CN106441360A - Azimuth calibration method and device - Google Patents
Azimuth calibration method and device Download PDFInfo
- Publication number
- CN106441360A CN106441360A CN201610843778.8A CN201610843778A CN106441360A CN 106441360 A CN106441360 A CN 106441360A CN 201610843778 A CN201610843778 A CN 201610843778A CN 106441360 A CN106441360 A CN 106441360A
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- calibration
- equipment
- bearing
- azimuth information
- calibrated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Abstract
The invention relates to an azimuth calibration method and device. According to the method, azimuth information to be calibrated of first equipment is obtained; a calibration request is sent to second equipment; the second equipment responds the calibration request, executes azimuth calibration and sends calibration azimuth information formed after azimuth calibration is executed to the first equipment; the first equipment receives the calibration azimuth information of the second equipment after the second equipment responds the calibration request and executes azimuth calibration, obtains preset opposite azimuths of the first equipment and the second equipment, and executes azimuth calibration according to the azimuth information to be calibrated, the calibration azimuth information and the preset opposite azimuths. When the azimuth calibration method and device perform azimuth calibration on the first equipment, the first equipment is not required to be started to move back and forth in a site to realize calibration, the calibration azimuth information of the second equipment after the second equipment executes azimuth calibration is only required to be received, azimuth calibration can be performed according to the calibration azimuth information, the azimuth information to be calibrated of the first equipment and the opposite azimuths, the calibration process is simplified, and the calibration efficiency is improved.
Description
Technical field
The present invention relates to data calibration technical field, more particularly to a kind of bearing calibration method and device.
Background technology
With Internet and the development of intelligent artifact, it is more and more intelligent that automobile also becomes.Automobile all starts to install mostly
Automobile middle control or rearview mirror product.And these products are typically with automobile steering positioning and navigation feature.The realization of direction positioning
The magnetic field sensor having relied in product, realizes compass functional by magnetic field sensor, determines the current car of automobile
Head direction.Relend and GPS function is helped, realize auto navigation function.But rearview mirror product after a loss of power or have high-intensity magnetic field interference when, no
Method accurately obtains all directions direction that automobile is presently in, i.e., cannot accurately obtain the azimuth information of automobile.
Magnetic field sensor is had to after bearing calibration, can just be accurately positioned direction.Traditional calibration steps is that to have
The rearview mirror product for having magnetic field sensor draws " 8 " word, so that magnetic field sensor can obtain the magnetic induction of all directions, phase
When in user for realize calibration, need start automobile and relatively wide at one where on come " 8 " word that unrolls, not only loaded down with trivial details but consume
When, calibration efficiency is low.
Content of the invention
Based on this, it is necessary to for the low problem of calibration efficiency, a kind of bearing calibration method for improving calibration efficiency is provided
And device.
A kind of bearing calibration method, is applied to the first equipment, comprises the following steps：
Obtain azimuth information to be calibrated；
Calibration request is sent to the second equipment；
Receive second equipment and respond the calibration azimuth information after the calibration request executes bearing calibration；
Obtain the default relative bearing with second equipment；
Orientation school is executed according to the azimuth information to be calibrated, the calibration azimuth information and the default relative bearing
Accurate.
The present invention also provides a kind of pose calibrating device, is applied to the first equipment, including：
Azimuth information acquisition module to be calibrated, for obtaining azimuth information to be calibrated；
Calibration request sending module, for sending calibration request to second equipment；
Azimuth information acquisition module, responds the calibration after the calibration request execution bearing calibration for receiving the second equipment
Azimuth information；
Relative bearing acquisition module, for obtaining the default relative bearing with second equipment；
Calibration module, for according to the azimuth information to be calibrated, the calibration azimuth information and described default relative
Orientation carries out calibration and executes bearing calibration.
Above-mentioned bearing calibration method and device, when carrying out the first equipment and carrying out bearing calibration, obtain first the first equipment from
The azimuth information to be calibrated of body, and calibration request is sent to the second equipment, the second equipment responds the calibration request and executes orientation school
Standard simultaneously sends the calibration azimuth information after its execution bearing calibration to the first equipment, and it is described that the first equipment receives the response of the second equipment
Calibration azimuth information after calibration request execution bearing calibration, and the default relative bearing of the first equipment and the second equipment is obtained,
Also the relative position relation being known that between the first equipment and the second equipment, further according to the azimuth information to be calibrated, the school
Quasi- azimuth information and the default relative bearing execute bearing calibration.Set to first by above-mentioned bearing calibration method and device
Carry out in the venue moving back and forth realization calibration for the first equipment when bearing calibration is carried out, need not be started, only need to receive second and set
The standby calibration azimuth information for executing after bearing calibration, according to the calibration azimuth information, the first equipment azimuth information to be calibrated with
And relative bearing carries out bearing calibration, simplify calibration process, improve calibration efficiency.
Description of the drawings
Fig. 1 is a kind of interaction concept figure of the bearing calibration system of embodiment；
Fig. 2 is the flow chart of a kind of bearing calibration method of embodiment；
Fig. 3 is the flow chart of the bearing calibration method of another kind of embodiment；
Fig. 4 is the flow chart of the bearing calibration method of another kind of embodiment；
Fig. 5 is the location diagram of the first equipment of an embodiment and the second equipment；
Fig. 6 is a kind of module map of the bearing calibration device of embodiment；
Fig. 7 is the module map of the bearing calibration device of another kind of embodiment；
Fig. 8 is the module map of the bearing calibration device of another kind of embodiment.
Specific embodiment
Refer to Fig. 1, there is provided a kind of bearing calibration system of embodiment, including the first equipment and the second equipment, need
When carrying out bearing calibration to the first equipment, the first equipment first needs the azimuth information to be calibrated of itself for obtaining, and first sets
Standby first need to foundation with the second equipment is connected, i.e. the second equipment sends connection request to the first equipment, and the first equipment receives connection please
Ask and set up with the second equipment according to connection request and be connected, the first equipment sends calibration request, the second equipment to the second equipment again
Receive calibration request and respond and calibration azimuth information after calibration request executes bearing calibration, can be obtained, and after bearing calibration being executed
Calibration azimuth information be sent to the first equipment, the first equipment receives the calibration azimuth information, and the first equipment also needs to obtain and the
The default relative bearing of two equipment, executes orientation according to azimuth information to be calibrated, calibration azimuth information and default relative bearing
Calibration, so as to realize the bearing calibration of the first equipment.
Fig. 2 is referred to, a kind of bearing calibration method of embodiment is provided, the first equipment is applied to, is comprised the following steps：
S210：Obtain azimuth information to be calibrated.
By obtaining the azimuth information to be calibrated of the first equipment itself, you can know the orientation that the first equipment is positioned at present.
In the present embodiment, the first equipment includes but is not limited to transit equipment etc..In actual applications, in order to meet people, traffic is set
Standby intelligent demand, can be equipped with local electric terminal on increasing transit equipment, for example, rearview mirror smart machine,
Azimuth detecting apparatus and GPS positioning device is provided with electric terminal, checks which transit equipment is traveling at any time so as to user
Individual orientation and position.However, azimuth detecting apparatus carry out after strong magnetic interference is received occurring during orientation detection larger
Deviation, so that fixing by gross bearings is inaccurate, at this time, it may be necessary to be calibrated to obtain accurate side to azimuth detecting apparatus
Position information, then, it is necessary first to obtain the azimuth information to be calibrated of the azimuth detecting apparatus detection that installs on transit equipment.At this
In embodiment, azimuth detecting apparatus are magnetic field sensor, can to sense the magnetic field intensity on different directions by magnetic field sensor, from
And detect residing orientation.
S220：Calibration request is sent to the second equipment.
When first equipment needs to carry out bearing calibration, calibration request is sent to the second equipment, with the second equipment of acquisition request
Execute the calibration azimuth information after bearing calibration.Second equipment receives the calibration request and responds, after being executed bearing calibration
Calibration azimuth information be sent to the first equipment.
S230：Receive the second equipment response calibration request and execute the calibration azimuth information after bearing calibration.
Send after calibration request to the second equipment, the second equipment responds the calibration request and executes bearing calibration, and to first
Equipment sends the calibration azimuth information after executing bearing calibration, after the first equipment can receive the second equipment execution bearing calibration
Calibration azimuth information.In the present embodiment, the second equipment includes but is not limited to the intelligent terminal such as mobile phone and panel computer, in reality
In application, with increasingly demand of the user to smart terminal product, also can installation position detection means on general intelligent terminal
And GPS positioning device, so as to user, the orientation oneself being located and position are known by intelligent terminal, similarly, in intelligent terminal
Azimuth detecting apparatus variable interval to be corrected, that is, carry out bearing calibration, accurate so as to orientation detection, smart machine is being carried out
During calibration, user passes through smart mobile phone in space inside-paint " 8 " word or can be real by integrated calibration procedure in intelligent terminal
Existing bearing calibration, calibration process is convenient and simple.When electric terminal in traditional transit equipment will be calibrated, need to start and hand over
Logical equipment is simultaneously carried out moving back and forth being calibrated in the venue, too time-consuming, in the present embodiment, without the need for carrying out transit equipment again
Mobile calibration, directly obtaining the azimuth information after intelligent terminal executes bearing calibration by transit equipment carries out itself bearing calibration
?.
S240：Obtain the default relative bearing with the second equipment.
S250：Bearing calibration is executed according to azimuth information to be calibrated, azimuth information and default relative bearing.
The relative bearing of first equipment and the second equipment when placing between the two be predeterminable, can be according to the need of user
Ask and be configured, the first equipment and the second equipment are placed according to default relative bearing.As the first equipment and the second equipment may
There is gun parallax, that is to say, that when calibrating to the first equipment, the first equipment may be different from the orientation of the second equipment,
Directly calibration is carried out using the azimuth information of the first equipment and can there is error, so as to need to obtain the first equipment and the second equipment
Default relative bearing.When subsequently bearing calibration is carried out to the first equipment, it is that the second equipment executes school due to calibrating azimuth information
Calibration azimuth information after standard, relatively more accurate, by the calibration azimuth information, user place orientation can be known exactly, however,
The information to be calibrated of the first equipment may be less accurate, and the azimuth information to be calibrated at this time obtaining needs calibration, can be according to connecing
The calibration azimuth information of receipts and relative bearing, execute bearing calibration, and the first equipment after calibration can be accurately positioned user place
Orientation.For example, the first equipment is positioned over 20 degree of the second equipment east by north, that is to say, that relative bearing i.e. between the two is inclined for east
20 degree of north, when needing to be calibrated, the azimuth information to be calibrated of the first equipment of acquisition is 78 degree of northeastward, and the second equipment is held
Calibration azimuth information after row calibration is 60 degree of northeastward, and the calibration azimuth information that the second equipment is obtained after being carried out calibrating is
Accurately, so as to be that 60 degree of northeastward is calibrated according to the calibration azimuth information, due to 20 degree of both gun parallaxes, so as to can
According to azimuth information and the relative bearing of the second equipment, 78 degree of the orientation to be calibrated of the first equipment can be calibrated, realize
Bearing calibration to the first equipment, that is to say, that can by 60 degree of the azimuth information and 20 degree of relative bearing east by north of the second equipment
Know the first equipment accurate azimuth information be 80 degree, and its own obtain orientation to be calibrated be 78 degree, be different,
Executing bearing calibration again makes the orientation of the first equipment more accurate, that is, the calibration azimuth information according to the second equipment and contra
The accurate alignment to the first equipment can quickly be realized in position.
Above-mentioned bearing calibration method, when carrying out the first equipment and carrying out bearing calibration, obtains treating for the first equipment itself first
Calibration azimuth information, and send calibration request to the second equipment, the second equipment respond the calibration request execute bearing calibration and to
First equipment sends its calibration azimuth information after executing bearing calibration, and the first equipment receives the second equipment response calibration request and holds
Calibration azimuth information after row bearing calibration, and the default relative bearing of the first equipment and the second equipment is obtained, also it is known that
Relative position relation between one equipment and the second equipment, further according to azimuth information to be calibrated, calibration azimuth information and default
Relative bearing executes bearing calibration.When bearing calibration is carried out by above-mentioned bearing calibration method to the first equipment, need not start
One equipment carries out moving back and forth realization calibration in the venue, need to only receive the calibration orientation letter after the second equipment executes bearing calibration
Breath, carries out bearing calibration according to the calibration azimuth information, the azimuth information to be calibrated of the first equipment and relative bearing, letter
Change calibration process, improve calibration efficiency.
Fig. 3 is referred to, wherein in one embodiment, according to azimuth information to be calibrated, calibration azimuth information and default
Relative bearing, includes to S350 the step of the first equipment execution bearing calibration：
S351：According to calibration azimuth information and default relative bearing, the accurate orientation information of the first equipment is obtained.
S353：Bearing calibration is executed according to azimuth information to be calibrated and accurate orientation information.
Due to the first equipment and the phase place of the second equipment there may be different, obtain the second equipment executed bearing calibration
After calibration azimuth information afterwards, it is impossible to directly using calibration azimuth information, the first equipment is calibrated, also need according to contra
Position is adjusted to azimuth information, can so obtain the orientation that the first equipment is accurately located, then further according to the accurate orientation letter
Breath is calibrated to the first equipment, specifically, according to accurate orientation information, azimuth information to be calibrated is calibrated, first is set
Standby information to be calibrated calibrates to accurate orientation information.For example, as shown in figure 4, the relative bearing of the first equipment and the second equipment
For 0 degree, also mean that between the two without gun parallax, the first equipment place orientation is identical with the second equipment place orientation,
The orientation that second equipment the is located orientation that namely the first equipment is located, the calibration orientation after the second equipment executes bearing calibration is believed
Cease for 50 degree of the southeast, however, the azimuth information to be calibrated of the first equipment is to believe 49 degree of the southeast, due to the calibration orientation of the second equipment
Breath be by calibration, so as to more accurate, by obtaining the calibration azimuth information of the second equipment, to the to be calibrated of the first equipment
Azimuth information is carried out, and the orientation for calibrating the first equipment is 50 degree of the southeast, realizes the bearing calibration of the first equipment, i.e. the first equipment school
It is identical that orientation after standard executes the azimuth information after calibration with the second equipment.Again for example, the first equipment is relative with the second equipment
Orientation be the first equipment for 20 degree of the second equipment east by north, the calibration azimuth information after the second equipment executes bearing calibration is east
The north is to 50 degree, and the accurate orientation information so as to obtaining the first equipment is 70 degree of northeastward.However, the first equipment treat school
Quasi- azimuth information is 72 degree of northeastward, the orientation letter for having 2 degree of east by north between azimuth information to be calibrated and accurate orientation information
Breath error amount, calibrates 2 degree to the information north east to be calibrated of the first equipment, adjusts azimuth information to be calibrated and accurate orientation information
Identical, that is, the orientation after the first equipment being calibrated for 72 degree, realizes bearing calibration.Further, according to azimuth information to be calibrated with
And accurate orientation information executes the azimuthal error that bearing calibration may include to obtain azimuth information to be calibrated and accurate orientation information
Value, according to azimuthal error value, azimuth information to be calibrated is calibrated to accurate orientation information.
Wherein in one embodiment, default relative bearing is zero degree.
In order to be easy to calibration further, calibration efficiency is improved, it is to avoid the first equipment is led as orientation is different from the second equipment
The problem of prover time length is caused, before the azimuth information to be calibrated of first equipment that obtains, the first equipment is put with the second equipment
It is placed in same orientation, that is to say, that default relative bearing is without gun parallax between zero degree, i.e. the first equipment and the second equipment the
One equipment and the second equipment are in same orientation, i.e. the first equipment and the second equipment is in equidirectional, then can be directly sharp
The calibration azimuth information for being executed after bearing calibration with the second equipment carries out bearing calibration to the first equipment.
Fig. 5 is referred to, wherein in one embodiment, is also wrapped to before S520 the step of the second equipment transmission calibration request
Include：
S511：Receive the connection request of the second equipment transmission.
S513：According to connection request, set up with the second equipment and be connected.
Before the first equipment receives the calibration azimuth information after the second equipment executes bearing calibration, the first equipment and second
Connection must be first set up between equipment, so as to, the second equipment is connected with asking to set up to the first equipment by sending connection request, with
Just communicate, after the first equipment receives connection request, set up with the second equipment and be connected, you can carry out information transfer.
Wherein in one embodiment, entered according to azimuth information to be calibrated, calibration azimuth information and default relative bearing
After the step of row calibration executes bearing calibration S550, also include：
S561：Obtain destination locations.
S563：Present orientation information and the current geographic position at first equipment itself place are obtained in real time.
S565：Navigated according to present orientation information, current geographic position and destination locations.
On transit equipment install electric terminal on be typically additionally provided with GPS (Global Positioning System,
Global positioning system) positioner, can be used for real-time positioning transit equipment place geographical position, so as to, when user need into
During row navigation, first-selected, the destination locations that user wants to reach are obtained, where also just knowing that user wants, user can be passed through
Input destination locations can also pass through verbal announcement transit equipment destination locations, and obtain the current of the first equipment itself place in real time
Azimuth information and current geographic position, that is, obtain transit equipment itself orientation being presently in and the position being currently located
Put, then carry out the navigation procedure from current geographic position to destination locations.In the present embodiment, GPS positioning device can be passed through
Real-time positioning transit equipment current location obtains current geographic position.As transit equipment has been executed after bearing calibration, can be accurate
Positioning, accurately knows user's current direction information, according to user operation, knows that user needs the target location for navigating to,
Can achieve from current geographic position to target location according to current direction information, current geographic position and destination locations
Accurate navigation.
Fig. 6 is referred to, a kind of pose calibrating device of embodiment is provided, the first equipment is applied to, including：
Azimuth information acquisition module 610 to be calibrated, for obtaining azimuth information to be calibrated.
By obtaining the azimuth information to be calibrated of the first equipment itself, you can know the orientation that the first equipment is positioned at present.
In the present embodiment, the first equipment includes but is not limited to transit equipment etc..In actual applications, in order to meet people, traffic is set
Standby intelligent demand, can be equipped with local electric terminal on increasing transit equipment, for example, rearview mirror smart machine,
Azimuth detecting apparatus and GPS positioning device is provided with electric terminal, checks which transit equipment is traveling at any time so as to user
Individual orientation and position.However, azimuth detecting apparatus carry out after strong magnetic interference is received occurring during orientation detection larger
Deviation, so that fixing by gross bearings is inaccurate, at this time, it may be necessary to be calibrated to obtain accurate side to azimuth detecting apparatus
Position information, then, it is necessary first to obtain the azimuth information to be calibrated of the azimuth detecting apparatus detection that installs on transit equipment.At this
In embodiment, azimuth detecting apparatus are magnetic field sensor, can to sense the magnetic field intensity on different directions by magnetic field sensor, from
And detect residing orientation.
Calibration request sending module 620, for sending calibration request to the second equipment.
When first equipment needs to carry out bearing calibration, calibration request is sent to the second equipment, with the second equipment of acquisition request
Execute the calibration azimuth information after bearing calibration.Second equipment receives the calibration request and responds, after being executed bearing calibration
Calibration azimuth information be sent to the first equipment.
Azimuth information acquisition module 630, executes the calibration after bearing calibration for receiving the second equipment response calibration request
Azimuth information.
Send after calibration request to the second equipment, the second equipment responds the calibration request and executes bearing calibration, and to first
Equipment sends the calibration azimuth information after executing bearing calibration, after the first equipment can receive the second equipment execution bearing calibration
Calibration azimuth information.In the present embodiment, the second equipment includes but is not limited to the intelligent terminal such as mobile phone and panel computer, in reality
In application, with increasingly demand of the user to smart terminal product, also can installation position detection means on general intelligent terminal
And GPS positioning device, so as to user, the orientation oneself being located and position are known by intelligent terminal, similarly, in intelligent terminal
Azimuth detecting apparatus variable interval to be corrected, that is, carry out bearing calibration, accurate so as to orientation detection, smart machine is being carried out
During calibration, user passes through smart mobile phone in space inside-paint " 8 " word or can be real by integrated calibration procedure in intelligent terminal
Existing bearing calibration, calibration process is convenient and simple.When electric terminal in traditional transit equipment will be calibrated, need to start and hand over
Logical equipment is simultaneously carried out moving back and forth being calibrated in the venue, too time-consuming, in the present embodiment, without the need for carrying out transit equipment again
Mobile calibration, directly obtaining the azimuth information after intelligent terminal executes bearing calibration by transit equipment carries out itself bearing calibration
?.
Relative bearing acquisition module 640, for obtaining the default relative bearing with the second equipment.
Calibration module 650, for carrying out calibrating the side of execution according to azimuth information to be calibrated, azimuth information and relative bearing
Position calibration.
The relative bearing of first equipment and the second equipment when placing between the two be predeterminable, can be according to the need of user
Ask and be configured, the first equipment and the second equipment are placed according to default relative bearing.As the first equipment and the second equipment may
There is gun parallax, that is to say, that when calibrating to the first equipment, the first equipment may be different from the orientation of the second equipment,
Directly calibration is carried out using the azimuth information of the first equipment and can there is error, so as to need to obtain the first equipment and the second equipment
Default relative bearing.When subsequently bearing calibration is carried out to the first equipment, it is that the second equipment executes school due to calibrating azimuth information
Calibration azimuth information after standard, relatively more accurate, by the calibration azimuth information, user place orientation can be known exactly, however,
The information to be calibrated of the first equipment may be less accurate, and the azimuth information to be calibrated at this time obtaining needs calibration, can be according to connecing
The calibration azimuth information of receipts and relative bearing, execute bearing calibration, and the first equipment after calibration can be accurately positioned user place
Orientation.For example, the first equipment is positioned over 20 degree of the second equipment east by north, that is to say, that relative bearing i.e. between the two is inclined for east
20 degree of north, when needing to be calibrated, the azimuth information to be calibrated of the first equipment of acquisition is 78 degree of northeastward, and the second equipment is held
Calibration azimuth information after row calibration is 60 degree of northeastward, and the calibration azimuth information that the second equipment is obtained after being carried out calibrating is
Accurately, so as to be that 60 degree of northeastward is calibrated according to the calibration azimuth information, due to 20 degree of both gun parallaxes, so as to can
According to azimuth information and the relative bearing of the second equipment, 78 degree of the orientation to be calibrated of the first equipment can be calibrated, realize
Bearing calibration to the first equipment, that is to say, that can by 60 degree of the azimuth information and 20 degree of relative bearing east by north of the second equipment
Know the first equipment accurate azimuth information be 80 degree, and its own obtain orientation to be calibrated be 78 degree, be different,
Executing bearing calibration again makes the orientation of the first equipment more accurate, that is, the calibration azimuth information according to the second equipment and contra
The accurate alignment to the first equipment can quickly be realized in position.
Above-mentioned bearing calibration device, when carrying out the first equipment and carrying out bearing calibration, obtains treating for the first equipment itself first
Calibration azimuth information, and send calibration request to the second equipment, the second equipment respond the calibration request execute bearing calibration and to
First equipment sends its calibration azimuth information after executing bearing calibration, and the first equipment receives the second equipment response calibration request and holds
Calibration azimuth information after row bearing calibration, and the default relative bearing of the first equipment and the second equipment is obtained, also it is known that
Relative position relation between one equipment and the second equipment, further according to azimuth information to be calibrated, calibration azimuth information and default
Relative bearing executes bearing calibration.When bearing calibration is carried out by above-mentioned bearing calibration method to the first equipment, need not start
One equipment carries out moving back and forth realization calibration in the venue, need to only receive the calibration orientation letter after the second equipment executes bearing calibration
Breath, carries out bearing calibration according to the calibration azimuth information, the azimuth information to be calibrated of the first equipment and relative bearing, letter
Change calibration process, improve calibration efficiency.
Fig. 7 is referred to, wherein in one embodiment, calibration module 750 includes：
Accurate orientation data obtaining module 751, for according to calibration azimuth information and default relative bearing, obtaining first
The accurate orientation information of equipment.
Bearing calibration module 753, for executing bearing calibration according to azimuth information to be calibrated and accurate orientation information.
Due to the first equipment and the phase place of the second equipment there may be different, obtain the second equipment executed bearing calibration
After calibration azimuth information afterwards, it is impossible to directly using calibration azimuth information, the first equipment is calibrated, also need according to contra
Position is adjusted to azimuth information, can so obtain the orientation that the first equipment is accurately located, then further according to the accurate orientation letter
Breath is calibrated to the first equipment, specifically, according to accurate orientation information, azimuth information to be calibrated is calibrated, first is set
Standby information to be calibrated calibrates to accurate orientation information.For example, as shown in figure 4, the relative bearing of the first equipment and the second equipment
For 0 degree, also mean that between the two without gun parallax, the first equipment place orientation is identical with the second equipment place orientation,
The orientation that second equipment the is located orientation that namely the first equipment is located, the calibration orientation after the second equipment executes bearing calibration is believed
Cease for 50 degree of the southeast, however, the azimuth information to be calibrated of the first equipment is to believe 49 degree of the southeast, due to the calibration orientation of the second equipment
Breath be by calibration, so as to more accurate, by obtaining the calibration azimuth information of the second equipment, to the to be calibrated of the first equipment
Azimuth information is carried out, and the orientation for calibrating the first equipment is 50 degree of the southeast, realizes the bearing calibration of the first equipment, i.e. the first equipment school
It is identical that orientation after standard executes the azimuth information after calibration with the second equipment.Again for example, the first equipment is relative with the second equipment
Orientation be the first equipment for 20 degree of the second equipment east by north, the calibration azimuth information after the second equipment executes bearing calibration is east
The north is to 50 degree, and the accurate orientation information so as to obtaining the first equipment is 70 degree of northeastward.However, the first equipment treat school
Quasi- azimuth information is 72 degree of northeastward, the orientation letter for having 2 degree of east by north between azimuth information to be calibrated and accurate orientation information
Breath error amount, calibrates 2 degree to the information north east to be calibrated of the first equipment, adjusts azimuth information to be calibrated and accurate orientation information
Identical, that is, the orientation after the first equipment being calibrated for 72 degree, realizes bearing calibration.Further, according to azimuth information to be calibrated with
And accurate orientation information executes the azimuthal error that bearing calibration may include to obtain azimuth information to be calibrated and accurate orientation information
Value, according to azimuthal error value, azimuth information to be calibrated is calibrated to accurate orientation information.
Wherein in one embodiment, default relative bearing is zero degree.
In order to be easy to calibration further, calibration efficiency is improved, it is to avoid the first equipment is led as orientation is different from the second equipment
The problem of prover time length is caused, before the azimuth information to be calibrated of first equipment that obtains, the first equipment is put with the second equipment
It is placed in same orientation, that is to say, that default relative bearing is without gun parallax between zero degree, i.e. the first equipment and the second equipment the
One equipment and the second equipment are in same orientation, i.e. the first equipment and the second equipment is in equidirectional, then can be directly sharp
The calibration azimuth information for being executed after bearing calibration with the second equipment carries out bearing calibration to the first equipment.
Fig. 8 is referred to, wherein in one embodiment, above-mentioned pose calibrating device also includes：
Request receiving module 811, for receiving the connection request of the second equipment transmission；
Link block 813, for according to connection request, setting up with the second equipment and being connected.
Before the first equipment receives the calibration azimuth information after the second equipment executes bearing calibration, the first equipment and second
Connection must be first set up between equipment, so as to, the second equipment is connected with asking to set up to the first equipment by sending connection request, with
Just communicate, after the first equipment receives connection request, set up with the second equipment and be connected, you can carry out information transfer.
Wherein in one embodiment, above-mentioned pose calibrating device, also include：
Destination locations acquisition module 861, for obtaining destination locations.
Real time information acquisition module 863, for obtaining the present orientation information at the first equipment itself place in real time and working as
Front geographical position.
Navigation module 865, for being navigated according to present orientation information, current geographic position and destination locations.
GPS positioning device being additionally provided with typically on the electric terminal that installs on transit equipment, can be used for real-time positioning traffic
The geographical position that equipment is located, so as to, when user needs to be navigated, first-selected, the destination locations that user wants to reach are obtained,
Also, where just knowing that user wants, verbal announcement transit equipment purpose position can also can be passed through by user input destination locations
Put, and obtain present orientation information and the current geographic position at the first equipment itself place in real time, that is, obtain traffic and set
The standby orientation itself being presently in and the position being currently located, then carry out the navigation from current geographic position to destination locations
Process.In the present embodiment, current geographic position can be obtained by GPS positioning device real-time positioning transit equipment current location.
As transit equipment has been executed after bearing calibration, can be accurately positioned, accurately know user's current direction information, according to user
Operation, knows that user needs the target location for navigating to, according to current direction information, current geographic position and purpose position
Put the accurate navigation that can achieve from current geographic position to target location.
Each technical characteristic of above example arbitrarily can be combined, for making description succinct, not to above-described embodiment
In each technical characteristic all possible combination be all described, as long as however, there is no lance in the combination of these technical characteristics
Shield, is all considered to be the scope of this specification record.
Above example only have expressed several embodiments of the present invention, and its description is more concrete and in detail, but can not be because
This and be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, not
On the premise of departing from present inventive concept, some deformation can also be made and improved, these belong to protection scope of the present invention.Cause
This, the protection domain of patent of the present invention should be defined by claims.
Claims (10)
1. a kind of bearing calibration method, is applied to the first equipment, it is characterised in that comprise the following steps：
Obtain azimuth information to be calibrated；
Calibration request is sent to the second equipment；
Receive second equipment and respond the calibration azimuth information after the calibration request executes bearing calibration；
Obtain the default relative bearing with second equipment；
Bearing calibration is executed according to the azimuth information to be calibrated, the calibration azimuth information and the default relative bearing.
2. bearing calibration method according to claim 1, it is characterised in that described according to the azimuth information to be calibrated,
The calibration azimuth information and the default relative bearing include the step of executing bearing calibration：
According to the calibration azimuth information and the default relative bearing, the accurate orientation information of first equipment is obtained；
Bearing calibration is executed according to the azimuth information to be calibrated and the accurate orientation information.
3. bearing calibration method according to claim 1 and 2, it is characterised in that the default relative bearing be.
4. bearing calibration method according to claim 1, it is characterised in that described send calibration request to the second equipment
Also include before step：
Receive the connection request of second equipment transmission；
According to the connection request, set up with second equipment and be connected.
5. bearing calibration method according to claim 1, it is characterised in that described according to the azimuth information to be calibrated,
After the step of calibration azimuth information and the default relative bearing execute bearing calibration, also include：
Obtain destination locations；
Present orientation information and the current geographic position at first equipment itself place are obtained in real time；
Navigated according to the present orientation information, the current geographic position and the destination locations.
6. a kind of pose calibrating device, is applied to the first equipment, it is characterised in that include：
Azimuth information acquisition module to be calibrated, for obtaining azimuth information to be calibrated；
Calibration request sending module, for sending calibration request to second equipment；
Azimuth information acquisition module, responds the calibration orientation after the calibration request execution bearing calibration for receiving the second equipment
Information；
Relative bearing acquisition module, for obtaining the default relative bearing with second equipment；
Calibration module, for according to the azimuth information to be calibrated, the calibration azimuth information and the default relative bearing
Carry out calibration and execute bearing calibration.
7. pose calibrating device according to claim 6, it is characterised in that the calibration module includes：
Accurate orientation data obtaining module, for according to the calibration azimuth information and the default relative bearing, obtaining institute
State the accurate orientation information of the first equipment；
Bearing calibration module, for executing bearing calibration according to the azimuth information to be calibrated and the accurate orientation information.
8. the bearing calibration method according to claim 6 or 7, it is characterised in that the default relative bearing be.
9. pose calibrating device according to claim 6, it is characterised in that also include：
Request receiving module, for receiving the second equipment connection request；
Link block, for according to the connection request, setting up with second equipment and being connected.
10. pose calibrating device according to claim 6, it is characterised in that also include：
Destination locations acquisition module, for obtaining destination locations；
Real time information acquisition module, for obtaining present orientation information and the current position at first equipment itself place in real time
Reason position；
Navigation module, for carrying out according to the present orientation information, the current geographic position and the purpose cursor position
Navigation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610843778.8A CN106441360B (en) | 2016-09-21 | 2016-09-21 | Bearing calibration method and device |
| PCT/CN2016/113144 WO2018053969A1 (en) | 2016-09-21 | 2016-12-29 | Azimuth calibration method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610843778.8A CN106441360B (en) | 2016-09-21 | 2016-09-21 | Bearing calibration method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106441360A true CN106441360A (en) | 2017-02-22 |
| CN106441360B CN106441360B (en) | 2019-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610843778.8A Active CN106441360B (en) | 2016-09-21 | 2016-09-21 | Bearing calibration method and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106441360B (en) |
| WO (1) | WO2018053969A1 (en) |
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Also Published As
| Publication number | Publication date |
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| CN106441360B (en) | 2019-08-13 |
| WO2018053969A1 (en) | 2018-03-29 |
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