processor,
Optical sensor module includes one or more light sensor sensitive to characteristic frequency infrared light supply, it is possible to quilt
After location light beam and synchronizable optical signal irradiate, export corresponding pulse signal.
In the embodiment of the present invention, the pulse signal figure in the cycle that location terminal receives, as shown in Figure 9:
When label 91 strafes startup for X-axis scanning light source, light sensor receives the arteries and veins that synchronizable optical signal produces
Punching；When label 92 strafes light sensor for X-axis scanning light source, the pulse of generation；Label 93 is Y
When axle scanning light source strafes startup, light sensor receives the pulse that synchronizable optical signal produces；Label 94
When strafing light sensor for Y axis scanning light source, the pulse of generation, in Fig. 9, t1 represents that X-axis is swept
Retouching light source from starting to strafe time of light sensor, t2 represents that X-axis scanning light source is strafed from starting to
To the time of light sensor, T1 represents the X-axis scanning light source scan period, and T2 represents Y axis scanning light source
Scan period, T0 represents scanning gap, and wherein T0 can be 0.
It is that initial point O sets up rectangular coordinate system J with laser scanner (locating base station), infrared photosensitive with No. 01
As a example by sensor, if this point is p0, it is assumed that laser scanner is constant to carry out rotation with θ angular velocity and strafe, fixed
The computational methods of the direction vector that p0 point is pointed in base station, position are as follows:
1) X-axis scanning obtains deflection angle α=θ * t1, and gyration α i.e. p0 point is in the projection of X/Y plane
Point is relative to the azimuth of initial point.
2) Y axis scanning obtains deflection angle beta=θ * t2, and deflection angle beta i.e. p0 point is in the subpoint phase of YZ plane
Azimuth for initial point.
3) known two azimuths, as constraint, can point to the direction vector of p0 point in the hope of initial point,
I.e. locating base station points to the direction vector of p0 point.
According to low frequency electromagnetic field range measurement principle, accept, by magnetic field, the electromagnetic field intensity that sensor receives, and
The electromagnetic field of the known strength that the magnetic field generator in locating base station is launched, calculates location terminal Distance positioning base
The distance stood.In whole space orientation scheme, determine the location terminal distance away from locating base station by magnetic field,
Determining the location terminal direction relative to locating base station by laser, the two combines last solution and calculates location
The accurate location of terminal.
If optical sensor module includes multiple light sensor, any one light sensor can be selected to adopt
Collect to optical signal calculate location terminal direction.
Embodiment of the present invention location terminal can also increase motion sensor, motion sensor senses location terminal
Exercise data, utilize exercise data to location terminal locus be modified calculate and make up.Motion
Sensor can be one or more in IMU inertial sensor, acceleration transducer, gyroscope.When
The localizer of the embodiment of the present invention is installed in when using on other intelligent terminal, and this motion sensor can be borrowed
With the motion sensor on intelligent terminal.
Embodiment five:
On the basis of embodiment four, if X-axis scanning light source and Y axis scanning light source are provided with gear
System so that the X-axis scanning light source end of scan, Y axis scanning light source starts scanning immediately, then can be only at X
On axle scanning light source or Y axis scanning light shell outer cover, a Magnet is set.It is assumed that this Magnet is arranged on X
On axle scanning light source shell, now, the pulse signal figure in the cycle that location terminal receives, such as Figure 10
Shown in.
Embodiment six:
In embodiment four and embodiment five, the motor rotary speed that acquiescence drives scanning light source to rotate is stable, therefore exists
On the shell of X-axis scanning light source and/or Y axis scanning light source, it is correspondingly arranged 1 Magnet, an X-axis scanning
When light source and/or Y axis scanning light source strafe startup every time, synchronizable optical source signal.But in actual implementation process
In, the motor rotary speed driving scanning light source to rotate might not be stablized, and therefore, it can consider to scan in X-axis
On the shell of light source and Y axis scanning light source, it is respectively provided with 2 Magnet, makes X-axis scanning light source, Y-axis
At the end of scanning light source when strafing startup every time and is strafed every time, all launch a synchronizing signal, this kind of feelings
Under condition, the pulse signal figure in the cycle that location terminal receives, as shown in figure 11, wherein 95 represent
At the end of X-axis laser scanning light source scanning, light sensor receives the pulse that synchronizable optical signal produces；96
At the end of representing Y-axis laser scanning light source scanning, light sensor receives the arteries and veins that synchronizable optical signal produces
Punching.
If the effective angle of strafing of X-axis scanning light source and Y axis scanning light source is β, then in this cycle, X
Angular velocity θ x=β/T1 that axle rotates, angular velocity θ y=β/T2 that Y-axis rotates.
The present embodiment carries out independent angular speed calculation to each scan period, can avoid because motor turns
The error that speed is unstable and causes.
Embodiment seven:
Space positioning system in embodiment four, embodiment five, embodiment six, all includes a locating base station,
Its effective orientation range can be in a sector, in the specific implementation, and can multiple fixed by above-described embodiment
Base station, position is put by certain position, forms a locating base station group, forms effective orientation range and covers 360
Degree.It is for instance possible to use the locating base station in 3～6 embodiments two, bind together back-to-back, formed
Locating base station group, after being spliced by the effective coverage range of each locating base station, forms 360 degree of coverings.
Space positioning system of the present invention, compared with pure optical alignment, calculates simpler, and certainty of measurement is easier to
Control；Compared with pure Magnetic oriented, it is to avoid physical factor causes error change big, certainty of measurement and effect
More excellent.Space orientation technique of the present invention can realize grade and be accurately positioned, and is particularly well-suited in virtual reality
Field, carries out action and follows the trail of.
All features disclosed in this specification, or disclosed all methods or during step, except mutually
Beyond the feature repelled mutually and/or step, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), removes
Non-specifically describes, all can be by other equivalences or have the alternative features of similar purpose and replaced.That is, unless
Narration especially, each feature is an example in a series of equivalence or similar characteristics.
The invention is not limited in aforesaid detailed description of the invention.The present invention expand to any in this manual
Disclose new feature or any new combination, and disclose arbitrary new method or the step of process or any
New combination.
Claims (20)
1. a space positioning system, it is characterised in that include positioning terminal and locating base station, locating base station
It is fixedly installed pre-position in space；
Locating base station includes laser scanner and magnetic field generator, and described laser scanner is for sweeping with predetermined
Cycle of penetrating strafes location light beam in space, and the cross section of described location light beam is straightway；Described magnetic field occurs
Device is used for producing low frequency electromagnetic field known to intensity；
Location terminal includes that optical sensor module, magnetic field receive sensor and processor, described optical sensor mould
Group is for receiving the location light beam that laser scanner is strafed, and described magnetic field reception sensor is used for receiving magnetic field and sends out
The low frequency electromagnetic field that raw device produces；Described processor is for receiving location light beam according to optical sensor module
Time, described in strafe the cycle, described locating base station precalculated position, described magnetic field generator launch low-frequency electrical
Magnetic field intensity and described magnetic field receive the low frequency electromagnetic field intensity that sensor receives, and determine described location eventually
The position of end.
2. space positioning system as claimed in claim 1, it is characterised in that described laser scanner includes
First scanning light source and the second scanning light source；First scanning light source, pivoted with the described cycle of strafing, to
The first location light beam is strafed in described space；Second scanning light source, pivoted with the described cycle of strafing, to institute
State space and strafe the second location light beam；The cross section of described first location light beam and the cross section phase of the second location light beam
Hand over.
3. space positioning system as claimed in claim 2, it is characterised in that described laser scanner is also
Including synchronizing light source, for sending synchronizable optical signal when meeting entry condition to described space.
4. space positioning system as claimed in claim 3, it is characterised in that described synchronization light source is infrared
LED light source.
5. space positioning system as claimed in claim 3, it is characterised in that the first scanning light source and/or
A position sensing it is respectively arranged with, for sensing the first scanning light source and/or the near second scanning light source
The gyrobearing of two scanning light sources, and send enabling signal to synchronizing light source.
6. space positioning system as claimed in claim 5, it is characterised in that described position sensing is Hall
Position sensor or light sensor.
7. the space positioning system as described in any one of claim 1 to 6, it is characterised in that described magnetic field
Transmitting coil in generator is the coil that three orthogonal manner are fixing；Described magnetic field receives connecing in sensor
Take-up circle is the coil that three orthogonal manner are fixing.
8. space positioning system as claimed in claim 7, it is characterised in that receive in described magnetic field and pass
The receiving coil of sensor is provided centrally with a FERRITE CORE.
9. the space positioning system as described in any one of claim 7, it is characterised in that described location terminal
Also include motion sensor.
10. space positioning system as claimed in claim 7, it is characterised in that described first location light beam
Cross section is vertical with the cross section of the second location light beam.
11. 1 kinds of locating base station, it is characterised in that include laser scanner and magnetic field generator, described magnetic field
Generator is used for producing low frequency electromagnetic field known to intensity；Described laser scanner include the first scanning light source,
Second scanning light source and synchronization light source；First scanning light source and the second scanning light source all with predetermined strafe the cycle around
Axle rotates, and strafes the first location light beam and the second location light beam, described first location respectively to space to be positioned
The cross section of the cross section of light beam and the second location light beam is intersected；Described synchronization light source, for meeting entry condition
Time send synchronizable optical signal to described space.
12. locating base station as claimed in claim 11, it is characterised in that described synchronization light source is infrared LED
Light source.
13. locating base station as claimed in claim 11, it is characterised in that the first scanning light source and/or
A position sensing it is respectively arranged with, for sensing the first scanning light source and/or second near two scanning light sources
The gyrobearing of scanning light source, and send enabling signal to synchronizing light source.
14. locating base station as claimed in claim 13, it is characterised in that cutting of described first location light beam
Face is vertical with the cross section of the second location light beam.
15. locating base station as described in any one of claim 11 to 14, it is characterised in that described magnetic field
Transmitting coil in generator is the coil that three orthogonal manner are fixing.
16. 1 kinds location terminals, it is characterised in that include optical sensor module, magnetic field receive sensor and
Processor, described optical sensor module is for receiving the location light that locating base station is strafed with the predetermined cycle of strafing
Bundle, described magnetic field receives sensor for receiving low frequency electromagnetic field known to the intensity that locating base station produces；Institute
State processor for receive according to optical sensor module location light beam time, described in strafe cycle, described
Low frequency electromagnetic field intensity and described magnetic field that the precalculated position of locating base station, described locating base station are launched receive
The low frequency electromagnetic field intensity that sensor receives, determines the position of described location terminal.
17. position terminal as claimed in claim 16, it is characterised in that described magnetic field receives in sensor
Receiving coil be the fixing coils of three orthogonal manner.
18. position terminal as claimed in claim 17, it is characterised in that receive sensing in described magnetic field
The receiving coil of device is provided centrally with a FERRITE CORE.
19. position terminal as claimed in claim 16, it is characterised in that optical sensor module includes one
Or multiple light sensor.
The 20. location terminals as described in any one of claim 15 to 19, it is characterised in that described location
Terminal also includes motion sensor.
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