CN106060781B8 - 基于BIM与Zigbee技术融合的空间定位方法 - Google Patents

基于BIM与Zigbee技术融合的空间定位方法 Download PDF

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CN106060781B8
CN106060781B8 CN201610472510.8A CN201610472510A CN106060781B8 CN 106060781 B8 CN106060781 B8 CN 106060781B8 CN 201610472510 A CN201610472510 A CN 201610472510A CN 106060781 B8 CN106060781 B8 CN 106060781B8
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coordinate system
positioning module
space coordinate
bim
building
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CN106060781A (zh
CN106060781B (zh
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李琦
李亚楠
郑志惠
刘利钊
吴志铭
李密
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Xiamen Wayne Technology Co., Ltd
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Xiamen Wayne Technology Co ltd
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    • H04W4/04—
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/36—Circuit design at the analogue level
    • G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
    • 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

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  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Geometry (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Evolutionary Computation (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Navigation (AREA)

Abstract

本发明提供一种基于BIM与Zigbee技术融合的空间定位方法，包括：在定位模块所处建筑布设Zigbee网络，Zigbee网络包括至少三个节点；将定位模块所处建筑空间以固定点建立实际空间坐标系，并确定每个节点在实际空间坐标系的空间坐标；建立定位模块所处建筑空间的BIM空间模型，并建立虚拟空间坐标系，虚拟空间坐标系与实际空间坐标系完整映射重合，且BIM空间模型包括所有节点的位置信息；定位模块获取与其相邻的三个节点的信号，并分别通过信号获得定位模块到相邻的三个节点之间的距离信息，并将距离信息映射到虚拟空间坐标系的空间坐标；定位模块获取其在虚拟空间坐标系以及实际空间坐标系的位置信息。本发明还基于BIM与Zigbee融合技术的定位模块的定位轨迹规划系统。
CN201610472510.8A 2016-06-24 2016-06-24 基于BIM与Zigbee技术融合的空间定位方法 Active CN106060781B8 (zh)

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CN106060781A CN106060781A (zh) 2016-10-26
CN106060781B CN106060781B (zh) 2020-06-02
CN106060781B8 true CN106060781B8 (zh) 2020-07-03

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106767819B (zh) * 2016-12-07 2020-04-24 盈嘉互联（北京）科技有限公司 一种基于bim的室内导航数据构建方法及导航系统
CN109145339A (zh) * 2017-06-28 2019-01-04 上海宝冶集团有限公司 建筑模型与实体建筑物之间的定位方法
CN109764802B (zh) * 2018-12-04 2020-12-08 上海艾亚建筑设计咨询有限公司 基于无线感应信号构建虚拟空间模型的系统及方法
CN110736463B (zh) * 2019-09-11 2024-04-05 长沙平安财富中心有限公司 物业机器人导航方法、装置、计算机设备和存储介质
CN110968198A (zh) * 2019-12-05 2020-04-07 重庆一七科技开发有限公司 一种在现实空间中模拟虚拟现实世界立体空间移动定位的方法
CN116202516B (zh) * 2022-12-23 2024-02-20 中国铁路设计集团有限公司 一种轨道bim多维参数辅助imu的轨道三维重建方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101126808B (zh) * 2007-08-02 2011-07-27 中国科学院自动化研究所 一种机器人导航系统及导航方法
TWI435691B (zh) * 2011-11-11 2014-05-01 Univ Shu Te Intelligent automatic cruise mowing system and intelligent automatic cruise mowing robot
CN102883428B (zh) * 2012-08-07 2015-08-19 广州星博信息技术有限公司 基于ZigBee无线传感器网络的节点定位方法
CN103618992B (zh) * 2013-04-05 2017-01-18 广东科学中心 基于Zigbee与WIFI的物联网智能区域定位导游系统及其导游方法
CN103428275B (zh) * 2013-07-30 2016-08-24 苏州两江科技有限公司 基于wsn的室内移动目标行动路线追踪方法
CN105451181B (zh) * 2015-12-31 2018-12-28 三一汽车制造有限公司 一种移动节点的轨迹测算方法及装置

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CN106060781B (zh) 2020-06-02

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Effective date of registration: 20200519

Address after: 361021 3f-a258, Zone C, innovation building, software park, Xiamen Torch High tech Zone, Xiamen City, Fujian Province

Applicant after: Xiamen Wayne Technology Co., Ltd

Address before: 361000 No. 13, Lane 302, Gong Gong, Xiangan District, Fujian, Xiamen

Applicant before: Li Qi

Applicant before: Li Yanan

TA01 Transfer of patent application right
CI03 Correction of invention patent

Correction item: Patentee|Address|Patentee

Correct: Xiamen Wayne Technology Co., Ltd.| 361021 3f-a258, Zone C, innovation building, software park, Xiamen Torch hi tech Zone, Xiamen City, Fujian Province

False: Li Qi;361000|Li Yanan, No. 13, Guluo Yili, Xiang'an District, Xiamen City, Fujian Province

Number: 23-01

Page: The title page

Volume: 36

Correction item: Patentee|Address|Patentee

Correct: Xiamen Wayne Technology Co., Ltd.| 361021 3f-a258, Zone C, innovation building, software park, Xiamen Torch hi tech Zone, Xiamen City, Fujian Province

False: Li Qi;361000|Li Yanan, No. 13, Guluo Yili, Xiang'an District, Xiamen City, Fujian Province

Number: 23-01

Volume: 36

CI03 Correction of invention patent