CN107607108A - A kind of location equipment of indoor moving target - Google Patents
A kind of location equipment of indoor moving target Download PDFInfo
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- CN107607108A CN107607108A CN201710830961.9A CN201710830961A CN107607108A CN 107607108 A CN107607108 A CN 107607108A CN 201710830961 A CN201710830961 A CN 201710830961A CN 107607108 A CN107607108 A CN 107607108A
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- 230000004888 barrier function Effects 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 19
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 230000004807 localization Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 230000008054 signal transmission Effects 0.000 description 1
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Abstract
The invention discloses a kind of location equipment of indoor moving target,Including cell-phone customer terminal,Processor,GPS location equipment,Barometer,Accelerometer,Gyroscope,Digital compass,Charging equipment,Holder and infrared sensor,The location equipment processor and GPS location equipment,Barometer,Accelerometer,Gyroscope connects connection with digital compass,Processor includes wireless transport module,Memory module,D GPS locating module and Difference Calculation module,Cell-phone customer terminal can realize that the information between processor exchanges by wireless transport module,D GPS locating module is completed by the GPS location equipment in location equipment,The positioning work to mobile vehicle initial position is completed simultaneously,The location equipment of the indoor moving target is easy to use,It is multiple functional,Integrated level is high,Realize that mobile phone automatically controls,The location track of indoor barrier can be calculated while being positioned to mobile vehicle,Improve location efficiency.
Description
Technical field
The present invention relates to indoor positioning field, more particularly, to a kind of location equipment of indoor moving target.
Background technology
The target of location technology is to obtain spatial information, to obtain the function of social information and information inquiry.Supervised in region
The application field of the wireless sensor networks such as survey, personnel tracking, positional information is most important, personnel positions are sensor networks
Important information in.But there is problems for current indoor positioning technologies.At present GPS technology have been able to for
Family is provided with very high-precision outdoor positioning service.Current indoor positioning technologies Main Basiss：WLAN, bluetooth, surpass
The technologies such as broadband, ultrasonic wave and radio frequency identification.The positioning side of localization method and the feature based matching of Main Basiss ranging
Method carries out indoor positioning, and the latter can reach very high precision to a certain degree, but needs carry out substantial amounts of data acquisition early stage,
When matching search calculates, complexity is higher.Mainly have in distance-measuring and positioning method according to the propagation time, the signal arrival time is poor,
Signal angle of arrival and receive signal intensity RSS.Localization method based on time reference can be influenceed by non line of sight factor, base
Extra addition hardware is needed to add cost in the distance-finding method of angle of arrival.Be currently based on RSS distance-finding method because
Cheap localization method can be provided, and node need not add any part and be widely used.
Therefore it is difficult to meet current technical need to fully rely on present indoor orientation method, how to find new method
To solve the deficiency in current techniques, possess relatively low computation complexity again other hardware devices can not be added as currently grinding
The technical barrier studied carefully, now with a kind of indoor positioning device, but its setting accuracy is low, and device structure is complicated, detection in real time with
Control is difficult, while designs inadequate hommization, inconvenient for use.
The content of the invention
The present invention is to overcome the above situation insufficient, it is desirable to provide a kind of technical scheme that can be solved the above problems.
A kind of location equipment of indoor moving target, including cell-phone customer terminal, processor, GPS location equipment, barometer,
Accelerometer, gyroscope, digital compass, charging equipment, holder and infrared sensor, the processor and GPS location equipment,
Barometer, accelerometer, gyroscope and digital compass connect connection, and processor includes wireless transport module, memory module, GPS
Locating module and Difference Calculation module, cell-phone customer terminal can realize that the information between processor is handed over by wireless transport module
Change, d GPS locating module is completed by the GPS location equipment in location equipment, while completes the positioning to mobile vehicle initial position
Work, the charging equipment for being mounted with to be easy to carry and using in location equipment, wherein, charging equipment includes charging circuit, lithium electricity
Pond and voltage-stablizer, the output end of charging circuit are connected with the input of lithium battery, output end and the voltage-stablizer input of lithium battery
It is connected, the output end of voltage-stablizer is connected with the power pins of processor.
As the further scheme of the present invention：The cell-phone customer terminal interacts letter with location equipment by wireless transport module
Breath, while mobile vehicle is controlled, and initial position can be completed and set manually, pass through wireless transport module and processor
The synchronization of electronic map is carried out, observes the working condition of mobile vehicle, while the key of mobile vehicle one can be made to return to initial position
Operation.
As further scheme of the invention：Accelerometer, barometer, gyroscope and numeral are installed in the processor
Compass, accelerometer are that three axially, can test and record three-dimensional acceleration magnitude of the mobile vehicle on time point is moved and count
Acceleration value is calculated, barometer can be high according to residing for the atmospheric pressure value of mobile vehicle current location calculates mobile vehicle
The direction that mobile vehicle works as body can be tested and be recorded to degree, gyroscope and digital compass, and processor passes through current to mobile vehicle
Acceleration magnitude, height value and direction position and are based on initial position co-ordinates and calculate current position coordinates, so that it is determined that currently
Position.
As further scheme of the invention：USB interface and blue tooth interface, simultaneous processor are connected on the processor
It is provided with the relay indicating light for being used for detecting location equipment working condition；The infrared sensor is connected with processor, infrared biography
Sensor includes Infrared Projector and infrared signal receiver, and hot individual sensor, which is detected in front of mobile vehicle, barrier
When to processor send instruction, processor will individually store current obstacle position information after receiving instruction.
As further scheme of the invention：The indoor orientation method of the location equipment, comprises the following steps：
(a) electronic map is imported into processor；
(b) cell-phone customer terminal synchronizes calibration with electronic map in processor, and selects whether initial position is set automatically；
(c) selection initial position is set manually, then memory cell initial position is reset, and the mobile vehicle with location equipment is put
Put in specified location, start GPS location, gather the positional information of GPS location, store absolute position point, perform step (e)；
(d) selection initial position is set automatically, is initial position by current location, is started GPS location, is gathered GPS location
Positional information, absolute position point is stored, perform step (e)；
(e) start to move indoors with the mobile vehicle of location equipment, based on the absolute coordinate of the initial fixation point set,
And be synchronized in cell-phone customer terminal electronic map, in the moving process of mobile vehicle, every preset time（Such as 10s）, pass through
Location equipment constantly obtains the current location point of carrier relative initial position, and point record in current location is stored within a processor
Electronic map in, while current location information is synchronized in cell-phone customer terminal；
(f) in chronological order, each location point mobile vehicle passed through forms carrier movement track, reaches to mobile vehicle
The purpose of positioning.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is simple in construction, multiple functional, wireless transport module is carried in processor, while location equipment includes cell phone customer
End, people can realize the Detection ＆ Controling to location equipment and mobile vehicle by cell-phone customer terminal, and cell-phone customer terminal carries
It is easy to use for the station-keeping mode of two kinds of initial absolute coordinates, infrared sensor is installed in location equipment, led to enough to obstacle seat
Mark is positioned, while the method for drawing sequential statistics and calculus of differences accurately identifies indoor movable barrier and fixation
Obstacle Position coordinate, while calculate the location track of fixed obstacle.Improve the precision of indoor positioning.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the hardware connection figure of the location equipment of indoor moving target.
Fig. 2 be indoor moving target location equipment in localization method flow chart.
Fig. 3 be indoor moving target location equipment in system module schematic diagram.
Fig. 4 be indoor moving target location equipment in mobile phone client module schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1~4, in the embodiment of the present invention, a kind of location equipment of indoor moving target, including cell phone customer
End, processor, GPS location equipment, barometer, accelerometer, gyroscope, digital compass, charging equipment, holder and infrared biography
Sensor, the processor are connected connection with GPS location equipment, barometer, accelerometer, gyroscope and digital compass, and positioning is set
Standby processor includes wireless transport module, memory module, d GPS locating module and Difference Calculation module, cell-phone customer terminal and passes through nothing
Line transport module can realize that the information between processor exchanges, and d GPS locating module is by the GPS location equipment in location equipment
Complete, while complete the positioning work to mobile vehicle initial position, be mounted with to be easy to carry in location equipment and what is used fills
Electric equipment, wherein, charging equipment includes charging circuit, lithium battery and voltage-stablizer, the output end of charging circuit and lithium battery it is defeated
Enter end to be connected, the output end of lithium battery is connected with voltage-stablizer input, the output end of voltage-stablizer and the power pins phase of processor
Even, the cell-phone customer terminal is controlled by wireless transport module and location equipment interactive information, while to mobile vehicle, and
Initial position can be completed to set manually, the synchronous of electronic map, observation movement are carried out with processor by wireless transport module
The working condition of carrier, while the key of mobile vehicle one can be made to return to initial position operation；Acceleration is installed in the processor
Meter, barometer, gyroscope and digital compass, accelerometer are three axial directions, can test and record mobile vehicle and move a time
Three-dimensional acceleration magnitude on point simultaneously calculates acceleration value, and barometer can be according to the atmospheric pressure value of mobile vehicle current location
The residing height of mobile vehicle is calculated, the direction that mobile vehicle works as body can be tested and be recorded to gyroscope and digital compass, processing
Device, which positions by the acceleration magnitude current to mobile vehicle, height value and direction and is based on initial position co-ordinates, calculates present bit
Coordinate is put, so that it is determined that current location；USB interface and blue tooth interface are connected on the processor, simultaneous processor, which is provided with, to be used
In the relay indicating light of detection location equipment working condition；The infrared sensor is connected with processor, and infrared sensor includes
Infrared Projector and infrared signal receiver, hot individual sensor are detected when having barrier in front of mobile vehicle to processing
Device sends instruction, and processor will individually store current obstacle position information after receiving instruction；
The present invention also provides a kind of indoor orientation method using above-mentioned official's location equipment, comprises the following steps：
(a) electronic map is imported into processor；
(b) cell-phone customer terminal synchronizes calibration with electronic map in processor, and selects whether initial position is set automatically；
(c) selection initial position is set manually, then memory cell initial position is reset, and the mobile vehicle with location equipment is put
Put in specified location, start GPS location, gather the positional information of GPS location, store absolute position point, perform step (e)；
(d) selection initial position is set automatically, is initial position by current location, is started GPS location, is gathered GPS location
Positional information, absolute position point is stored, perform step (e)；
(e) start to move indoors with the mobile vehicle of location equipment, based on the absolute coordinate of the initial fixation point set,
And be synchronized in cell-phone customer terminal electronic map, in the moving process of mobile vehicle, every preset time（Such as 10s）, pass through
Location equipment constantly obtains the current location point of carrier relative initial position, and point record in current location is stored within a processor
Electronic map in, while current location information is synchronized in cell-phone customer terminal；
(f) in chronological order, each location point mobile vehicle passed through forms carrier movement track, reaches to mobile vehicle
The purpose of positioning；
(g) while when infrared sensor touches barrier, processor adopts a grade barrier current location point automatically, and remembers simultaneously
Obstacle Position point information is recorded, and in chronological order, each obstacle location point that mobile vehicle is passed through forms obstacle track,
Institute is every setting time simultaneously（Such as 10min）, the position data of point of instability is removed by calculus of differences, finally gives the barrier of determination
Hinder track, and be synchronized in electronic map；
The present invention operation principle be：
Cell-phone customer terminal carries out signal transmission by the processor in radio transmission apparatus and location equipment and controls location equipment
And mobile vehicle, electronic map is imported to cell-phone customer terminal first, and electronic map is synchronized in processor, afterwards to
The mobile vehicle of location equipment enters the absolute coordinate positioning acquisition of line home position, cell-phone customer terminal two kinds of initial positions of offer
Station-keeping mode, convenient use, when selection is automatically positioned, location equipment is according to the current location of mobile vehicle as initial position
Absolute coordinate, when selecting to manually locate, processor resets initial position co-ordinates before, and by manually by mobile device
After being placed on appointed place, initial position fix is carried out by GPS location equipment, and initial position is used as using appointed place coordinate
Absolute coordinate, in mobile vehicle moving process, by the acceleration of mobile vehicle, height and three, direction value and being based on
Initial position absolute coordinate calculates current position coordinates, and passage time sequence calculates mobile vehicle movement locus, meanwhile,
When the infrared sensor on mobile vehicle runs into barrier, obstacle location point is done independent storage by processor, while will on time
Between sequence calculate obstacle track, and unstable obstacle coordinate points are excluded by Difference Calculation pattern, finally give the barrier of determination
Hinder track, and be synchronized in electronic map, realize the determination to indoor Obstacle Position, while exclude movable obstruction（Such as
Ball, small chair）Location track.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Claims (5)
1. a kind of location equipment of indoor moving target, including cell-phone customer terminal, processor, GPS location equipment, barometer plus
Speedometer, gyroscope, digital compass, charging equipment, holder and infrared sensor, it is characterised in that the processor and GPS
Location equipment, barometer, accelerometer, gyroscope and digital compass connect connection, and processor includes wireless transport module, storage
Module, d GPS locating module and Difference Calculation module, cell-phone customer terminal can be realized between processor by wireless transport module
Information exchange, d GPS locating module by location equipment GPS location equipment complete, while complete to mobile vehicle initial bit
The positioning work put, the charging equipment for being mounted with to be easy to carry and using in location equipment, wherein, charging equipment includes charging electricity
Road, lithium battery and voltage-stablizer, the output end of charging circuit are connected with the input of lithium battery, the output end and voltage-stablizer of lithium battery
Input is connected, and the output end of voltage-stablizer is connected with the power pins of processor.
2. the location equipment of indoor moving target according to claim 1, it is characterised in that the cell-phone customer terminal passes through
Wireless transport module and location equipment interactive information, while mobile vehicle is controlled, and it is manual to complete initial position
Set, the synchronous of electronic map is carried out with processor by wireless transport module, observes the working condition of mobile vehicle, while energy
The key of mobile vehicle one is enough set to return to initial position operation.
3. the location equipment of indoor moving target according to claim 1, it is characterised in that installation adds in the processor
Speedometer, barometer, gyroscope and digital compass, accelerometer are three axial directions, can test and record mobile vehicle in shifting
Three-dimensional acceleration magnitude on time point simultaneously calculates acceleration value, and barometer can be according to the gas of mobile vehicle current location
Pressure value calculates the residing height of mobile vehicle, and the direction that mobile vehicle works as body can be tested and be recorded to gyroscope and digital compass,
Processor positioned by the acceleration magnitude current to mobile vehicle, height value and direction and be based on initial position co-ordinates calculate work as
Front position coordinate, so that it is determined that current location.
4. the location equipment of indoor moving target according to claim 1 or 2, it is characterised in that connect on the processor
USB interface and blue tooth interface are connect, simultaneous processor is provided with the relay indicating light for being used for detecting location equipment working condition；It is described
Infrared sensor is connected with processor, and infrared sensor includes Infrared Projector and infrared signal receiver, and hot passes
Sensor detects to have in front of mobile vehicle sends instruction during barrier to processor, will individually store and work as after processor reception instruction
Preceding obstacle position information.
5. the location equipment of indoor moving target according to claim 1, it is characterised in that the interior of the location equipment
Localization method, comprise the following steps：
(a) electronic map is imported into processor；
(b) cell-phone customer terminal synchronizes calibration with electronic map in processor, and selects whether initial position is set automatically；
(c) selection initial position is set manually, then memory cell initial position is reset, and the mobile vehicle with location equipment is put
Put in specified location, start GPS location, gather the positional information of GPS location, store absolute position point, perform step (e)；
(d) selection initial position is set automatically, is initial position by current location, is started GPS location, is gathered GPS location
Positional information, absolute position point is stored, perform step (e)；
(e) start to move indoors with the mobile vehicle of location equipment, based on the absolute coordinate of the initial fixation point set,
And be synchronized in cell-phone customer terminal electronic map, in the moving process of mobile vehicle, every preset time such as 10s, by fixed
Position equipment constantly obtains the current location point of carrier relative initial position, and point record in current location is stored within a processor
In electronic map, while current location information is synchronized in cell-phone customer terminal；
(f) in chronological order, each location point mobile vehicle passed through forms carrier movement track, reaches to mobile vehicle
The purpose of positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830961.9A CN107607108A (en) | 2017-09-15 | 2017-09-15 | A kind of location equipment of indoor moving target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830961.9A CN107607108A (en) | 2017-09-15 | 2017-09-15 | A kind of location equipment of indoor moving target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107607108A true CN107607108A (en) | 2018-01-19 |
Family
ID=61062991
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710830961.9A Withdrawn CN107607108A (en) | 2017-09-15 | 2017-09-15 | A kind of location equipment of indoor moving target |
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| CN (1) | CN107607108A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108761514A (en) * | 2018-08-03 | 2018-11-06 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging the Big Dipper or GPS and sensor |
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN109731323A (en) * | 2018-12-29 | 2019-05-10 | 广州明朝互动科技股份有限公司 | Game system based on real-time user position |
| CN117030118A (en) * | 2023-07-11 | 2023-11-10 | 大连海事大学 | Digital portable acquisition device for ship variable position load positioning information |
-
2017
- 2017-09-15 CN CN201710830961.9A patent/CN107607108A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108761514A (en) * | 2018-08-03 | 2018-11-06 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging the Big Dipper or GPS and sensor |
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN109731323A (en) * | 2018-12-29 | 2019-05-10 | 广州明朝互动科技股份有限公司 | Game system based on real-time user position |
| CN109731323B (en) * | 2018-12-29 | 2021-12-31 | 广州明朝互动科技股份有限公司 | Game system based on real-time user position |
| CN117030118A (en) * | 2023-07-11 | 2023-11-10 | 大连海事大学 | Digital portable acquisition device for ship variable position load positioning information |
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Application publication date: 20180119 |