CN106441360B - Bearing calibration method and device - Google Patents
Bearing calibration method and device Download PDFInfo
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- CN106441360B CN106441360B CN201610843778.8A CN201610843778A CN106441360B CN 106441360 B CN106441360 B CN 106441360B CN 201610843778 A CN201610843778 A CN 201610843778A CN 106441360 B CN106441360 B CN 106441360B
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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
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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
Abstract
The present invention relates to a kind of bearing calibration method and devices, the azimuth information to be calibrated of the first equipment itself is obtained first, and calibration request is sent to the second equipment, second equipment responds the calibration request and executes bearing calibration and send its calibration azimuth information after executing bearing calibration to the first equipment, first equipment receives the second equipment response calibration request and executes the calibration azimuth information after bearing calibration, and the default relative bearing of the first equipment and the second equipment is obtained, bearing calibration is executed further according to azimuth information to be calibrated, calibration azimuth information and default relative bearing.When carrying out bearing calibration to the first equipment by above-mentioned bearing calibration method and device, it carries out moving back and forth realization calibration in the venue without starting the first equipment, the second equipment need to only be received and execute the calibration azimuth information after bearing calibration, bearing calibration is carried out according to the calibration azimuth information, the azimuth information and relative bearing to be calibrated of the first equipment, simplify calibration process, improves calibration efficiency.
Description
Technical field
The present invention relates to data calibration technical field, in particular to a kind of bearing calibration method and device.
Background technique
With the development of Internet and intellectual product, automobile also becomes more and more intelligent.Most automobile all starts to install
Automobile middle control or rearview mirror product.And these products generally have automobile steering positioning and navigation feature.The realization of direction positioning
The magnetic field sensor in product is had relied on, compass functional is realized by magnetic field sensor, determines the current vehicle of automobile
Head direction.Again by GPS function, auto navigation function is realized.But rearview mirror product is after a loss of power or when having high-intensity magnetic field interference, nothing
Method accurately obtains all directions direction that automobile is presently in, i.e., can not accurately obtain the azimuth information of automobile.
Magnetic field sensor has to after bearing calibration, and direction could be accurately positioned.Traditional calibration method is that will have
There is the rearview mirror product of magnetic field sensor to draw " 8 " word, so that magnetic field sensor can obtain the magnetic induction of all directions, phase
When being to realize calibration in user, need to start automobile and one than wider in the localities come " 8 " word that unrolls, it is not only cumbersome but also consume
When, calibration efficiency is low.
Summary of the invention
Based on this, it is necessary to for the low problem of calibration efficiency, provide a kind of bearing calibration method for improving calibration efficiency
And device.
A kind of bearing calibration method is applied to the first equipment, comprising the following steps:
Obtain azimuth information to be calibrated；
Calibration request is sent to the second equipment；
It receives second equipment and responds the calibration azimuth information after the calibration request execution bearing calibration；
Obtain the default relative bearing with second equipment；
Orientation school is executed according to azimuth information, the calibration azimuth information and the default relative bearing to be calibrated
It is quasi-.
The present invention also provides a kind of pose calibrating devices, are applied to the first equipment, comprising:
Azimuth information to be calibrated obtains module, for obtaining azimuth information to be calibrated；
Calibration request sending module, for sending calibration request to second equipment；
Azimuth information obtains module, responds the calibration after the calibration request executes bearing calibration for receiving the second equipment
Azimuth information；
Relative bearing obtains module, for obtaining and the default relative bearing of second equipment；
Calibration module, for according to the azimuth information to be calibrated, the calibration azimuth information and it is described it is default relatively
Orientation carries out calibration and executes bearing calibration.
Above-mentioned bearing calibration method and device obtains the first equipment certainly when carrying out the first equipment progress bearing calibration first
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 its calibration azimuth information after executing bearing calibration to the first equipment, and the first equipment receives described in the response of the second equipment
Calibration request executes the calibration azimuth information after bearing calibration, and obtains the default relative bearing of the first equipment and the second equipment,
Also the relative positional relationship 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.It is set by above-mentioned bearing calibration method and device to first
When standby progress bearing calibration, carries out moving back and forth realization calibration in the venue without starting the first equipment, only need to receive second and set
The standby calibration azimuth information executed after bearing calibration, according to the calibration azimuth information, the azimuth information to be calibrated of the first equipment with
And relative bearing carries out bearing calibration, simplifies calibration process, improves calibration efficiency.
Detailed description of the invention
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 embodiment；
Fig. 4 is the flow chart of the bearing calibration method of another embodiment；
Fig. 5 is the first equipment of an embodiment and the location diagram of 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 embodiment；
Fig. 8 is the module map of the bearing calibration device of another embodiment.
Specific embodiment
Referring to Fig. 1, providing 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 obtained, and first sets
Standby first to establish connection with the second equipment, i.e. the second equipment sends connection request to the first equipment, and the first equipment receives connection and asks
It asks and connection is established according to connection request and the second equipment, the first equipment sends calibration request, the second equipment to the second equipment again
Reception calibration request simultaneously responds available calibration azimuth information after calibration request execution bearing calibration, and will be after execution bearing calibration
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, to realize the bearing calibration of the first equipment.
Referring to Fig. 2, providing a kind of bearing calibration method of embodiment, it is applied to the first equipment, comprising the following steps:
S210: azimuth information to be calibrated is obtained.
By obtaining the azimuth information to be calibrated of the first equipment itself, that is, it may know that the orientation that the first equipment positions at present.
In the present embodiment, the first equipment includes but is not limited to transit equipment etc..In practical applications, it is set to meet people to traffic
Standby intelligent demand, on more and more transit equipments can equipped with local electric terminal, for example, rearview mirror smart machine,
Azimuth detecting apparatus and GPS positioning device are provided in electric terminal, so that user checks which transit equipment is traveling at any time
A orientation and position.However, azimuth detecting apparatus after receiving strong magnetic interference carry out orientation detection when will appear it is 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 for the azimuth detecting apparatus detection installed on transit equipment.At this
In embodiment, azimuth detecting apparatus is magnetic field sensor, and the magnetic field strength on different directions can be incuded by magnetic field sensor, from
And detect locating 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 request
Calibration azimuth information after executing 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: it receives the second equipment response calibration request and executes the calibration azimuth information after bearing calibration.
After sending 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 the second equipment ready to receive executes bearing calibration
Calibrate azimuth information.In the present embodiment, the second equipment includes but is not limited to the intelligent terminals such as mobile phone and tablet computer, in reality
In, as user is to the increasingly demand of smart terminal product, azimuth detecting apparatus also will be installed on general intelligent terminal
And GPS positioning device, the orientation and position where oneself are known by intelligent terminal so as to user, similarly, in intelligent terminal
Azimuth detecting apparatus not timing to be corrected, i.e., progress bearing calibration, so that orientation detection is accurate, smart machine is being carried out
When calibration, user by by smart phone space inside-paint " 8 " word or by intelligent terminal integrate calibration procedure can be real
Existing bearing calibration, calibration process are convenient and simple.When electric terminal in traditional transit equipment will be calibrated, need to start friendship
Logical equipment simultaneously in the venue move back and forth being calibrated, too time-consuming, in the present embodiment, no longer needs to carry out transit equipment
Mobile calibration, the azimuth information after intelligent terminal execution bearing calibration is directly obtained by transit equipment carry out itself bearing calibration
?.
S240: the default relative bearing with the second equipment is obtained.
S250: bearing calibration is executed according to azimuth information to be calibrated, azimuth information and default relative bearing.
First equipment is with relative bearing of second equipment when placing between the two can be preset, can be according to the need of user
It asks and is configured, the first equipment and the second equipment are placed according to default relative bearing.Since the first equipment and the second equipment may
There are gun parallaxes, that is to say, that and when calibrating to the first equipment, the first equipment may be different from the orientation of the second equipment,
Error can be had by directly carrying out calibration using the azimuth information of the first equipment, to need to obtain the first equipment and the second equipment
Default relative bearing.In the subsequent progress bearing calibration to the first equipment, since calibration azimuth information is that the second equipment executes school
Calibration azimuth information after standard, it is relatively more accurate, by the calibration azimuth information, it can accurately know orientation where user, however,
The information to be calibrated of first equipment may be less accurate, and the azimuth information to be calibrated at this time obtained needs to calibrate, can be according to connecing
The calibration azimuth information and relative bearing of receipts, execute bearing calibration, and the first equipment after calibration can be accurately positioned where user
Orientation.For example, the first equipment is placed in 20 degree of the second equipment east by north, that is to say, that relative bearing i.e. between the two is that east is inclined
20 degree of north, when being 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 second equipment is to execute the calibration azimuth information obtained after calibration to be
Accurately, to be calibrated according to the calibration azimuth information, that is, 60 degree of northeastward, due to 20 degree of the two gun parallax, so as to
According to the azimuth information and relative bearing of the second equipment, can 78 degree of the orientation to be calibrated to the first equipment calibrate, realize
To the bearing calibration of the first equipment, that is to say, that can by 20 degree of 60 degree of the azimuth information of the second equipment and relative bearing east by north
The accurate azimuth information for knowing the first equipment is 80 degree, and the orientation to be calibrated that its own is obtained is 78 degree, is different,
Executing bearing calibration again keeps the orientation of the first equipment more acurrate, that is, according to the calibration azimuth information and opposite side of the second equipment
Position can fast implement the accurate alignment to the first equipment.
Above-mentioned bearing calibration method, carry out the first equipment carry out bearing calibration when, obtain first the first equipment itself to
Calibrate azimuth information, and to the second equipment send calibration request, the second equipment respond the calibration request execute bearing calibration and to
First equipment sends it and executes the calibration azimuth information after 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 the
Relative positional relationship between one equipment and the second equipment further according to azimuth information to be calibrated, calibration azimuth information and is preset
Relative bearing executes bearing calibration.When carrying out bearing calibration to the first equipment by above-mentioned bearing calibration method, without starting the
One equipment carries out moving back and forth realization calibration in the venue, need to only receive the second equipment and execute the calibration orientation letter after bearing calibration
Breath carries out bearing calibration, letter according to the calibration azimuth information, the azimuth information and relative bearing to be calibrated of the first equipment
Change calibration process, improves calibration efficiency.
Referring to Fig. 3, according to azimuth information to be calibrated, calibration azimuth information and presetting in one of the embodiments,
Relative bearing, the step S350 for executing bearing calibration to the first equipment include:
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.
Since there may be differences for the phase of the first equipment and the second equipment, bearing calibration has been executed obtaining the second equipment
After calibration azimuth information afterwards, directly the first equipment cannot be calibrated using calibration azimuth information, also needed according to opposite side
Position is adjusted azimuth information, can get the orientation at the accurate place of the first equipment in this way, then believes further according to the accurate orientation
Breath calibrates the first equipment, specifically, is calibrated according to accurate orientation information to azimuth information to be 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
Be 0 degree, also mean that between the two without gun parallax, orientation where the first equipment and the second equipment place orientation be it is identical,
Orientation of the orientation namely where the first equipment where second equipment, the second equipment execute the calibration orientation letter after bearing calibration
Breath is 50 degree of the southeast, however, the azimuth information to be calibrated of the first equipment is 49 degree of the southeast, since the calibration orientation of the second equipment is believed
Breath is by calibration, thus more accurate, by obtaining the calibration azimuth information of the second equipment, to the to be calibrated of the first equipment
Azimuth information carries out, and the orientation of the first equipment of calibration is 50 degree of the southeast, realizes the bearing calibration of the first equipment, i.e. the first equipment school
Orientation after standard is identical with the azimuth information after the execution calibration of the second equipment.In another example the first equipment is opposite with the second equipment
Orientation is the first equipment for 20 degree of the second equipment east by north, and it is eastern that the second equipment, which executes the calibration azimuth information after bearing calibration,
The north is 70 degree of northeastward so as to obtain the accurate orientation information of the first equipment to 50 degree.However, the first equipment to school
Quasi- azimuth information is 72 degree of northeastward, has the orientation of 2 degree of east by north to believe between azimuth information to be calibrated and accurate orientation information
Error amount is ceased, 2 degree are calibrated 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 calibrating the first equipment is 72 degree, realizes bearing calibration.Further, according to azimuth information to be calibrated with
And it may include obtaining the azimuthal error of azimuth information to be calibrated and accurate orientation information that accurate orientation information, which executes bearing calibration,
Value, according to azimuthal error value, calibrates to accurate orientation information for azimuth information to be calibrated.
Presetting relative bearing in one of the embodiments, is zero degree.
In order to further convenient for calibration, improve calibration efficiency, avoid the first equipment with the second equipment since orientation difference is led
The problem for causing prover time long puts the first equipment and the second equipment before the azimuth information to be calibrated for obtaining the first equipment
It is placed in same orientation, that is to say, that default relative bearing is zero degree, i.e. does not have gun parallax between 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 are in the same direction, then can be directly sharp
Calibration azimuth information after executing bearing calibration with the second equipment carries out bearing calibration to the first equipment.
Referring to Fig. 5, also being wrapped before to the step S520 that the second equipment sends calibration request in one of the embodiments,
It includes:
S511: the connection request that the second equipment is sent is received.
S513: according to connection request, connection is established with the second equipment.
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 established between equipment, thus, the second equipment requests to establish connection to the first equipment by sending connection request, with
Just it communicates, after the first equipment receives connection request, establishes connection with the second equipment, information transmission can be carried out.
In one of the embodiments, according to azimuth information to be calibrated, calibration azimuth information and default relative bearing into
Row calibration executes after the step S550 of bearing calibration, further includes:
S561: destination locations are obtained.
S563: the present orientation information and current geographic position where acquisition the first equipment itself in real time.
S565: it is navigated according to present orientation information, current geographic position and destination locations.
Generally be additionally provided on the electric terminal installed on transit equipment GPS (Global Positioning System,
Global positioning system) positioning device, can be used in real time position transit equipment where geographical location, thus, when user need into
It is preferred when row navigation, it obtains user and wants the destination locations reached, also just know the place that user wants, user can be passed through
Inputting destination locations can also be by verbal announcement transit equipment destination locations, and obtains in real time current where the first equipment itself
Azimuth information and current geographic position, that is, obtain transit equipment itself orientation being presently in and the position being currently located
It sets, then carries out the navigation procedure from current geographic position to destination locations.In the present embodiment, GPS positioning device can be passed through
Positioning transit equipment current location obtains current geographic position in real time.It, can be accurate after having executed bearing calibration due to transit equipment
Positioning, accurately knows user's current direction information, according to user's operation, knows the target position that user needs to navigate to,
It can be realized from current geographic position to target position according to current direction information, current geographic position and destination locations
Accurate navigation.
Referring to Fig. 6, providing a kind of pose calibrating device of embodiment, it is applied to the first equipment, comprising:
Azimuth information to be calibrated obtains module 610, for obtaining azimuth information to be calibrated.
By obtaining the azimuth information to be calibrated of the first equipment itself, that is, it may know that the orientation that the first equipment positions at present.
In the present embodiment, the first equipment includes but is not limited to transit equipment etc..In practical applications, it is set to meet people to traffic
Standby intelligent demand, on more and more transit equipments can equipped with local electric terminal, for example, rearview mirror smart machine,
Azimuth detecting apparatus and GPS positioning device are provided in electric terminal, so that user checks which transit equipment is traveling at any time
A orientation and position.However, azimuth detecting apparatus after receiving strong magnetic interference carry out orientation detection when will appear it is 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 for the azimuth detecting apparatus detection installed on transit equipment.At this
In embodiment, azimuth detecting apparatus is magnetic field sensor, and the magnetic field strength on different directions can be incuded by magnetic field sensor, from
And detect locating 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 request
Calibration azimuth information after executing 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 obtains module 630, for receiving the calibration after the second equipment response calibration request executes bearing calibration
Azimuth information.
After sending 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 the second equipment ready to receive executes bearing calibration
Calibrate azimuth information.In the present embodiment, the second equipment includes but is not limited to the intelligent terminals such as mobile phone and tablet computer, in reality
In, as user is to the increasingly demand of smart terminal product, azimuth detecting apparatus also will be installed on general intelligent terminal
And GPS positioning device, the orientation and position where oneself are known by intelligent terminal so as to user, similarly, in intelligent terminal
Azimuth detecting apparatus not timing to be corrected, i.e., progress bearing calibration, so that orientation detection is accurate, smart machine is being carried out
When calibration, user by by smart phone space inside-paint " 8 " word or by intelligent terminal integrate calibration procedure can be real
Existing bearing calibration, calibration process are convenient and simple.When electric terminal in traditional transit equipment will be calibrated, need to start friendship
Logical equipment simultaneously in the venue move back and forth being calibrated, too time-consuming, in the present embodiment, no longer needs to carry out transit equipment
Mobile calibration, the azimuth information after intelligent terminal execution bearing calibration is directly obtained by transit equipment carry out itself bearing calibration
?.
Relative bearing obtains module 640, for obtaining and the default relative bearing of the second equipment.
Calibration module 650, for carrying out the calibration side of execution according to azimuth information to be calibrated, azimuth information and relative bearing
Position calibration.
First equipment is with relative bearing of second equipment when placing between the two can be preset, can be according to the need of user
It asks and is configured, the first equipment and the second equipment are placed according to default relative bearing.Since the first equipment and the second equipment may
There are gun parallaxes, that is to say, that and when calibrating to the first equipment, the first equipment may be different from the orientation of the second equipment,
Error can be had by directly carrying out calibration using the azimuth information of the first equipment, to need to obtain the first equipment and the second equipment
Default relative bearing.In the subsequent progress bearing calibration to the first equipment, since calibration azimuth information is that the second equipment executes school
Calibration azimuth information after standard, it is relatively more accurate, by the calibration azimuth information, it can accurately know orientation where user, however,
The information to be calibrated of first equipment may be less accurate, and the azimuth information to be calibrated at this time obtained needs to calibrate, can be according to connecing
The calibration azimuth information and relative bearing of receipts, execute bearing calibration, and the first equipment after calibration can be accurately positioned where user
Orientation.For example, the first equipment is placed in 20 degree of the second equipment east by north, that is to say, that relative bearing i.e. between the two is that east is inclined
20 degree of north, when being 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 second equipment is to execute the calibration azimuth information obtained after calibration to be
Accurately, to be calibrated according to the calibration azimuth information, that is, 60 degree of northeastward, due to 20 degree of the two gun parallax, so as to
According to the azimuth information and relative bearing of the second equipment, can 78 degree of the orientation to be calibrated to the first equipment calibrate, realize
To the bearing calibration of the first equipment, that is to say, that can by 20 degree of 60 degree of the azimuth information of the second equipment and relative bearing east by north
The accurate azimuth information for knowing the first equipment is 80 degree, and the orientation to be calibrated that its own is obtained is 78 degree, is different,
Executing bearing calibration again keeps the orientation of the first equipment more acurrate, that is, according to the calibration azimuth information and opposite side of the second equipment
Position can fast implement the accurate alignment to the first equipment.
Above-mentioned bearing calibration device, carry out the first equipment carry out bearing calibration when, obtain first the first equipment itself to
Calibrate azimuth information, and to the second equipment send calibration request, the second equipment respond the calibration request execute bearing calibration and to
First equipment sends it and executes the calibration azimuth information after 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 the
Relative positional relationship between one equipment and the second equipment further according to azimuth information to be calibrated, calibration azimuth information and is preset
Relative bearing executes bearing calibration.When carrying out bearing calibration to the first equipment by above-mentioned bearing calibration method, without starting the
One equipment carries out moving back and forth realization calibration in the venue, need to only receive the second equipment and execute the calibration orientation letter after bearing calibration
Breath carries out bearing calibration, letter according to the calibration azimuth information, the azimuth information and relative bearing to be calibrated of the first equipment
Change calibration process, improves calibration efficiency.
Referring to Fig. 7, calibration module 750 includes: in one of the embodiments,
Accurate orientation data obtaining module 751, for obtaining first according to calibration azimuth information and default relative bearing
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.
Since there may be differences for the phase of the first equipment and the second equipment, bearing calibration has been executed obtaining the second equipment
After calibration azimuth information afterwards, directly the first equipment cannot be calibrated using calibration azimuth information, also needed according to opposite side
Position is adjusted azimuth information, can get the orientation at the accurate place of the first equipment in this way, then believes further according to the accurate orientation
Breath calibrates the first equipment, specifically, is calibrated according to accurate orientation information to azimuth information to be 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
Be 0 degree, also mean that between the two without gun parallax, orientation where the first equipment and the second equipment place orientation be it is identical,
Orientation of the orientation namely where the first equipment where second equipment, the second equipment execute the calibration orientation letter after bearing calibration
Breath is 50 degree of the southeast, however, the azimuth information to be calibrated of the first equipment is 49 degree of the southeast, since the calibration orientation of the second equipment is believed
Breath is by calibration, thus more accurate, by obtaining the calibration azimuth information of the second equipment, to the to be calibrated of the first equipment
Azimuth information carries out, and the orientation of the first equipment of calibration is 50 degree of the southeast, realizes the bearing calibration of the first equipment, i.e. the first equipment school
Orientation after standard is identical with the azimuth information after the execution calibration of the second equipment.In another example the first equipment is opposite with the second equipment
Orientation is the first equipment for 20 degree of the second equipment east by north, and it is eastern that the second equipment, which executes the calibration azimuth information after bearing calibration,
The north is 70 degree of northeastward so as to obtain the accurate orientation information of the first equipment to 50 degree.However, the first equipment to school
Quasi- azimuth information is 72 degree of northeastward, has the orientation of 2 degree of east by north to believe between azimuth information to be calibrated and accurate orientation information
Error amount is ceased, 2 degree are calibrated 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 calibrating the first equipment is 72 degree, realizes bearing calibration.Further, according to azimuth information to be calibrated with
And it may include obtaining the azimuthal error of azimuth information to be calibrated and accurate orientation information that accurate orientation information, which executes bearing calibration,
Value, according to azimuthal error value, calibrates to accurate orientation information for azimuth information to be calibrated.
Presetting relative bearing in one of the embodiments, is zero degree.
In order to further convenient for calibration, improve calibration efficiency, avoid the first equipment with the second equipment since orientation difference is led
The problem for causing prover time long puts the first equipment and the second equipment before the azimuth information to be calibrated for obtaining the first equipment
It is placed in same orientation, that is to say, that default relative bearing is zero degree, i.e. does not have gun parallax between 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 are in the same direction, then can be directly sharp
Calibration azimuth information after executing bearing calibration with the second equipment carries out bearing calibration to the first equipment.
Referring to Fig. 8, above-mentioned pose calibrating device in one of the embodiments, further include:
Request receiving module 811, for receiving the connection request of the second equipment transmission；
Link block 813, for establishing connection with the second equipment according to connection request.
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 established between equipment, thus, the second equipment requests to establish connection to the first equipment by sending connection request, with
Just it communicates, after the first equipment receives connection request, establishes connection with the second equipment, information transmission can be carried out.
Above-mentioned pose calibrating device in one of the embodiments, further includes:
Destination locations obtain module 861, for obtaining destination locations.
Real time information obtains module 863, for obtaining the present orientation information where the first equipment itself in real time and working as
Preceding geographical location.
Navigation module 865, for being navigated according to present orientation information, current geographic position and destination locations.
It is generally additionally provided with GPS positioning device on the electric terminal installed on transit equipment, can be used for positioning traffic in real time
Geographical location where equipment, thus, it is preferred when user navigates, it obtains user and wants the destination locations reached,
Also just know the place that user wants, destination locations can be inputted by user and also pass through verbal announcement transit equipment purpose position
It sets, and obtains the present orientation information where the first equipment itself and current geographic position 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, transit equipment current location can be positioned in real time by GPS positioning device obtains current geographic position.
It after having executed bearing calibration due to transit equipment, can be accurately positioned, user's current direction information accurately be known, according to user
Operation knows the target position that user needs to navigate to, according to current direction information, current geographic position and purpose position
Set the accurate navigation that can be achieved from current geographic position to target position.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Above embodiments only express several embodiments of the invention, and the description thereof is more specific and detailed, but can not be because
This and be construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art, not
Under the premise of being detached from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Cause
This, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of bearing calibration method is applied to the first equipment, which comprises the following steps:
Obtain azimuth information to be calibrated；
Calibration request is sent to the second equipment, the calibration request is used to the second equipment of request and executes the school after bearing calibration
Quasi- azimuth information；
It receives second equipment and responds the calibration azimuth information after the calibration request execution bearing calibration；
Obtain the default relative bearing with second equipment；
Bearing calibration is executed according to azimuth information, the calibration azimuth information and the default relative bearing to be calibrated.
2. bearing calibration method according to claim 1, which is characterized in that it is described according to the azimuth information to be calibrated,
The step of calibration azimuth information and the default relative bearing execute bearing calibration include:
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 or 2, which is characterized in that the default relative bearing is zero degree.
4. bearing calibration method according to claim 1, which is characterized in that described to send calibration request to the second equipment
Before step further include:
Receive the connection request that second equipment is sent；
According to the connection request, connection is established with second equipment.
5. bearing calibration method according to claim 1, which is characterized in that it is described according to the azimuth information to be calibrated,
After the step of calibration azimuth information and the default relative bearing execute bearing calibration, further includes:
Obtain destination locations；
The present orientation information and current geographic position where first equipment itself are obtained in real time；
It is navigated according to the present orientation information, the current geographic position and the destination locations.
6. a kind of bearing calibration device is applied to the first equipment characterized by comprising
Azimuth information to be calibrated obtains module, for obtaining azimuth information to be calibrated；
Calibration request sending module, for sending calibration request to the second equipment, the calibration request is used to request second
Equipment executes the calibration azimuth information after bearing calibration；
Azimuth information obtains module, responds the calibration orientation after the calibration request executes bearing calibration for receiving the second equipment
Information；
Relative bearing obtains module, for obtaining and the default relative bearing of second equipment；
Calibration module, for according to azimuth information, the calibration azimuth information and the default relative bearing to be calibrated
It carries out calibration and executes bearing calibration.
7. bearing calibration device according to claim 6, which is characterized in that the calibration module includes:
Accurate orientation data obtaining module, for obtaining institute according to the calibration azimuth information and the default relative bearing
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. bearing calibration device according to claim 6 or 7, which is characterized in that the default relative bearing is zero degree.
9. bearing calibration device according to claim 6, which is characterized in that further include:
Request receiving module, for receiving the second equipment connection request；
Link block, for establishing connection with second equipment according to the connection request.
10. bearing calibration device according to claim 6, which is characterized in that further include:
Destination locations obtain module, for obtaining destination locations；
Real time information obtains module, for obtaining present orientation information and current position where first equipment itself in real time
Manage position；
Navigation module, for being carried 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 CN106441360A (en) | 2017-02-22 |
| CN106441360B true 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) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108573530B (en) * | 2018-03-29 | 2022-02-11 | 麒麟合盛网络技术股份有限公司 | Augmented reality AR interaction method and system |
| CN110319830B (en) * | 2018-03-30 | 2021-09-28 | 北京百度网讯科技有限公司 | Positioning processing method, device and equipment based on geomagnetic data |
| CN113002725A (en) * | 2021-02-23 | 2021-06-22 | 江南造船(集团)有限责任公司 | Installation and calibration method of azimuth reference mirror |
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| US9194702B2 (en) * | 2012-06-29 | 2015-11-24 | Symbol Technologies, Llc | Methods and apparatus for adjusting heading direction in a navigation system |
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| CN102289308A (en) * | 2011-09-06 | 2011-12-21 | 宇龙计算机通信科技(深圳)有限公司 | Method and system for adjusting orientation of object by using mobile terminal, and mobile terminal |
| CN102589536A (en) * | 2012-02-15 | 2012-07-18 | 安徽大学 | Electronic compass with self-correcting function |
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| Publication number | Publication date |
|---|---|
| WO2018053969A1 (en) | 2018-03-29 |
| CN106441360A (en) | 2017-02-22 |
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