CN107037394B - Direction positioning equipment and method - Google Patents
Direction positioning equipment and method Download PDFInfo
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- CN107037394B CN107037394B CN201610078209.9A CN201610078209A CN107037394B CN 107037394 B CN107037394 B CN 107037394B CN 201610078209 A CN201610078209 A CN 201610078209A CN 107037394 B CN107037394 B CN 107037394B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
Abstract
The invention provides a direction positioning device and a method, comprising an antenna, a wireless communication module, a plurality of direction indicating units and an angle sensor, wherein the included angles between the adjacent indicating units are equal and are used for performing direction positioning on slave equipment for sending signals; the angle sensor is used for detecting the horizontal angle value and the direction of the direction positioning equipment in real time; the wireless communication module stores the latest received angle value when the signal is received for the latest time; when the wireless communication module does not receive signals within a time period, calculating a deflection angle difference value and a deflection direction; and calculating the deviation angle difference value and the multiple value i of the included angle, and controlling the ith indicating unit which takes the recently started indicating unit as the origin and is in the direction opposite to the deviation direction to be started.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a direction positioning device and method based on a Zigbee (Zigbee protocol) technology.
Background
The ZigBee wireless communication technology is a bidirectional wireless communication network technology with low speed, low power consumption and low cost, and can be widely applied to the fields of monitoring, safety systems, sensor transmission networks, intelligent home control and the like in various industries. It works in 868MHz, 915MHz and 2.4GHz frequency bands, and has 27 channels in total, and the communication distance is from standard 75m to hundreds of meters, even kilometers. Wherein, when the device works in the 2.4GHz frequency band, the device provides a data transmission rate of 250kbps and is suitable for occasions with high throughput, low time delay or low operation period; when the device works in the 868/915MHz frequency band, the device provides data transmission rates of 20kbps and 40kbps, and is suitable for occasions with low speed, high sensitivity and large area.
The ZigBee protocol stack is based on the standard seven-layer Open Systems Interconnection (OSI) model, but only those layers that relate to ZigBee are defined. The IEEE (institute of Electrical and electronics Engineers) 802.15.4-203 standard defines a physical layer (PHY) and a media Access control sublayer (MAC); the ZigBee alliance provides a design of network layer (NWK) and application layer (APL) frameworks. Wherein the framework of the application layer includes an application support sublayer (APS), a Zigbee Device Object (ZDO), and an application object formulated by a manufacturer. Each layer of the ZigBee protocol stack provides a specific set of services for its upper layers: one data entity provides data transmission services and one management entity provides all other services. Each service entity provides its upper layer with a service structure through a Service Access Point (SAP), and each SAP provides a series of basic instructions to perform the corresponding functions.
At present, in a short-distance positioning device technology based on the Zigbee technology, a positioning device and a slave device are both movable, the positioning device receives signals in multiple directions through an antenna on the positioning device according to wireless communication between the positioning device and the slave device, and determines the strength of the signal in each of the directions according to an RSSI (received signal strength indicator) value of the signal, because the positioning device corresponds to a direction indicator in each of the directions, a Zigbee chip can control the direction indicator in the direction corresponding to the strongest signal to be on, so as to provide the direction of the slave device for a user, thereby achieving the purpose of positioning and tracking.
However, if the distance from the device to the positioning device exceeds the maximum value of the Zigbee communication, the positioning device cannot receive the signal transmitted from the device, and if the user moves the handheld positioning device or only rotates the wrist or arm, the direction indicator light of the positioning direction determined by the last wireless communication before the movement or rotation loses the correct guiding function, but instead, the direction indicator light plays a wrong guiding function, so that the user cannot correctly position and track the slave device.
Disclosure of Invention
The invention provides direction positioning equipment and a method for solving the technical problem that the positioning equipment in the prior art cannot receive signals transmitted from the equipment, and the positioning direction determined by the last wireless communication before the movement or rotation of the positioning equipment is lost due to the movement or rotation of the positioning equipment by a user.
The invention solves the technical problems through the following technical scheme:
the invention provides a direction positioning device, which is used for carrying out direction positioning on a slave device, wherein the slave device is used for continuously sending signals, the direction positioning device comprises an antenna for receiving the signals in a plurality of directions, a wireless communication module and indicating units corresponding to the directions, included angles between the adjacent indicating units are equal, the wireless communication module is used for judging the strength of the signals in the directions according to RSSI values of the signals received by the antenna and controlling the indicating units corresponding to the strongest signals to be started, and the direction positioning device is characterized in that the included angles are stored in the direction positioning device, and also comprises an angle sensor;
the angle sensor is used for detecting the horizontal angle value and the direction of the direction positioning equipment in real time and transmitting the horizontal angle value and the direction to the wireless communication module;
the wireless communication module is used for storing the most recently received horizontal angle value and direction when the signal is received the most recently;
the wireless communication module is further configured to calculate a deflection angle difference between a current horizontal angle value transmitted by the angle sensor and a horizontal angle value corresponding to the most recently received signal, and a deflection direction between a current direction and a direction corresponding to the most recently received signal, when the signal is not received within a time period;
the wireless communication module is also used for calculating a multiple value i of the deflection angle difference value and the included angle, and controlling the ith indicating unit which is started most recently to be started as an original point and in the direction opposite to the deflection direction to be started, wherein i is a positive integer.
Preferably, the multiple i is rounded.
Preferably, the direction positioning device stores a set angle value, the set angle value is smaller than the included angle, and an angle difference between the set angle value and the included angle is smaller than 10 °, the wireless communication module is further configured to calculate a multiple value i between the deflection angle difference and the set angle value, and control an ith indicating unit, which is turned on most recently, to be an origin and which is turned on in a direction opposite to the deflection direction.
In the scheme, the set angle value is slightly smaller than the included angle, and the setting mode has the advantages that the direction correction can be accurately carried out on the direction pointed by the opened indicating unit after the moving, and the direction pointed by the opened indicating unit in the direction positioning equipment is closer to the corresponding positioning tracking direction when the signal is received for the last time after the correction. For example, the included angle is set to be 45 °, the angle value is set to be 40 °, the deflection angle difference value is 85 °, the wireless communication module calculates a multiple value i of the deflection angle difference value 85 ° and the set angle value 40 °, that is, i is 2, at this time, the 2 nd indicating unit which is started most recently is used as the origin, and the direction opposite to the deflection direction corresponding to the deflection angle difference value is controlled to be started, that is, at this time, the direction opposite to the deflection direction is corrected by 90 °, and the deflection angle difference value is 85 °, so that the positioning and tracking direction corresponding to the signal received most recently can be positioned more accurately.
Preferably, the wireless communication module is configured to send an alarm signal when the signal is not received within the time period.
Preferably, the angle sensor is a gyroscope chip.
Preferably, the wireless communication module is a Zigbee chip.
Preferably, the gyroscope chip is electrically connected to the Zigbee chip through an IIC (integrated circuit bus). The IIC is a bidirectional, two-wire (serial clock SCL, serial data SDA), serial, multi-master (multi-master) interface standard, has a bus arbitration mechanism, and is very suitable for near-distance data communication between components. The scheme adopts IIC to ensure that the hardware connection relation is simple, the control is also simple, and the function of strong universality is realized.
Preferably, the indicating unit is an LED (light emitting diode) indicating lamp.
The invention also provides a direction positioning method, which is characterized by being realized by using the direction positioning equipment, and the direction positioning method comprises the following steps:
the angle sensor detects the horizontal angle value and the direction of the direction positioning equipment in real time and transmits the horizontal angle value and the direction to the wireless communication module;
the wireless communication module stores the most recently received horizontal angle value and direction when the signal is received the most recently;
when the wireless communication module does not receive the signal within a time period, calculating a deflection angle difference value between a current horizontal angle value transmitted by the angle sensor and a horizontal angle value corresponding to the recently received signal and a deflection direction between a current direction and a direction corresponding to the recently received signal;
the wireless communication module calculates a multiple value i of the deflection angle difference value and the included angle, and controls the ith indicating unit which takes the recently started indicating unit as an original point and is opposite to the deflection direction to be started, wherein i is a positive integer.
Preferably, the direction positioning device stores a set angle value, the set angle value is smaller than the included angle, and an angle difference between the set angle value and the included angle is smaller than 10 °, the wireless communication module calculates a multiple value i of the deflection angle difference and the set angle value, and controls an ith indicating unit which is started most recently to serve as an original point and is in the direction opposite to the deflection direction to be started.
Preferably, the wireless communication module sends an alarm signal when the signal is not received within the time period.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
according to the invention, when the distance from the slave equipment to the direction positioning equipment exceeds the maximum value of wireless communication, namely the direction positioning equipment cannot receive the signal transmitted by the slave equipment, and at the moment, when a user moves the direction positioning equipment, the direction correction can be carried out on the direction pointed by the opened indicating unit after moving, and the direction pointed by the opened indicating unit in the direction positioning equipment is approximately the corresponding positioning tracking direction when the signal is received for the last time after the correction, so that the user can track towards the positioning tracking direction in time, the distance between the direction positioning equipment and the slave equipment is further reduced, and the wireless communication between the direction positioning equipment and the slave equipment can be established, and the slave equipment can be found again.
Drawings
Fig. 1 is a block diagram of a directional positioning apparatus according to embodiment 1 of the present invention.
Fig. 2 is a hardware circuit diagram of a Zigbee chip and a gyroscope chip in the direction positioning device in embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The embodiment provides a direction positioning device, which comprises an antenna, a wireless communication module, a plurality of direction indicating units and an angle sensor. The direction positioning device is used for performing direction positioning on a slave device, and the slave device is used for continuously sending signals.
In this embodiment, as shown in fig. 1, the antenna adopts a directional antenna 1, the wireless communication module adopts a Zigbee chip 2, the indication unit adopts an LED indicator lamp 3, and the angle sensor adopts a gyroscope chip 4. Of course, those skilled in the art should appreciate that the choice of the antenna, the wireless communication module, the indicating unit and the angle sensor is not limited to the above-described devices.
As shown in fig. 2, the Zigbee chip 2 and the gyroscope chip 4 communicate with each other through the IIC. Specifically, the sixth pin of the Zigbee chip 2 is electrically connected to the twenty-fourth pin of the gyroscope chip 4 through a serial data line (SDA) in the IIC, and the seventh pin of the Zigbee chip 2 is electrically connected to the twenty-third pin of the gyroscope chip 4 through a Serial Clock Line (SCL) in the IIC, which is simple in hardware connection relationship, so that the corresponding control relationship is also simple, and a function of strong versatility is provided. In addition, the circuits connected to other pins on the Zigbee chip 2 and the gyroscope chip 4 are auxiliary circuits for cooperating with the Zigbee chip 2 and the gyroscope chip 4, and are the prior art and are not described herein again.
In addition, the included angle between adjacent LED pilot lamps 3 is equal, and correspondingly, this directional positioning equipment storage has this included angle.
The components included in the direction pointing device are described above, and the functions of the components in the direction pointing device are described in detail below:
the Zigbee chip 2 is used for receiving the signals in the directions through the directional antenna 1, judging the strength of the signals in each direction according to the RSSI values of the signals, taking the direction corresponding to the strongest signal as the strongest direction, and controlling the LED indicator lamp 3 in the strongest direction to be turned on;
the gyroscope chip 4 is used for detecting the horizontal angle value and the direction of the direction positioning equipment in real time and transmitting the horizontal angle value and the direction to the Zigbee chip 2;
the Zigbee chip 2 is configured to store a one-to-one correspondence relationship between the signal and a horizontal angle value and a direction received most recently when the signal is received;
the Zigbee chip 2 is further configured to calculate a deflection angle difference between a current horizontal angle value transmitted by the gyroscope chip 4 and a horizontal angle value corresponding to the most recently received signal and a deflection direction between a current direction and a direction corresponding to the most recently received signal when the signal is not received within a time period, calculate a multiple value i of the deflection angle difference and the included angle, and control the ith LED indicator 3, which is turned on with the most recently turned on LED indicator as an origin and in a direction opposite to the deflection direction, to be turned on, where i is a positive integer.
Moreover, the Zigbee chip 2 is further configured to send an alarm signal when the signal is not received in the time period, so that the user knows that the direction positioning device does not receive the signal in the time period.
The present embodiment further provides a direction positioning method, which is implemented by using the above direction positioning apparatus, and the direction positioning method includes the following steps:
the Zigbee chip receives the signals in the directions through the directional antenna, judges the strength of the signals in each direction according to the RSSI values of the signals, takes the direction corresponding to the strongest signal as the strongest direction, and controls the LED indicator lamp in the strongest direction to be turned on;
the gyroscope chip detects the horizontal angle value and the direction of the direction positioning equipment in real time and transmits the horizontal angle value and the direction to the Zigbee chip;
the Zigbee chip stores the one-to-one corresponding relation between the signal and the horizontal angle value and direction which are received most recently when the signal is received;
when the Zigbee chip does not receive the signal within a time period, calculating a deflection angle difference value between a current horizontal angle value transmitted by the gyroscope chip and a horizontal angle value corresponding to the recently received signal and a deflection direction between a current direction and a direction corresponding to the recently received signal, then calculating a multiple value i of the deflection angle difference value and the included angle, and controlling an ith LED indicator lamp 3 which takes the recently turned-on LED indicator lamp as an original point and is in the direction opposite to the deflection direction to be turned on, wherein i is a positive integer.
In order to better understand the present invention, the following is a specific example to illustrate the technical solution of the present invention:
the directional antenna 1 on the directional positioning device can receive signals in eight directions, namely, the east direction, the northeast direction, the northwest direction, the west direction, the southwest direction and the southeast direction, and the directional positioning device is provided with one LED indicator lamp 3 in each of the eight directions, and the included angle between every two LED indicator lamps 3 is 45 degrees.
The Zigbee chip 2 receives the signals in the directions through the directional antenna 1, determines the strength of the signals in each direction according to the RSSI values of the signals, sets and determines that the signal in the east direction is the strongest, and then takes the direction corresponding to the strongest signal as the strongest direction, that is, the strongest direction is the east direction, and controls the LED indicator light 3 in the east direction to light, so that the user knows that the current slave device is in the east direction, and the user can position and track the slave device in the east direction.
At the next moment, the Zigbee chip 2 receives the signals in the directions through the directional antenna 1, and determines that the signal in the north direction is strongest according to the RSSI value of the signals, thereby controlling the LED indicator light 3 in the north direction to be on.
In the positioning process of the Zigbee chip 2, the gyroscope chip 4 detects the horizontal angle value and the direction of the direction positioning device in real time, and transmits the horizontal angle value and the direction to the Zigbee chip 2, and the Zigbee chip 2 stores the one-to-one correspondence between the signal and the horizontal angle value and the direction received most recently when the signal is received. For example, the Zigbee chip 2 at the current time stores a corresponding relationship between a signal received for the first time and a horizontal angle value of 0 ° with the direction facing east, and a corresponding relationship between a signal received for the second time and a horizontal angle value of 90 ° with the direction facing north.
Thereafter, the Zigbee chip 2 does not receive a signal within a time period (10 seconds), calculates a difference of a deflection angle between a current horizontal angle value (e.g. 170 °) transmitted from the gyroscope chip 4 and a horizontal angle value (90 °) corresponding to the most recently received signal, and a deflection direction (the direction is deflected counterclockwise from north to west) between the current direction (the westward direction) and a direction (the north direction) corresponding to the most recently received signal, and then calculates a multiple of the difference of the deflection angle 80 ° and the included angle 45 ° to be 1, thereby controlling the 1 st LED indicator 3 to be turned on with the most recently turned on LED indicator as an origin and in a direction opposite to the deflection direction, that is, the LED indicator 3 in the current approximate northwest direction to be turned on. At this time, the direction opposite to the deflection direction is corrected by 45 °, and the difference of the deflection angle is 80 °, so that the present embodiment can roughly locate the corresponding location tracking direction when the signal is received last time, that is, the direction pointed by the turned-on LED indicator lamp 3 in the roughly northwest direction is the rough location direction, and the user can track the direction.
Example 2
The present embodiment is different from embodiment 1 in that the set angle value is set as a comparison reference. Specifically, the direction positioning device stores a set angle value, the set angle value is smaller than the included angle, an angle difference between the set angle value and the included angle is smaller than 10 degrees, the wireless communication module is further used for calculating a multiple value i between the deflection angle difference and the set angle value, and controlling the ith indicating unit which is started most recently to be the original point and is in the direction opposite to the deflection direction to be started.
Referring to the example of embodiment 1, the set angle value is set to be slightly smaller than the included angle in this example, that is, the set angle value is set to be 40 °.
The Zigbee chip 2 does not receive a signal within 10 seconds, calculates a difference of a deflection angle between a current horizontal angle value (for example, 170 °) transmitted from the gyroscope chip 4 and a horizontal angle value (90 °) corresponding to a recently received signal, and a deflection direction (the direction is deflected counterclockwise from north to west) between the current direction (the westward direction) and a direction (the north direction) corresponding to the recently received signal, and then calculates a multiple of the difference of the deflection angle 80 ° and the included angle 40 ° to be 2, thereby controlling the 2 nd LED indicator 3, which is turned on with the recently turned-on LED indicator as an origin and in a direction opposite to the deflection direction, to be turned on, that is, the LED indicator 3, which is currently turned on substantially in the north direction, to be turned on. At this time, the direction opposite to the deflection direction is corrected by 90 °, and the difference of the deflection angles is 80 °, so that the positioning and tracking direction corresponding to the last received signal, that is, the positioning direction of the direction pointed by the turned-on LED indicator 3 in the approximately north direction can be more accurately positioned, and the user can track the direction.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A kind of direction locating device, is used for carrying on the direction location to a slave unit, this slave unit is used for sending the signal constantly, this direction locating device includes an aerial which receives this signal in a plurality of directions, a wireless communication module and these some correspondent indicating unit in each direction of direction, the included angle between adjacent indicating unit is equal, this wireless communication module is used for judging the signal intensity in these directions according to RSSI value of these signals that this aerial receives, and control the signal intensity to turn on the indicating unit in the direction that corresponds to, characterized by that, this direction locating device stores this included angle, this direction locating device also includes an angle sensor;
the angle sensor is used for detecting the horizontal angle value and the direction of the direction positioning equipment in real time and transmitting the horizontal angle value and the direction to the wireless communication module;
the wireless communication module is used for storing the most recently received horizontal angle value and direction when the signal is received the most recently;
the wireless communication module is further configured to calculate a deflection angle difference between a current horizontal angle value transmitted by the angle sensor and a horizontal angle value corresponding to the most recently received signal, and a deflection direction between a current direction and a direction corresponding to the most recently received signal, when the signal is not received within a time period;
the wireless communication module is also used for calculating a multiple value i of the deflection angle difference value and the included angle, and controlling the opening of the ith indicating unit which takes the recently opened indicating unit as the origin and is in the direction opposite to the deflection direction, wherein i is a positive integer;
the multiple value i adopts a rounding value mode.
2. The direction-locating apparatus of claim 1, wherein the direction-locating apparatus stores a set angle value, the set angle value is smaller than the included angle, and the angle difference between the set angle value and the included angle is smaller than 10 °, the wireless communication module is further configured to calculate a multiple value i between the deflection angle difference and the set angle value, and control an ith indication unit in a direction opposite to the deflection direction with a most recently turned-on indication unit as an origin.
3. The directional-positioning apparatus of claim 1, wherein the wireless communication module is configured to send an alarm signal when the signal is not received within the time period.
4. The directional pointing apparatus of claim 1, wherein the angle sensor is a gyroscope chip.
5. The direction-locating apparatus of claim 4, wherein the wireless communication module is a Zigbee chip.
6. The directional pointing apparatus of claim 5, wherein the gyroscope chip is electrically connected to the Zigbee chip through an IIC.
7. The directional pointing apparatus of claim 1, wherein the indicating unit is an LED indicator light.
8. A directional positioning method, characterized in that it is implemented with a directional positioning apparatus according to claim 1, comprising the steps of:
the angle sensor detects the horizontal angle value and the direction of the direction positioning equipment in real time and transmits the horizontal angle value and the direction to the wireless communication module;
the wireless communication module stores the most recently received horizontal angle value and direction when the signal is received the most recently;
when the wireless communication module does not receive the signal within a time period, calculating a deflection angle difference value between a current horizontal angle value transmitted by the angle sensor and a horizontal angle value corresponding to the recently received signal and a deflection direction between a current direction and a direction corresponding to the recently received signal;
the wireless communication module calculates a multiple value i of the deflection angle difference value and the included angle, and controls the ith indicating unit which takes the recently started indicating unit as an original point and is in the direction opposite to the deflection direction to be started, wherein i is a positive integer;
the multiple value i adopts a rounding value mode.
9. The direction-locating method of claim 8, wherein the direction-locating device stores a set angle value, the set angle value is smaller than the included angle, and the angle difference between the set angle value and the included angle is smaller than 10 °, the wireless communication module calculates a multiple value i of the deflection angle difference and the set angle value, and controls the ith indicating unit, which is turned on most recently, to be turned on with the origin being the indicating unit and in the direction opposite to the deflection direction.
10. The direction-locating method of claim 8, wherein the wireless communication module sends an alarm signal when the signal is not received within the time period.
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| CN108169706B (en) * | 2017-12-29 | 2024-01-30 | 歌尔科技有限公司 | Remote control positioning system and remote control positioning device |
| CN109752746A (en) * | 2019-03-04 | 2019-05-14 | 黄河水利职业技术学院 | A kind of Destination Management tourist's positioning device |
| CN111355541A (en) * | 2020-04-02 | 2020-06-30 | Oppo广东移动通信有限公司 | Network device and method for searching network signal |
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