CN108828523A - Vibration wave localization method, device, system and computer storage medium - Google Patents
Vibration wave localization method, device, system and computer storage medium Download PDFInfo
- Publication number
- CN108828523A CN108828523A CN201810376017.5A CN201810376017A CN108828523A CN 108828523 A CN108828523 A CN 108828523A CN 201810376017 A CN201810376017 A CN 201810376017A CN 108828523 A CN108828523 A CN 108828523A
- Authority
- CN
- China
- Prior art keywords
- vibrating sensor
- vibration wave
- vibration
- signal
- acquisition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a kind of vibration wave localization methods, including：Each vibrating sensor is controlled with preset sample frequency synchronous acquisition signal；When receiving the signal data of the vibrating sensor upload and the signal data is vibration wave signal, the acquisition moment point and corresponding vibrating sensor information for obtaining the vibration wave signal save the acquisition moment point and corresponding vibrating sensor information association；The location information for generating the vibration source of the vibration wave signal is determined according to each acquisition moment point and associated vibrating sensor information.The invention also discloses a kind of vibration wave positioning device, system and computer storage mediums, realize the position that the time difference precise positioning vibration source of vibrating sensor is transmitted to using known vibrating sensor position and vibration wave signal.
Description
Technical field
The present invention relates to field of locating technology more particularly to a kind of vibration wave localization method, device, system and computer to deposit
Storage media.
Background technique
With the high speed development of mobile computing and embedded system, people are increasingly dense to the interest of location aware, therefore
Positioning service system also receives more and more attention.Global positioning system is the positioning system being most widely used at present, but
When environment is not available satellite positioning indoors, auxiliary positioning of the indoor positioning technologies as satellite positioning is needed, solves satellite
Signal is weaker when reaching ground, cannot penetrate the problem of building, the final position for positioning object and being presently in.
Nowadays, relatively common indoor positioning technologies have infrared ray positioning, bluetooth positioning, ultrasonic wave positioning, wireless office
Domain net positioning and radio frequency identification positioning etc..When these common indoor wireless location technologies are usually according to radio wave transmissions
Between difference calculate, since the transmission speed of radio wave is too fast, so holding very much when object distance positioning device is closer
Easily there is the inaccurate problem of positioning.
Summary of the invention
The main purpose of the present invention is to provide a kind of vibration wave localization method, device, system and computer storage medium,
Aim to solve the problem that traditional technical problem for causing positioning not accurate using radio wave positioning.
To achieve the above object, the present invention provides a kind of vibration wave localization method, and the vibration wave localization method includes step
Suddenly：
Each vibrating sensor is controlled with preset sample frequency synchronous acquisition signal；
When receiving the signal data of the vibrating sensor upload and the signal data is vibration wave signal, obtain
The acquisition moment point of the vibration wave signal and corresponding vibrating sensor information, by the acquisition moment point and corresponding
Vibrating sensor information association saves；
It is determined according to each acquisition moment point and associated vibrating sensor information and generates the vibration wave signal
Vibration source location information.
Preferably, described to be determined described in generation according to each acquisition moment point and associated vibrating sensor information
The step of location information of the vibration source of vibration wave signal includes：
Obtain the corresponding vibration wave signal of same vibration source, wherein after getting vibration wave signal, according to vibration wave
Signal characteristic determines the corresponding vibration wave signal of same vibration source；
According to the corresponding acquisition moment point of the corresponding vibration wave signal of same vibration source and associated vibrating sensing
Device information determines the location information of the vibration source.
Preferably, the signal characteristic includes intensity size and frequency.
Preferably, described to be determined described in generation according to each acquisition moment point and associated vibrating sensor information
The step of location information of the vibration source of vibration wave signal includes：
Multiple time differences are obtained according to each acquisition moment point；
The range difference of vibrating sensor described in every two Yu the vibration source is determined according to the time difference；
The location information of the vibration source is determined according to the range difference.
Preferably, the step of location information that the vibration source is determined according to the range difference includes：
Obtain preset reference radius value；
The radius of the corresponding signal acquisition circle of each vibrating sensor is determined according to the reference radius value and range difference；
The each vibration of circle generation is drawn using each vibrating sensor as the center of circle and with the corresponding radius of the vibrating sensor
Move the corresponding signal acquisition circle of sensor；
Judge each signal acquisition circle with the presence or absence of intersection point；
When there are intersection point, the location information of the vibration source is determined according to the intersection point；
When intersection point is not present, update the reference radius value, and return execute it is described according to the reference radius value and
Range difference determines the step of radius of the corresponding signal acquisition circle of each vibrating sensor.
Preferably, the range difference that vibrating sensor described in every two Yu the vibration source are determined according to the time difference
The step of include：
The time difference is obtained respectively；
Using the product of the time difference and pre-set velocity as vibrating sensor described in every two and the vibration source away from
Deviation.
Preferably, described to be determined described in generation according to each acquisition moment point and associated vibrating sensor information
Further include after the step of location information of the vibration source of vibration wave signal：
Obtain each location information associated time point, wherein when determining the location information of the same vibration source,
Corresponding time point is obtained, the time point is associated with preservation with the location information；
According to the positional information and the time point generates the motion profile of the vibration source.
In addition, to achieve the above object, the present invention also provides a kind of vibration wave positioning device, the vibration wave positioning device
Including memory, processor and it is stored in the computer program that can be run on the memory and on the processor, it is described
Computer program realizes the step of vibration wave localization method as described above when being executed by the processor.
In addition, to achieve the above object, the present invention also provides a kind of vibration wave positioning system, the vibration wave positioning system
Including multiple vibrating sensors and server, wherein the vibrating sensor, for preset sample frequency synchronous acquisition signal
And the quantity of the vibrating sensor is at least 3；The server, for controlling each vibrating sensor with default sampling frequency
Rate synchronous acquisition signal is vibration wave signal receiving signal data that the vibrating sensor uploads and the signal data
When, obtain the acquisition moment point and corresponding vibrating sensor information of the vibration wave signal, by the acquisition moment point with
And corresponding vibrating sensor information association saves, and believes further according to each acquisition moment point and associated vibrating sensor
Breath determines the location information for generating the vibration source of the vibration wave signal.
In addition, to achieve the above object, the present invention also provides a kind of computer storage medium, the computer storage medium
On be stored with vibration wave finder, vibration as described above is realized when the vibration wave finder is executed by the processor
The step of dynamic wave localization method.
Vibration wave localization method, device, system and computer storage medium proposed by the present invention, by controlling each vibration
Sensor is with preset sample frequency synchronous acquisition signal, in the signal data and the signal data for receiving vibrating sensor upload
When for vibration wave signal, the acquisition moment point and corresponding vibrating sensor information of the vibration wave signal are obtained, when by acquiring
Punctum and corresponding vibrating sensor information association save, further according to each acquisition moment point and associated vibrating sensor
Information determines the location information for generating the vibration source of the vibration wave signal, realizes and utilizes known vibrating sensor position and vibration
Wave signal is transmitted to the position of the time difference precise positioning vibration source of vibrating sensor.
Detailed description of the invention
Fig. 1 is the terminal structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of vibration wave localization method first embodiment of the present invention；
Fig. 3 is to be determined described in generation in Fig. 2 according to each acquisition moment point and associated vibrating sensor information
The refinement flow diagram of the step of location information of the vibration source of vibration wave signal；
Fig. 4 is the schematic illustration for calculating vibration source position；
Fig. 5 is the flow diagram of vibration wave localization method 3rd embodiment of the present invention；
Fig. 6 is the flow diagram of vibration wave localization method fourth embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The primary solutions of the embodiment of the present invention are：
Each vibrating sensor is controlled with preset sample frequency synchronous acquisition signal；
When receiving the signal data of the vibrating sensor upload and the signal data is vibration wave signal, obtain
The acquisition moment point of the vibration wave signal and corresponding vibrating sensor information, by the acquisition moment point and corresponding
Vibrating sensor information association saves；
It is determined according to each acquisition moment point and associated vibrating sensor information and generates the vibration wave signal
Vibration source location information.
Due in the prior art, relatively common is positioned according to radio wave transfer time difference, however wireless
The transmission speed of electric wave is too fast, when object distance positioning device is closer, it is easy to the inaccurate problem of positioning occurs.
The present invention provides a solution, by controlling each vibrating sensor with preset sample frequency synchronous acquisition letter
Number, when receiving the signal data of vibrating sensor upload and the signal data is vibration wave signal, obtain vibration wave letter
Number acquisition moment point and corresponding vibrating sensor information, will acquisition moment point and corresponding vibrating sensor information close
UNPROFOR is deposited, and the vibration for generating the vibration wave signal is determined further according to each acquisition moment point and associated vibrating sensor information
The location information in source realizes the time difference that vibrating sensor is transmitted to using known vibrating sensor position and vibration wave signal
The position of precise positioning vibration source.
As shown in Figure 1, Fig. 1 is the terminal structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
The terminal of that embodiment of the invention is PC or server.
As shown in Figure 1, the terminal may include：Processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005 and communication bus 1002.Wherein, communication bus 1002 is logical for realizing the connection between these components
Letter.User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), and optional user connects
Mouth 1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include the wired of standard
Interface, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe module, Subscriber Interface Module SIM and vibration wave finder.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, carries out with background server
Data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data communication with client；And processor
1001 can be used for calling the vibration wave finder stored in memory 1005, and execute following operation：
Each vibrating sensor is controlled with preset sample frequency synchronous acquisition signal；
When receiving the signal data of the vibrating sensor upload and the signal data is vibration wave signal, obtain
The acquisition moment point of the vibration wave signal and corresponding vibrating sensor information, by the acquisition moment point and corresponding
Vibrating sensor information association saves；
It is determined according to each acquisition moment point and associated vibrating sensor information and generates the vibration wave signal
Vibration source location information.
Further, processor 1001 can call the vibration wave finder stored in memory 1005, also execute with
Lower operation：
Obtain the corresponding vibration wave signal of same vibration source, wherein after getting vibration wave signal, according to vibration wave
Signal characteristic determines the corresponding vibration wave signal of same vibration source；
According to the corresponding acquisition moment point of the corresponding vibration wave signal of same vibration source and associated vibrating sensing
Device information determines the location information of the vibration source.
Further, processor 1001 can call the vibration wave finder stored in memory 1005, also execute with
Lower operation：
The signal characteristic includes intensity size and frequency.
Further, processor 1001 can call the vibration wave finder stored in memory 1005, also execute with
Lower operation：
Multiple time differences are obtained according to each acquisition moment point；
The range difference of vibrating sensor described in every two Yu the vibration source is determined according to the time difference；
The location information of the vibration source is determined according to the range difference.
Further, processor 1001 can call the vibration wave finder stored in memory 1005, also execute with
Lower operation：
Obtain preset reference radius value；
The radius of the corresponding signal acquisition circle of each vibrating sensor is determined according to the reference radius value and range difference；
The each vibration of circle generation is drawn using each vibrating sensor as the center of circle and with the corresponding radius of the vibrating sensor
Move the corresponding signal acquisition circle of sensor；
Judge each signal acquisition circle with the presence or absence of intersection point；
When there are intersection point, the location information of the vibration source is determined according to the intersection point；
When intersection point is not present, update the reference radius value, and return execute it is described according to the reference radius value and
Range difference determines the step of radius of the corresponding signal acquisition circle of each vibrating sensor.
Further, processor 1001 can call the vibration wave finder stored in memory 1005, also execute with
Lower operation：
The time difference is obtained respectively；
Using the product of the time difference and pre-set velocity as vibrating sensor described in every two and the vibration source away from
Deviation.
Further, processor 1001 can call the vibration wave finder stored in memory 1005, also execute with
Lower operation：
Obtain each location information associated time point, wherein when determining the location information of the same vibration source,
Corresponding time point is obtained, the time point is associated with preservation with the location information；
According to the positional information and the time point generates the motion profile of the vibration source.
It is the flow diagram of vibration wave localization method first embodiment of the present invention referring to Fig. 2, Fig. 2；
The present embodiment proposes a kind of vibration wave localization method, which includes step：
Step S10 controls each vibrating sensor with preset sample frequency synchronous acquisition signal；
The method that the present invention proposes a kind of position of vibration source mobile by known location positioning, needs in specified point
Vibrating sensor is set, and the known location is the position of vibrating sensor.Can be used for positioning any can generate mechanical oscillation
Object, be applicable in it is any vibration wave energy propagate occasion, it is applied widely, in addition, big number can be done in monitoring system indoors
According to analysis, there is good privacy confidentiality.
The present embodiment is illustrated by taking 3 vibrating sensors as an example, and the position of this 3 vibrating sensors is it is known that each vibration
Dynamic sensor is connected by local network LAN, and each vibrating sensor carries out time synchronization by the IEEE1588 agreement of LAN,
Synchronous time precision influences the precision of positioning, and IEEE1588 protocol realization can be realized using the MCU of low cost.This hair
Bright selection IEEE1588PTP protocol realization superhigh precision time synchronization, to guarantee each vibrating sensor at the time of identical
Trigger signal acquisition, collected signal are sent to server.Preset sample frequency described herein is preset value, for example, can
For 10kHZ, i.e. 10,000 signals of acquisition per second.
Step S20 is that vibration wave is believed receiving signal data that the vibrating sensor uploads and the signal data
Number when, the acquisition moment point and corresponding vibrating sensor information of the vibration wave signal are obtained, by the acquisition moment point
And corresponding vibrating sensor information association saves；
Since 3 vibrating sensors constantly acquire signal with higher sample frequency, and collected signal is sent
To server, server is analyzed the signal data, is being identified when receiving the signal data of vibrating sensor upload
When signal data is vibration wave signal out, obtains each vibrating sensor and collect the vibration wave signal at the time of point and correspondence
Acquisition signal vibrating sensor information, and by the two be associated with save, for calculates generation the vibration wave signal vibration source
Position.
Further, since each vibrating sensor is synchronous acquisition signal, and biography of the vibration wave in the same medium
It is the same for broadcasting speed, therefore the vibrating sensor for first collecting vibration wave signal is nearest at a distance from vibration source, finally collects
The vibrating sensor of vibration wave signal is farthest at a distance from vibration source.In this way, will acquisition moment point and corresponding vibrating sensing
Device information association saves, so that it may know which vibrating sensor is nearest at a distance from vibration source, which vibrating sensor and vibration
The distance in source is secondly, which vibrating sensor is farthest at a distance from vibration source.
Step S30 is determined according to each acquisition moment point and associated vibrating sensor information and is generated the vibration
The location information of the vibration source of dynamic wave signal.
In the present embodiment, based on 3 acquisition moment points that step S20 is obtained, there are 2 time differences, according to this 2 time differences
And the corresponding available every two vibrating sensor of vibrating sensor information of 3 acquisition moment points is at a distance from vibration source
Difference can so determine the position of vibration source according to the algorithm for calculating range intersections.It is true by picture circle that present invention teaches a kind of
Determine the algorithm of intersection point, specific implementation process illustrates in a second embodiment, is not described herein.In addition, similar pass through range difference
Determine that the algorithm of intersection point is also covered by within that scope of the present invention in a manner of oval or curve intersection etc..
Further, if vibration source is too far at a distance from vibrating sensor, since vibration wave signal is believed in transmission process
Number decaying quickly, vibrating sensor may not receive the vibration wave signal, however people can arbitrarily walk about, it may appear that people and vibration
The distance of sensor is more than the distance range that vibrating sensor can receive vibration wave signal, it is thus possible to increase vibration passes
The quantity of sensor is to have the function that extend orientation range, to guarantee that at least 3 vibrating sensors can receive vibration wave
Signal.
The vibration wave localization method that the present embodiment proposes, it is synchronous with preset sample frequency by controlling each vibrating sensor
Signal is acquired, when receiving the signal data of vibrating sensor upload and the signal data is vibration wave signal, obtains the vibration
The acquisition moment point and corresponding vibrating sensor information of dynamic wave signal, by acquisition moment point and corresponding vibrating sensor
Information association saves, and determines further according to each acquisition moment point and associated vibrating sensor information and generates the vibration wave signal
Vibration source location information, realize and using known vibrating sensor position and vibration wave signal be transmitted to vibrating sensor
The position of time difference precise positioning vibration source.
Further, referring to Fig. 3, vibration wave localization method second embodiment of the present invention is proposed based on first embodiment,
In the present embodiment, the step S30 includes：
Step S31 obtains multiple time differences according to each acquisition moment point；
Step S32 obtains the time difference respectively, and using the product of the time difference and pre-set velocity as every two institute
State the range difference of vibrating sensor Yu the vibration source；
Step S33 obtains preset reference radius value；
Step S34 determines the corresponding signal acquisition circle of each vibrating sensor according to the reference radius value and range difference
Radius；
It is each to draw circle generation using each vibrating sensor as the center of circle and with the corresponding radius of the vibrating sensor by step S35
The corresponding signal acquisition circle of a vibrating sensor；
Step S36 judges each signal acquisition circle with the presence or absence of intersection point；
Step S37 determines the location information of the vibration source according to the intersection point when there are intersection point；
Step S38 updates the reference radius value when intersection point is not present, and it is described according to the reference to return to execution
Radius value and range difference determine the step of radius of the corresponding signal acquisition circle of each vibrating sensor.
In the present embodiment, the method for determining vibration source position by drawing circle is told about.It is said by taking 3 vibrating sensors as an example
It is bright, it is assumed that acquiring moment points obtained 2 time differences by 3 is respectively a and b, and corresponding range difference is SaAnd Sb, need
Bright, it is the transmission speed that the transmission speed of vibration wave in the medium, which is fixed, described herein pre-set velocity, is passed through
Speed and the product of time obtain distance.If A, B, C respectively indicate 3 vibrating sensors, A vibrating sensor collects vibration at first
Dynamic wave signal, B vibrating sensor secondly, C vibrating sensor finally collect vibration wave signal, SaFor two vibrating sensings of A, B
The range difference of device and vibration source, SbFor the range difference of two vibrating sensors and vibration source of A, C, A vibrating sensing is indicated with parameter x
The distance between device and vibration source, then the distance between B vibrating sensor and vibration source are x+Sa, C vibrating sensor and vibration
The distance between source is x+Sb, using the coordinate of each vibrating sensor as the center of circle, between each vibrating sensor and vibration source
Distance is that radius generates the corresponding signal acquisition circle of each vibrating sensor, and due to only one unknown number x, therefore program presets one
A reference radius value, it can be understood as give unknown number x assignment, which is exactly reference radius value described herein, then can be true
Fixed 3 signal acquisitions circle.If this 3 signal acquisition circles have an intersection point, which is exactly the coordinate of vibration source, if this
None round intersection point of 3 signal acquisitions, then update the value of x, give x assignment again, regenerates signal acquisition circle, until generating
3 signal acquisitions circle have an intersection point, pass through the schematic illustration that picture circle determines vibration source position described in Fig. 4.
Further, the location information of heretofore described vibration source can be coordinate of the vibration source in plane space
Value can also be the vibration source in the zone position information of plane space, that is, be located at certain block region somewhere.In addition, this hair
Vibration source described in bright is human or animal, and the scene of vibrating sensor is provided with suitable for indoor or outdoors, in comparison,
Precision for indoor positioning is higher.
In technical solution disclosed in the present embodiment, teaches and vibration source position is determined by vibration wave signal acquisition moment point
Method, due to each acquisition moment point of vibration wave signal be based on obtained by each vibrating sensor synchronous acquisition signal, from
And ensure that the embodiment method can precise positioning vibration source position.
Further, referring to Fig. 5, vibration wave localization method 3rd embodiment of the present invention is proposed based on first embodiment,
In the present embodiment, the step S30 includes：
Step S39 obtains the corresponding vibration wave signal of same vibration source, wherein after getting vibration wave signal, according to
The signal characteristic of vibration wave determines the corresponding vibration wave signal of same vibration source；
Step S310, according to the corresponding acquisition moment point of the corresponding vibration wave signal of same vibration source and associated
Vibrating sensor information determines the location information of the vibration source.
In technical solution disclosed in the present embodiment, it is contemplated that there are the scene of multiple vibration sources, server believes vibration wave
It number is further analyzed, the vibration of which moment point acquisition is determined according to the intensity size of vibration wave signal and frequecy characteristic
Dynamic wave signal is that the same vibration source generates, in this way, the corresponding vibration wave signal of same vibration source can be obtained, in fact further according to second
The method in example is applied to determine the position of the vibration source.The program makes suitable scene of the invention wider, in addition, vibrating sensing
Device need to only acquire signal and then be uploaded to server, and server analyzes vibration wave signal, according to vibration wave signal
Intensity size and frequecy characteristic can accurately determine the vibration wave signal that same vibration source generates, in this way, also guaranteeing
The accuracy of positioning is not in vibration wave blurring or superposition that different vibration sources generate, influences the accuracy of positioning.
Further, referring to Fig. 6, vibration wave positioning side of the present invention is proposed based on first to 3rd embodiment any embodiment
Method fourth embodiment, in the present embodiment, the step S30 further includes later：
Step S40 obtains each location information associated time point, wherein in the position for determining the same vibration source
When confidence ceases, corresponding time point is obtained, the time point is associated with preservation with the location information；
Step S50, according to the positional information and the time point generates the motion profile of the vibration source.
In technical solution disclosed in the present embodiment, after obtaining the location information of vibration source, by the same vibration source not
Location information with time point is associated with preservation with the time point, generates the real time position performance graph of vibration source, in this way, can pass through
The corresponding motion profile of the curve knows the movement tendency of vibration source, can also inquire the historical position information of vibration source, if user
Valuables are lost, then can increase user by query history location information and give the probability for losing article for change.In addition, can also pass through
The motion profile is quickly found out lost old man and child.
In addition, the embodiment of the present invention also proposes that a kind of vibration wave positioning device, the vibration wave positioning device include storage
Device, processor and it is stored in the computer program that can be run on the memory and on the processor, the computer journey
Sequence realizes the step of vibration wave localization method described in embodiment as above when being executed by the processor.
In addition, the embodiment of the present invention also proposes a kind of vibration wave positioning system, the vibration wave positioning system includes multiple
Vibrating sensor and server, wherein the vibrating sensor, for preset sample frequency synchronous acquisition signal and the vibration
The quantity of dynamic sensor is at least 3；The server is synchronized for controlling each vibrating sensor with preset sample frequency and is adopted
Collect signal, when receiving the signal data of the vibrating sensor upload and the signal data is vibration wave signal, obtains
The acquisition moment point of the vibration wave signal and corresponding vibrating sensor information, by the acquisition moment point and corresponding
Vibrating sensor information association saves, and determines and produces further according to each acquisition moment point and associated vibrating sensor information
The location information of the vibration source of the raw vibration wave signal.
In addition, the embodiment of the present invention also proposes a kind of computer storage medium, it is stored in the computer storage medium
Vibration wave finder, the vibration wave finder realize vibration wave described in embodiment as above when being executed by the processor
The step of localization method.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, cloud server, air conditioner or network equipment etc.) method that executes each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of vibration wave localization method, which is characterized in that the vibration wave localization method includes step：
Each vibrating sensor is controlled with preset sample frequency synchronous acquisition signal；
When receiving the signal data of the vibrating sensor upload and the signal data is vibration wave signal, described in acquisition
The acquisition moment point of vibration wave signal and corresponding vibrating sensor information, by the acquisition moment point and corresponding vibration
Sensor information association saves；
The vibration for generating the vibration wave signal is determined according to each acquisition moment point and associated vibrating sensor information
The location information in dynamic source.
2. vibration wave localization method as described in claim 1, which is characterized in that it is described according to each acquisition moment point with
And associated vibrating sensor information determines that the step of location information for generating the vibration source of the vibration wave signal includes：
Obtain the corresponding vibration wave signal of same vibration source, wherein after getting vibration wave signal, according to the signal of vibration wave
Feature determines the corresponding vibration wave signal of same vibration source；
Believed according to the corresponding acquisition moment point of the corresponding vibration wave signal of same vibration source and associated vibrating sensor
Breath determines the location information of the vibration source.
3. vibration wave localization method as claimed in claim 2, which is characterized in that the signal characteristic include intensity size and
Frequency.
4. vibration wave localization method as described in claim 1, which is characterized in that it is described according to each acquisition moment point with
And associated vibrating sensor information determines that the step of location information for generating the vibration source of the vibration wave signal includes：
Multiple time differences are obtained according to each acquisition moment point；
The range difference of vibrating sensor described in every two Yu the vibration source is determined according to the time difference；
The location information of the vibration source is determined according to the range difference.
5. vibration wave localization method as claimed in claim 4, which is characterized in that described to determine the vibration according to the range difference
The step of location information in dynamic source includes：
Obtain preset reference radius value；
The radius of the corresponding signal acquisition circle of each vibrating sensor is determined according to the reference radius value and range difference；
The each vibration biography of circle generation is drawn using each vibrating sensor as the center of circle and with the corresponding radius of the vibrating sensor
The corresponding signal acquisition circle of sensor；
Judge each signal acquisition circle with the presence or absence of intersection point；
When there are intersection point, the location information of the vibration source is determined according to the intersection point；
When intersection point is not present, the reference radius value is updated, and it is described according to the reference radius value and distance to return to execution
Difference determines the step of radius of the corresponding signal acquisition circle of each vibrating sensor.
6. vibration wave localization method as claimed in claim 4, which is characterized in that described to determine every two according to the time difference
The step of range difference of the vibrating sensor and the vibration source includes：
The time difference is obtained respectively；
Using the product of the time difference and pre-set velocity as the range difference of vibrating sensor and the vibration source described in every two.
7. vibration wave localization method as described in claim 1, which is characterized in that it is described according to each acquisition moment point with
And associated vibrating sensor information determines that the step of location information for generating the vibration source of the vibration wave signal also wraps later
It includes：
Obtain each location information associated time point, wherein when determining the location information of the same vibration source, obtain
The time point is associated with preservation with the location information by corresponding time point；
According to the positional information and the time point generates the motion profile of the vibration source.
8. a kind of vibration wave positioning device, which is characterized in that the vibration wave positioning device includes memory, processor and storage
On the memory and the computer program that can run on the processor, the computer program are held by the processor
It realizes when row such as the step of vibration wave localization method of any of claims 1-7.
9. a kind of vibration wave positioning system, which is characterized in that the vibration wave positioning system includes multiple vibrating sensor kimonos
Business device, wherein
The vibrating sensor, for being at least with the quantity of preset sample frequency synchronous acquisition signal and the vibrating sensor
3；
The server, for controlling each vibrating sensor with preset sample frequency synchronous acquisition signal, described in receiving
When the signal data and the signal data that vibrating sensor uploads are vibration wave signal, the acquisition of the vibration wave signal is obtained
Moment point and corresponding vibrating sensor information protect the acquisition moment point and corresponding vibrating sensor information association
It deposits, the vibration for generating the vibration wave signal is determined further according to each acquisition moment point and associated vibrating sensor information
The location information in dynamic source.
10. a kind of computer storage medium, which is characterized in that be stored with vibration wave positioning journey in the computer storage medium
Sequence realizes such as vibration wave of any of claims 1-7 when the vibration wave finder is executed by the processor
The step of localization method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810376017.5A CN108828523A (en) | 2018-04-23 | 2018-04-23 | Vibration wave localization method, device, system and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810376017.5A CN108828523A (en) | 2018-04-23 | 2018-04-23 | Vibration wave localization method, device, system and computer storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108828523A true CN108828523A (en) | 2018-11-16 |
Family
ID=64154769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810376017.5A Pending CN108828523A (en) | 2018-04-23 | 2018-04-23 | Vibration wave localization method, device, system and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108828523A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110084986A (en) * | 2019-04-29 | 2019-08-02 | 西人马（厦门）科技有限公司 | A kind of circumference safety protection method and device |
| CN110164071A (en) * | 2019-04-29 | 2019-08-23 | 西人马（厦门）科技有限公司 | A kind of security system |
| CN110736788A (en) * | 2019-11-27 | 2020-01-31 | 中国电建集团贵阳勘测设计研究院有限公司 | Intelligent control device and control method for concrete manual vibration fluctuation |
| CN112147576A (en) * | 2020-07-06 | 2020-12-29 | 中国电子科技集团公司第三研究所 | Method and device based on vibration wave positioning |
| CN112284516A (en) * | 2020-09-16 | 2021-01-29 | 北京无线电计量测试研究所 | Ground excavation safety monitoring equipment, system and method |
| CN112484845A (en) * | 2020-12-11 | 2021-03-12 | 湖北亿咖通科技有限公司 | Vibration source searching method and vibration source testing equipment |
| CN113192295A (en) * | 2021-04-16 | 2021-07-30 | 深圳市艾赛克科技有限公司 | Slope safety monitoring system and method |
| CN113484030A (en) * | 2021-06-30 | 2021-10-08 | 东风汽车集团股份有限公司 | Method, device and equipment for determining position of abnormal sound source and readable storage medium |
| CN113865693A (en) * | 2021-08-24 | 2021-12-31 | 东风汽车集团股份有限公司 | Method, device and equipment for detecting white car body abnormal sound and readable storage medium |
| CN114001972A (en) * | 2021-09-17 | 2022-02-01 | 东风汽车集团股份有限公司 | Method and device for positioning abnormal sound of automobile, electronic equipment and storage medium |
| WO2024040653A1 (en) * | 2022-08-25 | 2024-02-29 | 武汉理工光科股份有限公司 | Method for determining variation trend of vibration source, device, and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59224583A (en) * | 1983-06-02 | 1984-12-17 | Mitsubishi Electric Corp | Position detector of unmanned moving body |
| CN101872012A (en) * | 2010-06-11 | 2010-10-27 | 上海中科清洁能源技术发展中心 | Measuring and positioning system of equipment vibration source and method thereof |
| CN202255407U (en) * | 2011-09-30 | 2012-05-30 | 深圳市合智创盈电子有限公司 | Environmental safety monitoring system capable of positioning by vibration and vibration sensing device |
| CN102590788A (en) * | 2012-02-08 | 2012-07-18 | 航天科工防御技术研究试验中心 | Redundancy time difference positioning method and redundancy time difference positioning system |
| CN102508286B (en) * | 2011-09-30 | 2013-08-28 | 深圳市宇恒互动科技开发有限公司 | Active vibration detection positioning method, system and environment monitoring system |
| CN104297725A (en) * | 2014-10-28 | 2015-01-21 | 青岛理工大学 | Terminal positioning method and system |
| CN104735781A (en) * | 2015-04-02 | 2015-06-24 | 上海海事大学 | Indoor positioning system and positioning method thereof |
| CN105203994A (en) * | 2015-09-24 | 2015-12-30 | 深圳市金溢科技股份有限公司 | Electronic tag positioning method, device, server and system |
| CN105528908A (en) * | 2015-12-08 | 2016-04-27 | 徐家斌 | Indoor positioning and navigation system and positioning and navigation method thereof |
| CN107529143A (en) * | 2017-09-25 | 2017-12-29 | 深圳市壹捌壹玖科技有限公司 | Method of locating terminal, system, device and computer-readable storage medium |
| CN107831467A (en) * | 2017-10-10 | 2018-03-23 | 深圳数位传媒科技有限公司 | Node positioning method, server, system and computer-readable recording medium |
-
2018
- 2018-04-23 CN CN201810376017.5A patent/CN108828523A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59224583A (en) * | 1983-06-02 | 1984-12-17 | Mitsubishi Electric Corp | Position detector of unmanned moving body |
| CN101872012A (en) * | 2010-06-11 | 2010-10-27 | 上海中科清洁能源技术发展中心 | Measuring and positioning system of equipment vibration source and method thereof |
| CN202255407U (en) * | 2011-09-30 | 2012-05-30 | 深圳市合智创盈电子有限公司 | Environmental safety monitoring system capable of positioning by vibration and vibration sensing device |
| CN102508286B (en) * | 2011-09-30 | 2013-08-28 | 深圳市宇恒互动科技开发有限公司 | Active vibration detection positioning method, system and environment monitoring system |
| CN102590788A (en) * | 2012-02-08 | 2012-07-18 | 航天科工防御技术研究试验中心 | Redundancy time difference positioning method and redundancy time difference positioning system |
| CN104297725A (en) * | 2014-10-28 | 2015-01-21 | 青岛理工大学 | Terminal positioning method and system |
| CN104735781A (en) * | 2015-04-02 | 2015-06-24 | 上海海事大学 | Indoor positioning system and positioning method thereof |
| CN105203994A (en) * | 2015-09-24 | 2015-12-30 | 深圳市金溢科技股份有限公司 | Electronic tag positioning method, device, server and system |
| CN105528908A (en) * | 2015-12-08 | 2016-04-27 | 徐家斌 | Indoor positioning and navigation system and positioning and navigation method thereof |
| CN107529143A (en) * | 2017-09-25 | 2017-12-29 | 深圳市壹捌壹玖科技有限公司 | Method of locating terminal, system, device and computer-readable storage medium |
| CN107831467A (en) * | 2017-10-10 | 2018-03-23 | 深圳数位传媒科技有限公司 | Node positioning method, server, system and computer-readable recording medium |
Non-Patent Citations (2)
| Title |
|---|
| 朱育锋: "地面目标振动特征研究", 《数字技术与应用》 * |
| 韩屏: "基于全光纤微振动传感器的定位系统研究", 《光学学报》 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110084986B (en) * | 2019-04-29 | 2021-11-09 | 西人马联合测控（泉州）科技有限公司 | Perimeter security method and device |
| CN110164071A (en) * | 2019-04-29 | 2019-08-23 | 西人马（厦门）科技有限公司 | A kind of security system |
| CN110084986A (en) * | 2019-04-29 | 2019-08-02 | 西人马（厦门）科技有限公司 | A kind of circumference safety protection method and device |
| CN110736788A (en) * | 2019-11-27 | 2020-01-31 | 中国电建集团贵阳勘测设计研究院有限公司 | Intelligent control device and control method for concrete manual vibration fluctuation |
| CN112147576A (en) * | 2020-07-06 | 2020-12-29 | 中国电子科技集团公司第三研究所 | Method and device based on vibration wave positioning |
| CN112147576B (en) * | 2020-07-06 | 2024-03-01 | 中国电子科技集团公司第三研究所 | Vibration wave positioning-based method and device |
| CN112284516A (en) * | 2020-09-16 | 2021-01-29 | 北京无线电计量测试研究所 | Ground excavation safety monitoring equipment, system and method |
| CN112484845A (en) * | 2020-12-11 | 2021-03-12 | 湖北亿咖通科技有限公司 | Vibration source searching method and vibration source testing equipment |
| CN113192295A (en) * | 2021-04-16 | 2021-07-30 | 深圳市艾赛克科技有限公司 | Slope safety monitoring system and method |
| CN113484030B (en) * | 2021-06-30 | 2022-12-27 | 东风汽车集团股份有限公司 | Method, device and equipment for determining position of abnormal sound source and readable storage medium |
| CN113484030A (en) * | 2021-06-30 | 2021-10-08 | 东风汽车集团股份有限公司 | Method, device and equipment for determining position of abnormal sound source and readable storage medium |
| CN113865693A (en) * | 2021-08-24 | 2021-12-31 | 东风汽车集团股份有限公司 | Method, device and equipment for detecting white car body abnormal sound and readable storage medium |
| CN114001972A (en) * | 2021-09-17 | 2022-02-01 | 东风汽车集团股份有限公司 | Method and device for positioning abnormal sound of automobile, electronic equipment and storage medium |
| WO2024040653A1 (en) * | 2022-08-25 | 2024-02-29 | 武汉理工光科股份有限公司 | Method for determining variation trend of vibration source, device, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108828523A (en) | Vibration wave localization method, device, system and computer storage medium | |
| Rajendran et al. | Electrosense: Open and big spectrum data | |
| US8519844B2 (en) | Augmented reality and location determination methods and apparatus | |
| US8493206B2 (en) | Augmented reality and location determination methods and apparatus | |
| KR101728123B1 (en) | Simultaneous Localization and Mapping by Using Earth's Magnetic Fields | |
| US7406000B2 (en) | Positioning system using ultrasonic waves and method for operating the same | |
| US9728009B2 (en) | Augmented reality based management of a representation of a smart environment | |
| US8502659B2 (en) | Augmented reality and location determination methods and apparatus | |
| US11924215B2 (en) | Enhanced value component predictions using contextual machine-learning models | |
| CN110197615B (en) | Method and device for generating map | |
| US11893317B2 (en) | Method and apparatus for associating digital content with wireless transmission nodes in a wireless communication area | |
| CN106461753A (en) | Location transition determination | |
| CN108120436A (en) | Real scene navigation method in a kind of iBeacon auxiliary earth magnetism room | |
| CN108919177B (en) | Positioning map construction method based on virtual information source estimation and track correction | |
| US10660062B1 (en) | Indoor positioning | |
| CN108450060B (en) | Positioning method and device based on WI-FI access point | |
| KR20190053470A (en) | Positioning system based on deep learnin and construction method thereof | |
| CN111288996A (en) | Indoor navigation method and system based on video live-action navigation technology | |
| CN110710230B (en) | System and method for imaging and user equipment positioning with an array of mobile devices | |
| WO2017070969A1 (en) | Floor positioning method, network device and mobile terminal | |
| CN106461786A (en) | Indoor global positioning system | |
| US20190369202A1 (en) | Geolocation Based On Radio Frequency Communication And Video Imagery | |
| CN111007455A (en) | Positioning system and method, database and neural network model training method | |
| CN111935644A (en) | Positioning method and device based on fusion information and terminal equipment | |
| US10921131B1 (en) | Systems and methods for interactive digital maps |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181116 |
|
| RJ01 | Rejection of invention patent application after publication |