CN106403947A - Ship environment intelligent filtering-type fixed-point calibration inertial positioning system - Google Patents
Ship environment intelligent filtering-type fixed-point calibration inertial positioning system Download PDFInfo
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- CN106403947A CN106403947A CN201610736424.3A CN201610736424A CN106403947A CN 106403947 A CN106403947 A CN 106403947A CN 201610736424 A CN201610736424 A CN 201610736424A CN 106403947 A CN106403947 A CN 106403947A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The invention relates to a ship environment intelligent filtering-type fixed-point calibration inertial positioning system. According to the ship environment intelligent filtering-type fixed-point calibration inertial positioning system, fixed-point calibration and inertial positioning technology are combined, a plurality of fixed-point position calibration devices are distributed on a ship, in the radio-frequency signal range of each fixed-point position calibration device, radio-frequency broadcast transmission technology is adopted, real-time positional information sharing is realized via mobile terminals wore by the personnel, a specifically designed inertial motion detection module and a specifically designed filter circuit are adopted, inertial positioning is carried out based on the acquired sharing information, self-positioning of the personnel on the ship is realized, positioning accuracy is high, positioning speed is high, and defects of conventional positioning technology are avoided.
Description
Technical field
The present invention relates to a kind of ship environment intelligent filter formula fixed point calibration inertial positioning system, belong to ship personnel positioning
Technical field.
Background technology
Positioning is a kind of technology for confirming present position, and with the continuous popularization of location technology, location technology is already
Expand in terms of civilian from military aspect, the every aspect of people's life suffers from the application of location technology, such as navigator fix,
Geophysical surveying etc. aspect, existing location technology includes satellite fix, architecture, triangle polyester fibre technology etc., but existing
There is each location technology in the middle of actual application, all more or less has many shortcomings, and such as blocking is satellite
The biggest obstacle of position technology, based on the satellite positioning tech of satellite communication transmission, for the object being in tunnel, under bridge,
Due to blocking of being built, affect satellite communication interaction, just cannot realize satellite fix；And it is fixed for architecture, triangle
It is necessary to need base station or fixed signal device that angular position is set up is supported so that in actual applications for position, more difficult
In realization, and positioning precision is low；Therefore, the shortcoming based on above-mentioned existing location technology and deficiency are it is known that prior art is not enough
With undertake the positioning on ship it is well known that on such as pleasure boat, rectangle cargo ship area huge, just like a small city, location technology
For the people's no less important on ship, but, what ship was built blocks inapplicable satellite fix, and special environment, with
Sample is also not suitable for base station or triangle polyester fibre, therefore, on ship personnel location technology be badly in need of have to be developed, based on people on ship
The location technology of member, improves the impression by ship of personnel on ship.
Content of the invention
The technical problem to be solved is that offer is a kind of is calibrated and inertial positioning technology using the fixed point combining,
The shortcoming overcoming existing location technology, can effectively realize the ship environment intelligent filter formula fixed point school of hi-Fix on ship
Quasi- inertial positioning system.
The present invention employs the following technical solutions to solve above-mentioned technical problem：The present invention devises a kind of ship environment intelligence
Filtering type fixed point can calibrate inertial positioning system, be arranged on each fixed position calibrating installation on ship including distribution, and
It is worn on each mobile terminal with each personnel；Wherein, each fixed position calibrating installation includes the first control mould respectively
Block, and be connected with the first control module respectively the first power module, the first memory module, radiofrequency emitting module, first
Power module is powered through the first control module respectively the first memory module, radiofrequency emitting module；Each fixed position
In calibrating installation, the radio-frequency transmissions of radiofrequency emitting module are apart from equal, radiofrequency emitting module in each fixed position calibrating installation
Radiofrequency signal scope 30m-50m apart, and the radiofrequency signal scope of all fixed position calibrating installations is plus adjacent one another are
Scope covers ship regional, and the first memory module in each fixed position calibrating installation stores corresponding fixed position respectively
It is placed in the positional information on ship set by calibrating installation；Each mobile terminal includes inertia motion detection module, the second control respectively
Molding block, and be connected with the second control module respectively second source module, the second memory module, Receiver Module,
Image display device, filter circuit, wherein, inertia motion detection module includes gyroscope and acceleration transducer, gyroscope with
Second control module is connected, and circuit is connected acceleration transducer with the second control module after filtering, second source module
It is powered through the second control module respectively the second memory module, Receiver Module, image display device, gyroscope,
Meanwhile, second source module sequentially passes through the second control module, filter circuit is powered for acceleration transducer；Filter circuit
Including transport and placing device A1, transport and placing device A2 and transport and placing device A3, the in-phase input end ground connection of transport and placing device A1, the inverting input of transport and placing device A1
It is sequentially connected in series resistance R3, resistance R2 and resistance R1, on resistance R1, the other end relative to connection resistance R2 is filter circuit input
Connect acceleration transducer, and resistance R3 is connected between transport and placing device A1 outfan and the inverting input of transport and placing device A1；Fortune
The inverting input putting device A2 is connected with the inverting input of transport and placing device A1, simultaneously the inverting input of transport and placing device A2 successively with electricity
Hold C1, resistance R4 series connection, and be grounded, electric capacity C1 be connected on the inverting input of transport and placing device A2 and transport and placing device A2 outfan it
Between, the in-phase input end of transport and placing device A2 is connected with resistance R1；The in-phase input end of transport and placing device A3 is connected with electric capacity C2, and is grounded,
And resistance R5 is connected between the in-phase input end of transport and placing device A3 and the in-phase input end of transport and placing device A2, transport and placing device A3's is anti-phase defeated
Enter end to be connected with outfan, and the outfan of transport and placing device A3 connects the second control module for filter circuit outfan；Second storage
Storage vessel electronic chart in module；In radiofrequency emitting module in each fixed position calibrating installation and each mobile terminal
Receiver Module carries out radio communication.
As a preferred technical solution of the present invention：Radiofrequency emitting module in each fixed position calibrating installation described
Radio-frequency transmissions distance is 10-15 rice.
As a preferred technical solution of the present invention：The first control module in each fixed position calibrating installation described
It is the first single-chip microcomputer, the second control module in each mobile terminal described is second singlechip.
As a preferred technical solution of the present invention：The first power module in each fixed position calibrating installation described
It is ship power supply network fixed connection point；Second source module in each mobile terminal described is button cell.
As a preferred technical solution of the present invention：Image display device in described mobile terminal is color touch
Screen.
A kind of ship environment intelligent filter formula fixed point calibration inertial positioning system of the present invention adopts above technical scheme
Compared with prior art, there is following technique effect：
（1）The ship environment intelligent filter formula fixed point calibration inertial positioning system of present invention design, using the fixed point school combining
Standard and inertial positioning technology, distribution on ship arranges each fixed position calibrating installation, in each fixed position calibrating installation
Radiofrequency signal in the range of, by RF broadcast transmission technology, enter row positional information to institute's pendant mobile terminal with personnel in real time
Shared, and combine specifically designed inertia motion detection module, based on specifically designed filter circuit, pass through obtained shared
Position carries out inertial positioning it is achieved that the positioning oneself of personnel on ship, and positioning precision is high, and locating speed is fast, overcomes
The shortcoming of existing location technology；
（2）In the ship environment intelligent filter formula fixed point calibration inertial positioning system of present invention design, for each fixed point described
Radiofrequency emitting module in location calibration device, is all designed with the radio-frequency transmissions mould for 10-15 rice for the radio-frequency transmissions distance further
Block, the effective range for each fixed position calibrating installation institute sharing position information is defined, and further increases this
Bright designed ship environment intelligent filter formula fixed point calibration positioning precision in actual ship's fix is applied for the inertial positioning system；
（3）In the ship environment intelligent filter formula fixed point calibration inertial positioning system of present invention design, for each fixed point described
The first control module in location calibration device, is all designed with as the first single-chip microcomputer further, and for each shifting described
The second control module in dynamic terminal, is all designed with further as second singlechip, on the one hand can be applied to the later stage and be directed to
The extension demand of designed ship environment intelligent filter formula fixed point calibration inertial positioning system, on the other hand, succinct control cage
Structure pattern can be easy to the maintenance in later stage；
（4）In the ship environment intelligent filter formula fixed point calibration inertial positioning system of present invention design, for each fixed point described
The first power module in location calibration device, all ship power supply network fixed connection point is adopted in design further；And for institute
State the second source module in each mobile terminal, be all designed with button cell further, power configuration is flexible, realization side
Just, and power stable, it is capable of ship environment intelligent filter formula fixed point calibration inertial positioning system designed by the present invention real
Steady operation in the application of border.
Brief description
Fig. 1 is the module diagram of ship environment intelligent filter formula fixed point calibration inertial positioning system designed by the present invention；
Fig. 2 is the signal of filter circuit in ship environment intelligent filter formula fixed point calibration inertial positioning system designed by the present invention
Figure.
Specific embodiment
With reference to Figure of description, the specific embodiment of the present invention is described in further detail.
As shown in figure 1, the present invention devises a kind of ship environment intelligent filter formula fixed point calibration inertial positioning system, including
Distribution is arranged on each fixed position calibrating installation on ship, and is worn on each mobile terminal with each personnel；
Wherein, each fixed position calibrating installation includes the first control module respectively, and be connected with the first control module respectively
First power module, the first memory module, radiofrequency emitting module, the first power module is respectively first through the first control module
Memory module, radiofrequency emitting module are powered；In each fixed position calibrating installation the radio-frequency transmissions of radiofrequency emitting module away from
From equal, the radiofrequency signal scope 30m-50m apart of radiofrequency emitting module in each fixed position calibrating installation and all
The radiofrequency signal scope of fixed position calibrating installation adds that scope adjacent one another are covers ship regional, each fixed position school
The first memory module in standard apparatus stores the positional information being placed on ship set by corresponding fixed position calibrating installation respectively；Respectively
Individual mobile terminal includes inertia motion detection module, the second control module respectively, and is connected with the second control module respectively
Second source module, the second memory module, Receiver Module, image display device, filter circuit, wherein, inertia motion
Detection module includes gyroscope and acceleration transducer, and gyroscope is connected with the second control module, and acceleration transducer passes through
Filter circuit is connected with the second control module, second source module through the second control module be respectively the second memory module,
Receiver Module, image display device, gyroscope are powered, and meanwhile, second source module sequentially passes through the second control mould
Block, filter circuit are powered for acceleration transducer；As shown in Fig. 2 filter circuit includes transport and placing device A1, transport and placing device A2 and fortune
Put device A3, the in-phase input end ground connection of transport and placing device A1, the inverting input of transport and placing device A1 is sequentially connected in series resistance R3, resistance R2 and electricity
Resistance R1, resistance R1 connects acceleration transducer relative to the other end connecting resistance R2 for filter circuit input, and resistance
R3 is connected between transport and placing device A1 outfan and the inverting input of transport and placing device A1；The inverting input of transport and placing device A2 and transport and placing device
The inverting input of A1 is connected, and the inverting input of transport and placing device A2 is connected, and is grounded with electric capacity C1, resistance R4 successively simultaneously, electricity
Hold C1 be connected between the inverting input of transport and placing device A2 and the outfan of transport and placing device A2, the in-phase input end of transport and placing device A2 with electricity
Resistance R1 series connection；The in-phase input end of transport and placing device A3 is connected with electric capacity C2, and is grounded, and resistance R5 is connected on the homophase of transport and placing device A3
Between the in-phase input end of input and transport and placing device A2, the inverting input of transport and placing device A3 is connected with outfan, and transport and placing device A3
Outfan be filter circuit outfan connect the second control module；Storage vessel electronic chart in second memory module；Each
Radiofrequency emitting module in fixed position calibrating installation carries out radio communication with the Receiver Module in each mobile terminal.On
State the ship environment intelligent filter formula fixed point calibration inertial positioning system designed by technical scheme, using the fixed point calibration combining
With inertial positioning technology, each fixed position calibrating installation of distribution setting on ship, in each fixed position calibrating installation
In the range of radiofrequency signal, by RF broadcast transmission technology, enter row positional information altogether to institute's pendant mobile terminal with personnel in real time
Enjoy, and combine specifically designed inertia motion detection module, based on specifically designed filter circuit, pass through obtained shared position
Put and carry out inertial positioning it is achieved that the positioning oneself of personnel on ship, and positioning precision is high, locating speed is fast, overcomes existing
There is location technology.
Pinpoint on the basis of calibration inertial positioning system technical scheme based on above-mentioned design ship environment intelligent filter formula,
The present invention also devises following optimal technical scheme further：For radio-frequency transmissions mould in each fixed position calibrating installation described
Block, is all designed with the radiofrequency emitting module for 10-15 rice for the radio-frequency transmissions distance further, for each fixed position calibration cartridge
The effective range putting institute's sharing position information is defined, and further increases ship environment intelligent filter formula designed by the present invention
Fixed point calibration positioning precision in actual ship's fix is applied for the inertial positioning system；And it is directed to each fixed position school described
The first control module in standard apparatus, is all designed with as the first single-chip microcomputer further, and is directed to each mobile terminal described
In the second control module, be all designed with further as second singlechip, on the one hand can be applied to the later stage be directed to designed
The extension demand of ship environment intelligent filter formula fixed point calibration inertial positioning system, on the other hand, succinct control architecture mode
The maintenance in later stage can be easy to；And it is directed to the first power module in each fixed position calibrating installation described, all further
Ship power supply network fixed connection point is adopted in design；And for the second source module in each mobile terminal described, all enter one
Step is designed with button cell, and flexibly, it is convenient to realize for power configuration, and it is stable to power, and is capable of ship designed by the present invention
Steady operation in oceangoing ship ambient intelligence filtering type fixed point calibration inertial positioning system practical application.
The present invention devises ship environment intelligent filter formula fixed point calibration inertial positioning system in the middle of actual application,
Specifically include each fixed position calibrating installation that distribution is arranged on ship, and be worn on each shifting with each personnel
Dynamic terminal；Wherein, each fixed position calibrating installation includes the first single-chip microcomputer respectively, and is connected with the first single-chip microcomputer respectively
The first power module, the first memory module, radiofrequency emitting module, the first power module is fixedly connected for ship power supply network
Point, the first power module is powered through the first single-chip microcomputer respectively the first memory module, radiofrequency emitting module；Each fixed point
In location calibration device, the radio-frequency transmissions of radiofrequency emitting module are apart from equal, radio-frequency transmissions mould in each fixed position calibrating installation
The radio-frequency transmissions distance of block is 10-15 rice, in each fixed position calibrating installation the radiofrequency signal scope of radiofrequency emitting module that
This is at a distance of 30m-50m, and the radiofrequency signal scope of all fixed position calibrating installations adds that scope covering ship adjacent one another are is each
Individual region, the first memory module in each fixed position calibrating installation stores set by corresponding fixed position calibrating installation respectively
Positional information on ship；Each mobile terminal includes inertia motion detection module, the second control module respectively, and respectively
The second source module that is connected with the second control module, the second memory module, Receiver Module, image display device, filter
Wave circuit, wherein, inertia motion detection module includes gyroscope and acceleration transducer, and gyroscope is connected with the second control module
Connect, circuit is connected acceleration transducer with the second control module after filtering, second source module is button cell, the second electricity
Source module is carried out through the second control module respectively the second memory module, Receiver Module, image display device, gyroscope
Power supply, meanwhile, second source module sequentially passes through the second control module, filter circuit is powered for acceleration transducer；Filter
Wave circuit includes transport and placing device A1, transport and placing device A2 and transport and placing device A3, the in-phase input end ground connection of transport and placing device A1, and transport and placing device A1's is anti-phase
Input is sequentially connected in series resistance R3, resistance R2 and resistance R1, and on resistance R1, the other end relative to connection resistance R2 is filter circuit
Input connects acceleration transducer, and resistance R3 be connected on transport and placing device A1 outfan and transport and placing device A1 inverting input it
Between；The inverting input of transport and placing device A2 is connected with the inverting input of transport and placing device A1, simultaneously the inverting input of transport and placing device A2 according to
Secondary connect, and be grounded with electric capacity C1, resistance R4, electric capacity C1 is connected on the inverting input of transport and placing device A2 and the output of transport and placing device A2
Between end, the in-phase input end of transport and placing device A2 is connected with resistance R1；The in-phase input end of transport and placing device A3 is connected with electric capacity C2, and connects
Ground, and resistance R5 is connected between the in-phase input end of transport and placing device A3 and the in-phase input end of transport and placing device A2, transport and placing device A3's is anti-
Phase input is connected with outfan, and the outfan of transport and placing device A3 connects the second control module for filter circuit outfan；Each
Mobile terminal includes second singlechip respectively, and be connected with second singlechip respectively second source module, the second storage
Module, Receiver Module, color touch screen, inertia motion detection module, wherein, inertia motion detection module includes gyroscope
And acceleration transducer, gyroscope is connected with second singlechip respectively with acceleration transducer, and second source module is button
Battery, second source module is respectively the second memory module, Receiver Module, color touch screen, top through second singlechip
Spiral shell instrument, acceleration transducer are powered, storage vessel electronic chart in the second memory module；Each fixed position calibrating installation
In radiofrequency emitting module and each mobile terminal in Receiver Module carry out radio communication.In the middle of actual application,
Distribution is arranged on each fixed position calibrating installation real time operation on ship, and first in each fixed position calibrating installation is single
Piece machine prestores its set positional information on ship, Ran Hou by transferring in the first connected memory module
One single-chip microcomputer sends the positional information transferred to connected radiofrequency emitting module, real-time by radiofrequency emitting module
Outwards broadcast transmission, because the radio-frequency transmissions distance of radiofrequency emitting module in each fixed position calibrating installation is 10-15 rice, then
Each fixed position calibrating installation distinguishes effective scope of application of outwards broadcast transmission positional information in real time, is with corresponding fixed point position
Centered on putting calibrating installation, the region of radius 10-15 rice, that is, for each mobile terminal, wherein Receiver Module is only
Corresponding fixed position calibrating installation can be received only centered on fixed position calibrating installation, in the region of radius 10-15 rice
The positional information broadcasted, in practical application then, the personnel that mobile terminal is worn in initialization are located therein any one
In the effective scope of application of radiofrequency signal of fixed position calibrating installation, then the Receiver Module in mobile terminal can receive
The positional information being sent from corresponding fixed position calibrating installation, and it is delivered in the middle of second singlechip, then second singlechip
By calling the ship electronic map being stored in advance in the second memory module, in conjunction with the positional information being obtained, send to colour
Shown on touch screen that then the movement on ship is carried out according to personnel it is achieved that the initial alignment of personnel position
Corresponding control, realizes real-time positioning, wherein, is effectively suitable for model when personnel are constantly in this fixed position calibrating installation radiofrequency signal
When enclosing interior, the second singlechip positional information according to this fixed position calibrating installation institute broadcast transmission always in mobile terminal,
Carry out real-time positioning in conjunction with by the ship electronic map calling in the second memory module, and send and shown to color touch screen
Show；When personnel move out this effective scope of application of fixed position calibrating installation radiofrequency signal, and it is introduced into other fixed position schools
During the effective scope of application of standard apparatus radiofrequency signal, that is, be located at the effective scope of application of adjacent fixed position calibrating installation radiofrequency signal it
Between region when, the second singlechip in mobile terminal cannot by connected Receiver Module receive position letter
Breath, then second singlechip controls the gyroscope in connected inertia motion detection module and acceleration transducer work immediately
Make, be original position based on obtained positional information for the last time, carry out inertial positioning, thus continue to realize real-time positioning, concurrently
Deliver to and shown on color touch screen；Wherein, the acceleration transducer real-time detection in inertia motion detection module obtains and adds
Velocity information, and it is uploaded in the middle of filter circuit, filter circuit is carried out at Real-Time Filtering for received acceleration information
Reason, filters noise data therein, and obtaining more accurate acceleration information, then filter circuit will be processed after filtering
Acceleration information sends to second singlechip, and then second singlechip is used to according to acceleration information and gyro data
Property positioning；When personnel are moved again to the effective scope of application of fixed position calibrating installation radiofrequency signal, in mobile terminal
Second singlechip immediately by connected Receiver Module receive this fixed position calibrating installation broadcasted send out
The positional information sending, then one side controls gyroscope and acceleration sensing in inertia motion detection module to second singlechip immediately
Device quits work, and another aspect second singlechip receives the positional information of this fixed position calibrating installation institute broadcast transmission, in conjunction with
Real-time positioning is carried out by the ship electronic map calling in the second memory module, and sends and shown to color touch screen,
So, by above-mentioned design, realize hi-Fix in moving process on ship for the personnel, and this kind of mode be not subject to existing
The restriction of location technology, and positioning precision is high, can effectively improve the experience by ship of personnel on ship, is easy to see the every ship of exhibition
Oceangoing ship activity.
Above in conjunction with accompanying drawing, embodiments of the present invention are explained in detail, but the present invention is not limited to above-mentioned enforcement
Mode, in the ken that those of ordinary skill in the art possess, can also be on the premise of without departing from present inventive concept
Make a variety of changes.
Claims (5)
1. a kind of ship environment intelligent filter formula fixed point calibration inertial positioning system it is characterised in that：It is arranged on ship including distribution
Each fixed position calibrating installation on oceangoing ship, and it is worn on each mobile terminal with each personnel；Wherein, each fixed point
Location calibration device includes the first control module respectively, and be connected with the first control module respectively the first power module,
First memory module, radiofrequency emitting module, the first power module is respectively the first memory module, radio frequency through the first control module
Transmitter module is powered；In each fixed position calibrating installation, apart from equal, each is fixed for the radio-frequency transmissions of radiofrequency emitting module
The radiofrequency signal scope 30m-50m apart of radiofrequency emitting module in point location calibration device, and the calibration of all fixed positions
The radiofrequency signal scope of device adds that scope adjacent one another are covers ship regional, the in each fixed position calibrating installation
One memory module stores the positional information being placed on ship set by corresponding fixed position calibrating installation respectively；Each mobile terminal divides
Do not include inertia motion detection module, the second control module, and the second source mould being connected respectively with the second control module
Block, the second memory module, Receiver Module, image display device, filter circuit, wherein, inertia motion detection module includes
Gyroscope and acceleration transducer, gyroscope is connected with the second control module, acceleration transducer circuit and after filtering
Two control modules are connected, second source module through the second control module be respectively the second memory module, Receiver Module,
Image display device, gyroscope are powered, and meanwhile, second source module sequentially passes through the second control module, filter circuit is
Acceleration transducer is powered；Filter circuit includes transport and placing device A1, transport and placing device A2 and transport and placing device A3, and the homophase of transport and placing device A1 is defeated
Enter end ground connection, the inverting input of transport and placing device A1 is sequentially connected in series resistance R3, resistance R2 and resistance R1, resistance R1 connects electricity relatively
Resistance R2 the other end be filter circuit input connect acceleration transducer, and resistance R3 be connected on transport and placing device A1 outfan and
Between the inverting input of transport and placing device A1；The inverting input of transport and placing device A2 is connected with the inverting input of transport and placing device A1, simultaneously
The inverting input of transport and placing device A2 is connected, and is grounded with electric capacity C1, resistance R4 successively, and electric capacity C1 is connected on the anti-phase of transport and placing device A2
Between the outfan of input and transport and placing device A2, the in-phase input end of transport and placing device A2 is connected with resistance R1；The homophase of transport and placing device A3
Input is connected with electric capacity C2, and is grounded, and resistance R5 is connected on the in-phase input end of transport and placing device A3 and the homophase of transport and placing device A2
Between input, the inverting input of transport and placing device A3 is connected with outfan, and the outfan of transport and placing device A3 exports for filter circuit
End connects the second control module；Storage vessel electronic chart in second memory module；Penetrating in each fixed position calibrating installation
Frequency transmitter module carries out radio communication with the Receiver Module in each mobile terminal.
2. according to claim 1 a kind of ship environment intelligent filter formula fixed point calibration inertial positioning system it is characterised in that：
In each fixed position calibrating installation described, the radio-frequency transmissions distance of radiofrequency emitting module is 10-15 rice.
3. according to claim 1 a kind of ship environment intelligent filter formula fixed point calibration inertial positioning system it is characterised in that：
The first control module in each fixed position calibrating installation described is the first single-chip microcomputer, in each mobile terminal described
Two control modules are second singlechip.
4. according to claim 1 a kind of ship environment intelligent filter formula fixed point calibration inertial positioning system it is characterised in that：
The first power module in each fixed position calibrating installation described is ship power supply network fixed connection point；Each shifting described
Second source module in dynamic terminal is button cell.
5. according to claim 1 a kind of ship environment intelligent filter formula fixed point calibration inertial positioning system it is characterised in that：
Image display device in described mobile terminal is color touch screen.
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Application publication date: 20170215 |