CN108731675B - Measuring method and measuring device for course variation of object to be positioned and electronic equipment - Google Patents

Measuring method and measuring device for course variation of object to be positioned and electronic equipment Download PDF

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CN108731675B
CN108731675B CN201710251249.3A CN201710251249A CN108731675B CN 108731675 B CN108731675 B CN 108731675B CN 201710251249 A CN201710251249 A CN 201710251249A CN 108731675 B CN108731675 B CN 108731675B
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angular rate
attitude
posture
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equivalent antenna
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CN108731675A (en
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谢莉莉
田军
丁根明
赵倩
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Fujitsu Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

The embodiment of the application provides a measuring method, a measuring device and electronic equipment for course variation of an object to be positioned, wherein the measuring device comprises: the mobile terminal comprises a posture judgment unit, a positioning unit and a control unit, wherein the posture judgment unit judges whether the posture of the mobile terminal changes or not according to a detection signal output by an inertial sensor arranged in the mobile terminal of an object to be positioned; an angular rate calculation unit that calculates an equivalent antenna rate of the movement of the object to be positioned based on the determination result of the posture determination unit, the equivalent antenna rate being an angular rate at which the object to be positioned rotates around an axis in a vertical direction; and the course variable quantity calculating unit calculates the course variable quantity of the movement of the object to be positioned according to the equivalent sky angular rate output by the angular rate calculating unit. According to the embodiment, the course variation of the object to be positioned can be measured under the condition that the posture of the movable terminal is not limited, and the convenience of using the movable terminal is improved.

Description

Measuring method and measuring device for course variation of object to be positioned and electronic equipment
Technical Field
The application relates to the technical field of positioning, in particular to a method and a device for measuring course variation of an object to be positioned and electronic equipment.
Background
The high-precision positioning technology is beneficial to popularization of location-based services, so that better service quality is provided for customers, and the method is widely researched.
With the development of technology, various sensors are integrated into a mobile terminal, such as an inertial sensor including an accelerometer, a gyroscope, and the like, an environmental sensor including a magnetic sensor, and the like, for example.
The inertial sensor can effectively describe the motion characteristics of the carrier and does not need the assistance of external information. Therefore, when the inertial sensor is mounted on the mobile terminal and the mobile terminal is arranged on the object to be positioned, the inertial sensor can detect the motion information of the object to be positioned.
A typical scenario is that a pedestrian holds a smartphone equipped with an inertial sensor, the inertial sensor can detect motion information of the pedestrian during the traveling of the pedestrian, and can detect a heading change amount of the pedestrian according to the motion information, and in a case where an initial heading of the pedestrian is known, a heading angle of the pedestrian during traveling can be calculated by combining the detected heading change amount, where the initial heading of the pedestrian can be obtained by a detection result of a magnetometer sensor, for example.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
Disclosure of Invention
The present inventors have found that, in the conventional method for detecting motion information of an object to be positioned by using an inertial sensor mounted on a mobile terminal, it is often required that the object to be positioned has a fixed or specific holding manner for the mobile terminal so that the mobile terminal can maintain a fixed or specific posture, and for example, the mobile terminal needs to be fixedly disposed at a position such as a waist or a chest of a pedestrian in a fixed posture. However, in daily life, the holding manner of the mobile terminal by the pedestrian is various and varied, and the specific or fixed holding manner is inconvenient for the use of the mobile terminal.
Therefore, how to measure the course change amount of the object to be positioned by using the inertial sensor mounted on the portable terminal without limiting the posture of the portable terminal becomes a problem to be solved.
The embodiment of the application provides a method for measuring course variation of an object to be positioned, a measuring device and an electronic device, which can estimate the course variation of the object to be positioned when the object to be positioned advances according to a detection signal of a built-in inertial sensor of a movable terminal and a judgment result of the posture of the movable terminal, so that the course variation of the object to be positioned can be measured under the condition that the posture of the movable terminal is not limited, and the use convenience of the movable terminal is improved.
According to a first aspect of the embodiments of the present application, there is provided a device for measuring a heading variation of an object to be located, including:
the mobile terminal comprises a posture judgment unit, a positioning unit and a control unit, wherein the posture judgment unit judges whether the posture of the mobile terminal changes or not according to a detection signal output by an inertial sensor arranged in the mobile terminal of an object to be positioned;
an angular rate calculation unit that calculates an equivalent antenna rate of the movement of the object to be positioned based on the determination result of the posture determination unit, the equivalent antenna rate being an angular rate at which the object to be positioned rotates around an axis in a vertical direction; and
and the course variable quantity calculating unit calculates the course variable quantity of the movement of the object to be positioned according to the equivalent sky angular rate output by the angular rate calculating unit.
According to a second aspect of the present embodiment, there is provided a method for measuring a heading variation of an object to be located, including:
judging whether the attitude of the movable terminal changes or not according to a detection signal output by an inertial sensor arranged in the movable terminal of the object to be positioned;
calculating an equivalent antenna angular rate of the movement of the object to be positioned based on a judgment result of whether the posture of the movable terminal changes, wherein the equivalent antenna angular rate refers to an angular rate of the object to be positioned rotating around an axis in the vertical direction; and
and calculating the course variation of the movement of the object to be positioned according to the equivalent sky-direction angular rate.
According to a third aspect of the present embodiment, there is provided an electronic device comprising the measuring apparatus of the first aspect of the embodiments.
The beneficial effect of this application lies in: the course variation of the object to be positioned can be measured under the condition that the posture of the movable terminal is not limited, so that the use convenience of the movable terminal is improved.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic view of a measuring apparatus according to embodiment 1 of the present application;
FIG. 2 is a schematic diagram of a course variation calculating unit in embodiment 1 of the present application;
FIG. 3 is a schematic diagram of measuring the course variation of an object to be positioned by using the measuring device of embodiment 1 of the present application;
FIG. 4 is a schematic view of a measurement method according to example 2 of the present application;
fig. 5 is a schematic diagram of a configuration of an electronic device according to embodiment 3 of the present application.
Detailed Description
The foregoing and other features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the embodiments described, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
Example 1
The embodiment 1 of the application provides a device for measuring course variation of an object to be positioned.
Fig. 1 is a schematic view of a measuring apparatus of embodiment 1, and as shown in fig. 1, the measuring apparatus 100 may include: an attitude determination unit 101, an angular rate calculation unit 102, and a heading change amount calculation unit 103.
In this embodiment, the attitude determination unit 101 determines whether the attitude of the mobile terminal changes or not, based on a detection signal output from an inertial sensor provided in the mobile terminal of the object to be positioned; the angular rate calculation unit 102 calculates an equivalent antenna rate of the movement of the object to be positioned based on the determination result of the posture determination unit 101, where the equivalent antenna rate is an angular rate of the object to be positioned rotating around the vertical axis; the course variation calculating unit 103 calculates the course variation of the movement of the object to be positioned according to the equivalent sky angular rate output by the angular rate calculating unit 102.
According to the embodiment, the course variation of the object to be positioned during traveling can be estimated according to the detection signal of the built-in inertial sensor of the movable terminal and the judgment result of the attitude of the movable terminal, so that the course variation of the object to be positioned can be measured under the condition that the attitude of the movable terminal is not limited, and the use convenience of the movable terminal is improved.
In this embodiment, the object to be located may be a pedestrian, a vehicle, or another moving object.
In this embodiment, the mobile terminal may be, for example, a smart watch, a smart phone, a portable tablet computer, or the like.
In this embodiment, the inertial sensor may include at least one of an accelerometer, a gyroscope, and the like, for example, wherein the accelerometer may be a three-axis accelerometer, for example. The detection signal output by the inertial sensor may include at least one of an acceleration signal output by an accelerometer and an angular velocity signal output by a gyroscope, where the acceleration signal may be a three-axis acceleration signal, and the angular velocity signal may be a three-axis angular velocity signal.
In this embodiment, the attitude determination unit 101 may determine whether the attitude of the mobile terminal has changed based on the three-axis acceleration signal in the detection signal of the inertial sensor.
For example, the posture determination unit 101 may calculate a difference value between a mean value in a first time period and a mean value in a second time period before a current time, which may be T, and determine whether the posture of the mobile terminal has changed based on the difference valueNThe first time period may be from T(N-M)Time to TNTime period of time [ T(N-M)，TN]The second period of time may be from T(N-M-K)Time to T(N-K)Time period of time [ T(N-M-K)，T(N-K)]Therefore, the i-th axis component of the differential value can be calculated using the following equation (1):
Figure BDA0001272136580000041
wherein the content of the first and second substances,
Figure BDA0001272136580000042
the average values of the i (i ═ x, y, z) axis acceleration signals in the first period and the second period, respectively, can be obtained by the following equations (2) and (3), respectively:
Figure BDA0001272136580000051
Figure BDA0001272136580000052
wherein f isiThe i-axis acceleration signal, N, M, K, j1, j2, in the detection signal output for the inertial sensor are all natural numbers, and M is<N，(M+K)<N。
In this embodiment, when all of the three-axis components of the differential value are smaller than the threshold corresponding to each axis component, as shown in the following formula (4), the posture determining unit 101 may determine that the posture of the mobile terminal has not changed; otherwise, as shown in the following equation (5), it is determined that the posture of the mobile terminal has changed.
d_fx(TN)<ε1x&d_fy(TN)<ε1y&d_fz(TN)<ε1z (4)
d_fx(TN)≥ε1x||d_fy(TN)≥ε1y||d_fz(TN)≥ε1z (5)
Wherein, ε 1x，ε1y，ε1zThe threshold values are respectively corresponding to the x-axis, y-axis and z-axis components of the differential value. In this embodiment,. epsilon.1x，ε1y，ε1zAll three of them may be equal, for example, 0.05m/s2(ii) a In addition,. epsilon.1x，ε1y，ε1zThe three may not be equal.
In this embodiment, a change in the holding posture of the mobile terminal by the object to be positioned may change the posture of the mobile terminal.
In this embodiment, the angular rate calculating unit 102 may calculate an equivalent antenna angular rate of the movement of the object to be positioned based on the determination result of the posture determining unit 101. Wherein, in a case where the attitude determination unit 101 determines that the attitude of the mobile terminal has changed, the angular rate calculation unit 102 sets the equivalent antenna angular rate to a first value, which may be 0, for example; in a case where the attitude determination unit 102 determines that the attitude of the mobile terminal has not changed, the angular rate calculation unit 102 calculates the equivalent antenna angular rate from detection signals output by an inertial sensor, which may include a three-axis acceleration signal and a three-axis angular velocity signal.
In this embodiment, when the attitude determination unit 101 determines that the attitude of the mobile terminal has changed, the detection signal output by the inertial sensor reflects not only the motion information of the object to be positioned but also the motion information caused by the change in the attitude of the mobile terminal itself, and if the equivalent antenna angle is calculated based on the detection signal output by the inertial sensor at that time, a large error occurs, and therefore, the angular rate calculation unit 102 directly sets the equivalent antenna angular rate in this case to the preset first value, preventing the occurrence of calculation errors, and reducing the amount of computation.
In this embodiment, when the attitude determination unit 101 determines that the attitude of the mobile terminal has not changed, the detection signal output by the inertial sensor only includes the motion information of the object to be positioned, and there is no interference of the change in the attitude of the mobile terminal itself, and therefore the angular rate calculation unit 102 calculates the equivalent antenna angle based on the detection signal output by the inertial sensor at this time, and the accuracy is high.
In this embodiment, in the case where the attitude determination unit 101 determines that the attitude of the mobile terminal has not changed, the angular rate calculation unit 102 may calculate the current time T from the acceleration signal and the angular velocity signal output from the inertial sensor using the following expressions (6) and (7)NEquivalent angle of day rate Wz(TN)：
Figure BDA0001272136580000061
Figure BDA0001272136580000062
Wherein the content of the first and second substances,
Figure BDA0001272136580000063
can be calculated by referring to the pair in the above formula (2)
Figure BDA0001272136580000064
The calculation method of (1).
In addition, the angular rate calculation unit 102 may calculate the equivalent antenna angular rate W in other mannersz(TN) The present embodiment is not limited to the embodiments shown in the above formulas (6) and (7).
In this embodiment, the angular rate calculation unit 102 may further determine the calculated equivalent antenna angular rate Wz(TN) Is less than a predetermined threshold epsilon 2, wherein at the equivalent angle of day rate Wz(TN) Less than the threshold ε 2, the equivalent antenna angular rate W may be determinedz(TN) Set to a preset second value at which the angular rate W is equivalentz(TN) The equivalent antenna angular rate W can be maintained under the condition of not less than the threshold value epsilon 2z(TN) The value of (a) is not changed. The preset second value may be equal to or different from the preset first value.
In the present embodiment, the equivalent antenna angular rate W is calculatedz(TN) If the calculated equivalent antenna angular velocity W is less than a predetermined threshold value ε 2, the calculated equivalent antenna angular velocity W may be considered to bez(TN) Due to an output error of the inertial sensor, and the equivalent antenna angular rate W is calculatedz(TN) The second value is directly set to be preset, so that the influence of the output error of the inertial sensor can be avoided.
In the present embodiment, the equivalent antenna angular rate W calculated by the angular rate calculation unit 102z(TN) May be input to the heading change calculation unit 103 for calculating the heading change of the movement of the object to be positioned.
In the present embodiment, as shown in fig. 2, the heading change amount calculation unit 103 may include at least one of a first calculation subunit 201, a second calculation subunit 202, and a third calculation subunit 203.
In this embodiment, the first calculating subunit 201 may integrate the equivalent angular rate of the sky to calculate a heading change Δ heading of the movement of the object to be located, for example, the following equation (8) may be used to calculate:
Δheading＝∫Wz(TN)dt (8)
where t represents time. According to the above equation (8), the heading change Δ heading of the movement of the object to be positioned in the integration time period can be obtained.
In this embodiment, the second calculating subunit 202 may determine a third time period according to the equivalent sky-direction angular rate, and calculate the heading change amount according to the detection signal of the inertial sensor in the third time period.
In this embodiment, a time when the equivalent antenna angular rate is not equal to the first value is taken as a start time of the third time period, and a time when the equivalent antenna angular rate is first equal to the first value after the start time is taken as an end time of the third time period. In addition, the calculated equivalent antenna angular rate W is further calculated by the angular rate calculating unit 102z(TN) In the case where the second value is set to be preset, the start time of the third time period may be a time when the equivalent antenna angular rate is not equal to the first value, or a time when the equivalent antenna angular rate is not equal to the second value, or a time when the equivalent antenna angular rate is neither equal to the first value nor equal to the second value, and the end time of the third time period may be a time when the equivalent antenna angular rate is first equal to the first value or the second value after the start time.
In the present embodiment, the third period is the equivalent antenna angular rate Wz(TN) And the time period is not equal to the first value and/or the second value, so the heading change is calculated based on the detection signal in the third time period, the introduction of an error signal can be avoided, the accuracy is improved, and the calculation amount is reduced.
In this embodiment, the second calculating subunit 202 may calculate an attitude angle (att _ x, att _ y, att _ z) of the mobile terminal at the end of the third time period, and calculate a heading change Δ heading of the movement of the object to be located based on the attitude angle.
In this embodiment, the second calculation subunit 202 may calculate the attitude rotation matrix using the angular velocity signal output by the inertial sensor in the third time period
Figure BDA0001272136580000071
And rotating the matrix according to the attitude
Figure BDA0001272136580000072
The attitude angles (att _ x, att _ y, att _ z) of the mobile terminal at the end of the third period are calculated.
Wherein, at the starting time of the third time period, the carrier coordinate system of the mobile terminal is b0 system, b0 system is invariant with respect to the inertial system, defined as an inertial carrier coordinate system; at the end time of the third time period, the carrier coordinate system of the movable terminal is a system b; with b0 as a reference coordinate system, the initial attitude angle of the movable terminal at the start time of the third period is (0,0, 0).
In this embodiment, the second calculating subunit 202 may adopt a quaternion method to calculate the attitude rotation matrix
Figure BDA0001272136580000073
In the following, a quaternion method is described, but it should be noted that the present embodiment is not limited thereto, and the second calculating subunit 202 may calculate the attitude rotation matrix by using other methods
Figure BDA0001272136580000074
In the quaternion method, the quaternion corresponding to the attitude rotation matrix is set as [ q [ ]0 q1 q2 q3]Since the initial attitude angle is (0,0,0), the corresponding initial quaternion is [ 1000 ]]The quaternion is updated according to the following equation (9):
Figure BDA0001272136580000075
in the above formula (9)Left side of equal sign
Figure BDA0001272136580000081
Represents a quaternion corresponding to the angular velocity signal outputted from the inertial sensor at a certain time in the third time period, and is equal to the sign on the right side (ω)x,ωy,ωz) The angular velocity signal output by the inertial sensor at that moment is equal-sign right side
Figure BDA0001272136580000082
Representing a quaternion corresponding to the angular velocity signal output by the inertial sensor at the previous time.
When the quaternion corresponding to the end time of the third period is obtained by updating based on the above expression (9), the attitude rotation matrix can be calculated and obtained from the following expression (10)
Figure BDA0001272136580000083
Figure BDA0001272136580000084
In the present embodiment, the second computing subunit 202 may rotate the matrix for the pose
Figure BDA0001272136580000085
A solution is made to obtain the attitude angles (att _ x, att _ y, att _ z) of the mobile terminal at the end of the third time period.
In this embodiment, the second calculating subunit 202 may calculate the heading change amount of the mobile terminal in the third period of time based on the attitude angle (att _ x, att _ y, att _ z) of the mobile terminal at the end time of the third period of time and the average of the accelerations in a predetermined period of time before the end time, for example, the second calculating subunit 202 may calculate the heading change amount according to the following equations (11) and (12):
Figure BDA0001272136580000086
Figure BDA0001272136580000087
wherein the content of the first and second substances,
Figure BDA0001272136580000088
the mean value of the acceleration signals of each axis in a predetermined time period before the end time is represented, and the calculation method thereof can refer to the pair in the above equation (2)
Figure BDA0001272136580000089
The method of (3).
In this embodiment, the third calculating subunit 203 may determine a third time period according to the equivalent sky-direction angular rate, and calculate the heading change amount according to the detection signal of the inertial sensor in the third time period.
In the explanation of the operation principle of the third calculation subunit 203, the same symbols as those described above have the same meanings as those described above.
In the present embodiment, the third calculation subunit 203 determines the third time period in the same manner as the second calculation subunit 202.
In this embodiment, the third computing subunit 203 may compute an attitude angle (att _ x, att _ y, att _ z) of the mobile terminal at the end of the third time period, and compute a heading change Δ heading of the motion of the object to be located based on the attitude angle.
In the present embodiment, the method of the third calculation subunit 203 calculating the attitude angle (att _ x, att _ y, att _ z) of the mobile terminal at the end of the third period is different from that of the second calculation subunit 202. For example, the third calculation subunit 203 may correct the angular velocity signal using the acceleration signal output from the inertial sensor in the third period, calculate an attitude rotation matrix using the corrected angular velocity signal, and calculate an attitude angle (att _ x, att _ y, att _ z) of the mobile terminal at the end time of the third period according to the attitude rotation matrix.
For example, the third calculation subunit 203 may calculate the corrected angular velocity signal according to the following equations (13) to (15):
Figure BDA0001272136580000091
Figure BDA0001272136580000092
Figure BDA0001272136580000093
wherein (ω)x,ωy,ωz) Is an angular velocity signal output by the inertial sensor at a certain moment in a third time period; the average value of the acceleration signals output by the inertial sensor in a predetermined time period before the moment is
Figure BDA0001272136580000094
(gyrox,gyroy,gyroz) Is the angular velocity signal at the moment after correction; k1, K2 are constant coefficients, the size of which is related to the parameters of the inertial sensor; gyro _ f is a parameter indicating correction of angular velocity information; the time period of integration in the above equation (13) is a predetermined time period before the time, and the time period may be, for example, the time as an end time; matrix array
Figure BDA0001272136580000095
Is an attitude rotation matrix
Figure BDA0001272136580000096
The attitude rotation matrix of
Figure BDA0001272136580000097
Can be calculated according to the angular speed signal output by the inertial sensor in the third time period, and the attitude rotation matrix is obtained
Figure BDA0001272136580000098
The calculation method of (2) can refer to the description contents in the second calculation subunit 202, for example, refer to the above equations (9), (10);
Figure BDA0001272136580000099
which represents the mean value of the acceleration signals output by the inertial sensors during a predetermined period of time before the start time of the third period of time.
In this embodiment, the third calculating subunit 203 may be configured to calculate the angular velocity signal (gyro) according to the corrected angular velocity signal (gyro) at each timex,gyroy,gyroz) For calculating the attitude rotation matrix, for example, the third calculating subunit 203 may replace the angular velocity signal output by the inertial sensor with the angular velocity signal at each time after correction, and calculate the attitude rotation matrix based on the corrected angular velocity signal in a similar manner to the second calculating subunit 202
Figure BDA00012721365800000910
For example, the value of (ω) in the above formula (9)x,ωy,ωz) Replacement is (gyro)x,gyroy,gyroz) And updating the quaternion, and calculating an attitude rotation matrix based on the corrected angular velocity signal from the quaternion corresponding to the end time of the third time zone by using the formula (10)
Figure BDA0001272136580000101
In the present embodiment, the third calculation subunit 203 rotates the matrix according to the attitude based on the corrected angular velocity signal
Figure BDA0001272136580000102
The method for calculating the attitude angle at the end of the third time period and the method for calculating the heading change amount based on the attitude angle can refer to the above description of the second calculation subunit 202.
In this embodiment, the accuracy of the angular velocity signal can be improved by correcting the angular velocity signal, so that the accuracy of calculating the heading change amount is improved.
Note that, in the description of the third calculation subunit 203, the calculation matrix is referred to
Figure BDA0001272136580000103
Sum matrix
Figure BDA0001272136580000104
The calculation formulas of the two are similar, but the adopted parameters are completely different, wherein, the matrix
Figure BDA0001272136580000105
Is based on the angular velocity signal (ω) output by the inertial sensor during the third time periodx,ωy,ωz) Calculated, matrix
Figure BDA0001272136580000106
Is based on the angular velocity signal (omega) output to the inertial sensor during the third time periodx,ωy,ωz) Corrected angular velocity signal (gyro)x,gyroy,gyroz) And (4) calculating.
In this embodiment, the heading change amount calculation unit 103 may include any one or more of the first calculation subunit 201, the second calculation subunit 202, and the third calculation subunit 203, and in the case of including two or more, the heading change amount calculation unit 103 may synthesize and output the outputs of the subunits.
In this embodiment, as shown in fig. 1, the measurement apparatus 100 may further include a preprocessing unit 104, and the preprocessing unit 104 may perform filtering processing on the angular velocity signal output by the inertial sensor, so that noise in the angular velocity signal can be removed to improve the accuracy of the angular velocity signal. The filtering process may be performed by using a KZ Adaptive filter (Kolmogorov Zurbenko Adaptive filter), or may be performed by using another filter.
According to the embodiment, the course variation of the object to be positioned during traveling can be estimated according to the detection signal of the built-in inertial sensor of the movable terminal and the judgment result of the posture of the movable terminal, so that the course variation of the object to be positioned can be measured under the condition that the posture of the movable terminal is not limited, and the use convenience of the movable terminal is improved.
An embodiment of the measuring device of the present embodiment for measuring the course change of the object to be positioned is described below with reference to an example.
Fig. 3 is a schematic flow chart of measuring a heading change of an object to be positioned by using the measuring device of the embodiment, in which the preset first value and the preset second value are both 0. As shown in fig. 3, the process includes:
step 301, the preprocessing unit 104 performs filtering processing on an angular velocity signal in a detection signal output by an inertial sensor arranged in the mobile terminal of the object to be positioned so as to remove noise therein and retain motion characteristic information in the angular velocity signal;
step 302, the attitude determination unit 101 determines whether the attitude of the mobile terminal has changed or not based on the acceleration signal in the detection signal output from the inertial sensor, and if it is determined "yes", the flow proceeds to step 305, and if it is determined "no", the flow proceeds to step 303;
step 303, calculating an equivalent antenna angular rate of the movement of the object to be positioned by the angular rate calculation unit 102 according to the acceleration information output by the inertial sensor and the angular rate information after the filtering process, and judging whether the calculated equivalent antenna angular rate is smaller than a threshold value epsilon 2, wherein if the judgment is yes, the flow goes to step 305, and if the judgment is no, the flow goes to step 304;
step 304, the angular rate calculation unit 102 uses the calculated equivalent antenna angular rate as the equivalent antenna angular rate output by the angular rate calculation unit 102;
step 305, the angular rate calculation unit 102 sets the value of the equivalent antenna angular rate to 0 as the equivalent antenna angular rate output by the angular rate calculation unit 102;
step 306, the course variation calculating unit 103 calculates and outputs the course variation of the movement of the object to be positioned according to the equivalent sky-direction angular rate output by the angular rate calculating unit.
Example 2
Embodiment 2 of the present application provides a method for measuring a course variation of an object to be positioned, which corresponds to the measuring apparatus 100 of embodiment 1.
Fig. 4 is a schematic diagram of the measurement method of the present embodiment, and as shown in fig. 4, the method includes:
step 401, judging whether the posture of the movable terminal changes or not according to a detection signal output by an inertial sensor arranged in the movable terminal of the object to be positioned;
step 402, calculating an equivalent antenna angular rate of the movement of the object to be positioned based on a judgment result of whether the posture of the mobile terminal changes, wherein the equivalent antenna angular rate is an angular rate of the object to be positioned rotating around an axis in the vertical direction; and
and 403, calculating the course variation of the movement of the object to be positioned according to the equivalent sky-direction angular rate.
With regard to the explanation of the steps in fig. 4, the explanation of the units in embodiment 1 can be referred to, and will not be repeated here.
According to the embodiment, the course variation of the object to be positioned during traveling can be estimated according to the detection signal of the built-in inertial sensor of the movable terminal and the judgment result of the posture of the movable terminal, so that the course variation of the object to be positioned can be measured under the condition that the posture of the movable terminal is not limited, and the use convenience of the movable terminal is improved.
Example 3
An embodiment 3 of the present application provides an electronic device, including: the measurement setup as described in example 1.
Fig. 5 is a schematic diagram of a configuration of an electronic device according to embodiment 3 of the present application. As shown at 58, the electronic device 500 may include: a Central Processing Unit (CPU)501 and a memory 502; the memory 502 is coupled to the central processor 501. Wherein the memory 502 can store various data; a program for making the measurement is also stored and executed under the control of the central processor 501.
In one embodiment, the functionality in the measurement device may be integrated into the central processor 801.
Wherein the central processor 501 may be configured to:
judging whether the attitude of the movable terminal changes or not according to a detection signal output by an inertial sensor arranged in the movable terminal of the object to be positioned; calculating an equivalent antenna angular rate of the movement of the object to be positioned based on a judgment result of whether the posture of the movable terminal changes, wherein the equivalent antenna angular rate refers to an angular rate of the object to be positioned rotating around an axis in the vertical direction; and calculating the course variation of the movement of the object to be positioned according to the equivalent sky-direction angular rate.
In this embodiment, the central processor 501 may be further configured to:
and judging whether the attitude of the movable terminal changes or not according to the difference of the average value of the acceleration signal in the detection signal of the inertial sensor in a first time period before the current moment and the average value in a second time period.
In this embodiment, the central processor 501 may be further configured to:
setting the equivalent antenna angular rate as a first value under the condition that the posture of the movable terminal is judged to be changed; and under the condition that the attitude of the movable terminal is judged not to be changed, calculating the equivalent antenna angular rate according to the detection signal output by the inertial sensor.
In this embodiment, the central processor 501 may be further configured to:
and under the condition that the calculated equivalent antenna-oriented angular rate is smaller than a first threshold value, setting the calculated equivalent antenna-oriented angular rate as a second value, wherein the second value is equal to or not equal to the first value.
In this embodiment, the central processor 501 may be further configured to:
and integrating the equivalent sky angular rate, and calculating the course variation of the movement of the object to be positioned.
In this embodiment, the central processor 501 may be further configured to:
determining a third time period from the equivalent antenna directional angular rate; and calculating the course variation according to the detection signal of the inertial sensor in the third time period, wherein the moment when the equivalent space-wise angular rate is not equal to the first value is taken as the starting moment of the third time period, and the moment when the equivalent space-wise angular rate is equal to the first value for the first time after the starting moment is taken as the ending moment of the third time period.
In this embodiment, the central processor 501 may be further configured to:
calculating an attitude rotation matrix by using the angular velocity signal; calculating the attitude angle of the movable terminal at the ending moment according to the attitude rotation matrix; and calculating the course variation according to the attitude angle and the mean value of the acceleration signals in a preset time period before the ending moment.
In this embodiment, the central processor 501 may be further configured to:
correcting the angular velocity signal by using the acceleration signal; calculating an attitude rotation matrix based on the corrected angular velocity signal by using the corrected angular velocity signal; calculating an attitude angle of the ending time according to an attitude rotation matrix based on the corrected angular velocity signal; and calculating the course variation according to the attitude angle at the end time and the mean value of the acceleration signals in a preset time period before the end time.
In this embodiment, the central processor 501 may be further configured to:
and filtering the angular velocity signal output by the inertial sensor.
Further, as shown in fig. 5, the electronic device 500 may further include: an input/output unit 503, a display unit 504, and the like; the functions of the above components are similar to those of the prior art, and are not described in detail here. It is noted that the electronic device 500 does not necessarily include all of the components shown in FIG. 5; furthermore, the electronic device 500 may also comprise components not shown in fig. 5, which may be referred to in the prior art.
Embodiments of the present application also provide a computer-readable program, where when the program is executed in a measurement apparatus or an electronic device, the program causes the measurement apparatus or the electronic device to execute the measurement method described in embodiment 2.
An embodiment of the present application further provides a storage medium storing a computer-readable program, where the storage medium stores the computer-readable program, and the computer-readable program enables a measurement apparatus or an electronic device to execute the measurement method described in embodiment 2.
The measurement devices described in connection with the embodiments of the invention may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams illustrated in fig. 1 and 2 may correspond to respective software modules of a computer program flow or may correspond to respective hardware modules. These software modules may correspond to the respective steps shown in embodiment 2. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card that is insertable into the mobile terminal. For example, if the electronic device employs a MEGA-SIM card with a larger capacity or a flash memory device with a larger capacity, the software module may be stored in the MEGA-SIM card or the flash memory device with a larger capacity.
One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1 and 2 may be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the functions described herein. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1, 2 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
The present application has been described in conjunction with specific embodiments, but it should be understood by those skilled in the art that these descriptions are intended to be illustrative, and not limiting. Various modifications and adaptations of the present application may occur to those skilled in the art based on the teachings herein and are within the scope of the present application.
With respect to the embodiments including the above embodiments, the following remarks are also disclosed:
1. a device for measuring course variation of an object to be positioned comprises:
the mobile terminal comprises a posture judgment unit, a positioning unit and a control unit, wherein the posture judgment unit judges whether the posture of the mobile terminal changes or not according to a detection signal output by an inertial sensor arranged in the mobile terminal of an object to be positioned;
an angular rate calculation unit that calculates an equivalent antenna rate of the movement of the object to be positioned based on the determination result of the posture determination unit, the equivalent antenna rate being an angular rate at which the object to be positioned rotates around an axis in a vertical direction; and
and the course variable quantity calculating unit calculates the course variable quantity of the movement of the object to be positioned according to the equivalent sky angular rate output by the angular rate calculating unit.
2. The measuring apparatus according to supplementary note 1, wherein,
the attitude determination unit determines whether the attitude of the mobile terminal has changed based on a difference between a mean value of the acceleration signal in the detection signal of the inertial sensor in a first time period before the current time and a mean value in a second time period.
3. The measuring apparatus according to supplementary note 1, wherein,
in the case where the attitude determination unit determines that the attitude of the movable terminal has changed,
the angular rate calculation unit sets the equivalent antenna-direction angular rate to a first value;
in the case where the attitude determination unit determines that the attitude of the movable terminal has not changed,
the angular rate calculation unit calculates the equivalent antenna angular rate according to the detection signal output by the inertial sensor.
4. The measuring apparatus according to supplementary note 3, wherein,
the angular rate calculation unit sets the calculated equivalent antenna-wise angular rate to a second value that is equal to or unequal to the first value, when the calculated equivalent antenna-wise angular rate is smaller than a first threshold value.
5. The measuring apparatus according to supplementary note 1, wherein the course change amount calculating unit
And integrating the equivalent sky angular rate, and calculating the course variation of the movement of the object to be positioned.
6. The measuring apparatus according to supplementary note 3, wherein the course change amount calculating unit
Determining a third time period based on the equivalent antenna directional angle rate,
and calculates the course variation according to the detection signal of the inertial sensor in the third time period,
wherein the content of the first and second substances,
and taking the moment when the equivalent antenna angular rate is not equal to the first value as the starting moment of the third time period, and taking the moment when the equivalent antenna angular rate is equal to the first value for the first time after the starting moment as the ending moment of the third time period.
7. The measuring apparatus according to supplementary note 6, wherein,
the course variation calculation unit calculates an attitude rotation matrix by using the angular velocity signal, calculates an attitude angle of the mobile terminal at the end time according to the attitude rotation matrix, and calculates the course variation according to the attitude angle and an average value of acceleration signals in a predetermined time period before the end time.
8. The measuring apparatus according to supplementary note 6, wherein,
the course variable quantity calculating unit corrects the angular velocity signal by using the acceleration signal, calculates an attitude rotation matrix based on the corrected angular velocity signal by using the corrected angular velocity signal, calculates an attitude angle of the ending time according to the attitude rotation matrix based on the corrected angular velocity signal, and calculates the course variable quantity according to the attitude angle of the ending time and an average value of the acceleration signal in a preset time period before the ending time.
9. The measuring apparatus according to supplementary note 1, wherein,
the estimation device for the course variation of the object to be positioned further comprises:
and a preprocessing unit for performing filtering processing on the angular velocity signal output by the inertial sensor.
10. An electronic apparatus comprising the measuring device of any one of supplementary notes 1 to 9.
11. A method for measuring course variation of an object to be positioned comprises the following steps:
judging whether the attitude of the movable terminal changes or not according to a detection signal output by an inertial sensor arranged in the movable terminal of the object to be positioned;
calculating an equivalent antenna angular rate of the movement of the object to be positioned based on a judgment result of whether the posture of the movable terminal changes, wherein the equivalent antenna angular rate refers to an angular rate of the object to be positioned rotating around an axis in the vertical direction; and
and calculating the course variation of the movement of the object to be positioned according to the equivalent sky-direction angular rate.
12. The measuring method according to supplementary note 11, wherein,
and judging whether the attitude of the movable terminal changes or not according to the difference of the average value of the acceleration signal in the detection signal of the inertial sensor in a first time period before the current moment and the average value in a second time period.
13. The measurement method according to supplementary note 11, wherein calculating the equivalent antenna velocity of the movement of the object to be positioned based on the determination result of whether the posture of the mobile terminal changes includes:
in case that it is determined that the posture of the movable terminal is changed,
setting the equivalent antenna angular rate to a first value;
in case that it is determined that the posture of the movable terminal is not changed,
and calculating the equivalent antenna angular rate according to the detection signal output by the inertial sensor.
14. The measurement method according to supplementary note 13, wherein calculating the equivalent antenna velocity of the movement of the object to be positioned based on the determination result of whether the posture of the mobile terminal changes further includes:
and under the condition that the calculated equivalent antenna-oriented angular rate is smaller than a first threshold value, setting the calculated equivalent antenna-oriented angular rate as a second value, wherein the second value is equal to or not equal to the first value.
15. The measurement method according to supplementary note 11, wherein calculating the heading change amount of the movement of the object to be positioned according to the equivalent skyward angular rate includes:
and integrating the equivalent sky angular rate, and calculating the course variation of the movement of the object to be positioned.
16. The measurement method according to supplementary note 13, wherein calculating the heading change of the movement of the object to be positioned according to the equivalent skyward angular rate includes:
determining a third time period from the equivalent antenna angular rate;
calculating the course change according to the detection signal of the inertial sensor in the third time period,
wherein the content of the first and second substances,
and taking the moment when the equivalent antenna angular rate is not equal to the first value as the starting moment of the third time period, and taking the moment when the equivalent antenna angular rate is equal to the first value for the first time after the starting moment as the ending moment of the third time period.
17. The measurement method according to supplementary note 16, wherein calculating the heading change amount according to the detection signal of the inertial sensor in the third period of time includes:
calculating an attitude rotation matrix by using the angular velocity signal;
calculating the attitude angle of the movable terminal at the ending moment according to the attitude rotation matrix;
and calculating the course variation according to the attitude angle and the mean value of the acceleration signals in a preset time period before the ending moment.
18. The measurement method according to supplementary note 16, wherein calculating the heading change amount according to the detection signal of the inertial sensor in the third period of time includes:
correcting the angular velocity signal by using the acceleration signal;
calculating an attitude rotation matrix based on the corrected angular velocity signal by using the corrected angular velocity signal;
calculating an attitude angle of the ending time according to an attitude rotation matrix based on the corrected angular velocity signal;
and calculating the course variation according to the attitude angle at the end time and the mean value of the acceleration signals in a preset time period before the end time.
19. The measurement method according to supplementary note 11, wherein the measurement method further comprises:
and filtering the angular velocity signal output by the inertial sensor.

Claims (9)

1. A device for measuring course variation of an object to be positioned comprises:
the mobile terminal comprises a posture judgment unit, a positioning unit and a control unit, wherein the posture judgment unit judges whether the posture of the mobile terminal changes or not according to a detection signal output by an inertial sensor arranged in the mobile terminal of an object to be positioned;
an angular rate calculation unit that calculates an equivalent antenna rate of the movement of the object to be positioned based on the determination result of the posture determination unit, the equivalent antenna rate being an angular rate at which the object to be positioned rotates around an axis in a vertical direction; and
a course variation calculating unit which calculates the course variation of the movement of the object to be positioned according to the equivalent sky angular rate output by the angular rate calculating unit,
wherein the content of the first and second substances,
in the case where the attitude determination unit determines that the attitude of the movable terminal has changed,
the angular rate calculation unit sets the equivalent antenna-direction angular rate to a first value;
in the case where the attitude determination unit determines that the attitude of the movable terminal has not changed,
the angular rate calculation unit calculates the equivalent antenna angular rate according to the detection signal output by the inertial sensor.
2. The measurement device of claim 1,
the attitude determination unit determines whether the attitude of the mobile terminal has changed based on a difference between a mean value of the acceleration signal in the detection signal of the inertial sensor in a first time period before the current time and a mean value in a second time period.
3. The measurement device of claim 1,
the angular rate calculation unit sets the calculated equivalent antenna-wise angular rate to a second value that is equal to or unequal to the first value, when the calculated equivalent antenna-wise angular rate is smaller than a first threshold value.
4. The measurement device according to claim 1, wherein the heading change amount calculation unit
And integrating the equivalent sky angular rate, and calculating the course variation of the movement of the object to be positioned.
5. The measurement device according to claim 1, wherein the heading change amount calculation unit
Determining a third time period based on the equivalent antenna directional angle rate,
and calculates the course variation according to the detection signal of the inertial sensor in the third time period,
wherein the content of the first and second substances,
and taking the moment when the equivalent antenna angular rate is not equal to the first value as the starting moment of the third time period, and taking the moment when the equivalent antenna angular rate is equal to the first value for the first time after the starting moment as the ending moment of the third time period.
6. The measurement device of claim 5,
the course variation calculation unit calculates an attitude rotation matrix by using the angular velocity signal, calculates an attitude angle of the mobile terminal at the end time according to the attitude rotation matrix, and calculates the course variation according to the attitude angle and an average value of acceleration signals in a predetermined time period before the end time.
7. The measurement device of claim 5,
the course variable quantity calculating unit corrects the angular velocity signal by using the acceleration signal, calculates an attitude rotation matrix based on the corrected angular velocity signal by using the corrected angular velocity signal, calculates an attitude angle of the ending time according to the attitude rotation matrix based on the corrected angular velocity signal, and calculates the course variable quantity according to the attitude angle of the ending time and an average value of the acceleration signal in a preset time period before the ending time.
8. An electronic device comprising the measurement apparatus of any one of claims 1-7.
9. A method for measuring course variation of an object to be positioned comprises the following steps:
judging whether the attitude of the movable terminal changes or not according to a detection signal output by an inertial sensor arranged in the movable terminal of the object to be positioned;
calculating an equivalent antenna angular rate of the movement of the object to be positioned based on a judgment result of whether the posture of the movable terminal changes, wherein the equivalent antenna angular rate refers to an angular rate of the object to be positioned rotating around an axis in the vertical direction; and
calculating the course variation of the movement of the object to be positioned according to the equivalent sky-direction angular rate,
wherein the content of the first and second substances,
in case that it is determined that the posture of the movable terminal is changed,
setting the equivalent antenna angular rate to a first value;
in case that it is determined that the posture of the movable terminal is not changed,
and calculating the equivalent antenna angular rate according to the detection signal output by the inertial sensor.
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