CN110617795B - Method for realizing outdoor elevation measurement by using sensor of intelligent terminal - Google Patents
Method for realizing outdoor elevation measurement by using sensor of intelligent terminal Download PDFInfo
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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Abstract
The invention provides a method for realizing outdoor elevation measurement by using a sensor of an intelligent terminal, which comprises the following steps: acquiring the position information of an initial point by using a GPS positioning module of the intelligent terminal, and acquiring the longitude and latitude coordinates of the initial point by combining a map; recording sensor data of a user in the advancing process from the initial point by utilizing various sensors in the intelligent terminal; when the intelligent terminal detects that the user returns to the initial point, the motion track of the user is measured according to the sensor data; according to the motion estimation, relative elevation ranges based on different distances and different directions of the starting point are drawn. The method has low cost, does not need to additionally lay positioning auxiliary equipment, can finish positioning and navigation operation with high transportability only by utilizing sensor equipment in the smart phone, has low dependence on a network, and has no problem of environmental pollution.
Description
Technical Field
The invention relates to the technical field of mobile terminal application, in particular to a method for realizing outdoor elevation measurement by utilizing a sensor of an intelligent terminal.
Background
How to obtain the high-precision elevation value is a weak link in the GPS/BDS satellite navigation and positioning and is also a one-dimensional coordinate value with the lowest precision in the three-dimensional position coordinate values obtained by the GPS/BDS satellite navigation and positioning.
The invention patent with patent application number 2014102903385 entitled "altimeter based on differential barometer method technology" proposes a method for determining the elevation by using the air pressure. In order to solve the problem of low altitude measurement accuracy and resolution, the method provided by the patent utilizes the characteristic that the relative altitude change value Ah measured by the air pressure difference Ap has high accuracy, and obtains the altitude measurement value h with a high measurement point according to the altitude ho of the reference point and the relative altitude change value delta h measured by the relative air pressure measurement value delta p.
The patent number ZL201210135624.5 entitled "method for positioning elevation of satellite navigation communication terminal" discloses a method for obtaining high-precision satellite communication terminal elevation information in a differential mode by utilizing a weather station, a navigation master control station, a communication satellite and a ground communication base station to transmit information such as humidity parameters, temperature, air pressure, weather station degree and elevation and the like. The method mainly comprises the steps that a weather station measures to obtain an air pressure value Po, a temperature value TQ and a humidity parameter (e/p) m of the location of the weather station, and the air pressure value, the temperature value and the humidity parameter are sent to a main control station together with a weidegree f and a position elevation Ho of the weather station; the main control station transmits the air pressure value, the temperature value, the humidity parameter, the weidegree and the position elevation of the weather station to a satellite in an uplink mode through an antenna of the main control station; the method comprises the steps that a user terminal obtains air pressure, temperature values, humidity parameters, weidegree and position elevation of a weather station through a satellite; the user terminal measures and obtains an air pressure value P and a temperature value T of the location of the user terminal; the user terminal combines the air pressure value, the temperature value, the humidity parameter, the brightness degree and the position elevation of the weather station with the air pressure P and the temperature T of the location where the user terminal is measured, the measured elevation h' of the user terminal is obtained, then the base station is used for correcting the elevation difference of the user terminal, the measurement error of the elevation in the short base line range is corrected, and therefore high-precision elevation information is obtained.
However, both methods have the defects of high cost, need of external auxiliary equipment and high network dependence.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
To this end, an object of the present invention is to provide a method for outdoor elevation measurement using a sensor of an intelligent terminal.
In order to achieve the above object, an embodiment of the present invention provides a method for implementing outdoor elevation measurement by using a sensor of an intelligent terminal, including the following steps:
step S1, acquiring the position information of the initial point by using the GPS positioning module of the intelligent terminal, and acquiring the longitude and latitude coordinates and the altitude of the initial point by combining a map;
step S2, recording sensor data of the user in the advancing process from the initial point by using various sensors in the intelligent terminal, fixedly placing the intelligent terminal on a holder in the moving process, and ensuring that the intelligent terminal is in a horizontal state and keeps a certain height from the ground by adjusting the positions of the intelligent terminal and the holder, and the head and tail directions of the intelligent terminal are always in the north;
step S3, when the intelligent terminal detects that the user returns to the initial point, the motion trail of the user is calculated according to the sensor data, and the coordinates of each sample point in the motion route relative to the initial position in the three-dimensional space are calculated;
step S4, according to the motion estimation, based on the longitude and latitude coordinates and altitude information of the initial point and the distance between each sample point and the initial point in the east-west, south-north and vertical directions, calculating the longitude, latitude and altitude corresponding to each sample point by a specific inertial navigation positioning algorithm, and drawing the relative altitude range based on the different distances and different directions of the initial point.
Further, in the step S2, the geomagnetic field sensor, the acceleration sensor, the GPS positioning module, and the gyroscope sensor in the intelligent terminal are used to collect sensor data of the user during the traveling process.
Further, the geomagnetic field sensor is used for acquiring geomagnetic data in a traveling process; the magnetic field sensor measures a plane magnetic field by using magnetic resistance, and detects the magnetic field intensity and the direction position;
the acceleration sensor is used for acquiring acceleration data in the advancing process;
the GPS positioning module is used for acquiring positioning information data in the advancing process;
the gyroscope sensor is used for acquiring azimuth angle speed data of an x axis, a y axis and a z axis of the mobile phone in the advancing process;
the barometric sensor is used for detecting atmospheric pressure, current height and assisting GPS positioning.
Further, in the steps S3 and S4, the motion trajectory is measured by using a particular inertial navigation positioning algorithm.
Further, firstly, the longitude and latitude of the initial point are converted into a horizontal axis mercator projection coordinate system in a projection conversion mode; secondly, secondarily integrating acceleration values of all time points measured by the acceleration sensor in the three directions of the x axis, the y axis and the z axis of the intelligent terminal in time to obtain the moving distance of each time point relative to the starting point in the directions of the x axis, the y axis and the z axis; the horizontal axis mercator projection coordinates of each time point are obtained.
The method for realizing outdoor elevation measurement by using the sensor of the intelligent terminal has the following beneficial effects:
(1) the cost is low, positioning auxiliary equipment does not need to be additionally laid, and the positioning navigation operation can be completed only by utilizing sensor equipment in the smart phone;
(2) experiments prove that the positioning accuracy can reach more than 90 percent, and the error is within 0.1 m;
(3) the acquired data are basic type data, the algorithm is complete and independent, the transportability is high, and the method can be easily transplanted to other intelligent mobile phone platforms;
(4) the dependence on the network is low;
(5) no environmental pollution.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for outdoor elevation measurement using sensors of an intelligent terminal according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, a method for implementing outdoor elevation measurement by using a sensor of an intelligent terminal according to an embodiment of the present invention includes the following steps:
and step S1, acquiring the position information of the initial point by using the GPS positioning module of the intelligent terminal, and acquiring the longitude and latitude coordinates and the altitude of the initial point by combining a map.
And step S2, recording sensor data of the user in the advancing process from the initial point by using various sensors in the intelligent terminal, fixedly placing the intelligent terminal on a holder in the moving process, and ensuring that the intelligent terminal is in a horizontal state and keeps a certain height from the ground by adjusting the positions of the intelligent terminal and the holder, and the head and tail of the intelligent terminal are always in the north orientation.
Specifically, a user carries a mobile phone to move an area of interest and a route, and in the moving process, a geomagnetic field sensor, an acceleration sensor, a GPS positioning module and a gyroscope sensor in an intelligent terminal are used for collecting sensor data in the moving process of the user.
It should be noted that, during the exercise process, the user needs to ensure that the distance from the mobile phone to the ground is consistent, so as to ensure the stability of the acquired data.
The geomagnetic field sensor is used for acquiring geomagnetic data in the advancing process; the magnetic field sensor measures a planar magnetic field using a magnetic resistance, and detects the magnetic field intensity and the directional position. The method is generally used in common compass or map navigation to help a mobile phone user realize accurate positioning.
The acceleration sensor is used for acquiring acceleration data in the advancing process; an acceleration sensor is an electronic device capable of measuring acceleration. In the mobile phone, the acceleration sensor can monitor the acceleration of the mobile phone in the x-axis, y-axis and z-axis directions. Principle of acceleration sensor: the gravity sensing module is formed by a gravity block and piezoelectric crystals, when the direction of the mobile phone is changed, the force of the gravity block acting on the piezoelectric crystals in different directions is changed, output voltage signals are different, and therefore the direction of the mobile phone is judged. The left-right direction of the mobile phone is an x-axis, the up-down direction is a y-axis, and the direction vertical to the screen is a z-axis (the same below).
The GPS positioning module is used for collecting positioning information data in the traveling process, and mainly comprises longitude and latitude information.
The gyroscope sensor is used for acquiring azimuth angle speed data of an x axis, a y axis and a z axis of the mobile phone in the advancing process.
It is a device for measuring angles and maintaining directions, the principle being based on the principle of conservation of angular momentum. The golden rotor in the middle of the gyroscope is the 'gyroscope' which cannot be influenced due to the inertia effect, and the three 'steel rings' on the periphery can be changed along with the change of the posture of the equipment, so that the current state of the equipment is detected. And the axes of the three steel rings are the three axes in the three-axis gyroscope, namely the X axis, the Y axis and the Z axis. Three-dimensional space formed by the three axes jointly detects various actions of the mobile phone, and the gyroscope mainly has the function of measuring the angular velocity.
The air pressure sensor works through a thin film element sensitive to pressure intensity, and the thin film is connected with a flexible resistor, so that when the atmospheric pressure changes, the resistance value of the resistor changes. The function of the air pressure sensor is mainly used for detecting the atmospheric pressure, the current height and assisting the GPS positioning.
Step S3, when the intelligent terminal detects that the user returns to the initial point, the motion trajectory of the user is calculated according to the sensor data, that is, the coordinates of each sample point in the motion route in the three-dimensional space relative to the initial position.
In the step, the motion track is measured and calculated by an inertial navigation algorithm according to the acquired data of each sensor.
Step S4, according to the motion estimation, based on the longitude and latitude coordinates and altitude information of the initial point and the distance between each sample point and the initial point in the east-west, south-north and vertical directions, calculating the longitude, latitude and altitude corresponding to each sample point by a specific inertial navigation positioning algorithm, and drawing the relative altitude range based on the different distances from the initial point and different directions.
In the steps S3 and S4, the motion trajectory is measured by using the ad hoc inertial navigation positioning algorithm. The specific mode is that firstly, the longitude and latitude projection (lon (0), lat (0), h (0)) of the starting point is converted into a horizontal-axis mercator projection coordinate system (x (0), y (0), h (0)) by a projection conversion mode. And then, the acceleration values of all time points measured by the acceleration sensor in the three directions of the x axis, the y axis and the z axis of the intelligent terminal are integrated twice in time to obtain the moving distances (lx (t), ly (t) and lz (t)) of all the time points relative to the starting point in the directions of the x axis, the y axis and the z axis. The mobile phone is always ensured to be horizontal and the head and tail directions are north-facing in the measuring process. Therefore, the x-axis direction is the east-west direction, the y-axis direction is the north-south direction, and the z-axis direction is the gravity direction. From this, the horizontal axis mercator projection coordinates (x (0) + lx (t), y (0) + ly (t), h (0) + lz (t)) at each time point are known. And if the data measured by the intelligent terminal gravity sensor and the gyroscope has large change or fluctuation in the measuring process, the reliability of the measuring result is reduced.
The method for realizing outdoor elevation measurement by using the sensor of the intelligent terminal has the following beneficial effects:
(1) the cost is low, positioning auxiliary equipment does not need to be additionally laid, and the positioning navigation operation can be completed only by utilizing sensor equipment in the smart phone;
(2) experiments prove that the positioning accuracy can reach more than 90 percent, and the error is within 0.1 m;
(3) the acquired data are basic type data, the algorithm is complete and independent, the transportability is high, and the method can be easily transplanted to other intelligent mobile phone platforms;
(4) the dependence on the network is low;
(5) no environmental pollution.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A method for realizing outdoor elevation measurement by using a sensor of an intelligent terminal is characterized by comprising the following steps:
step S1, acquiring the position information of the initial point by using the GPS positioning module of the intelligent terminal, and acquiring the longitude and latitude coordinates and the altitude of the initial point by combining a map;
step S2, recording sensor data of the user in the advancing process from the initial point by using various sensors in the intelligent terminal, fixedly placing the intelligent terminal on a holder in the moving process, and ensuring that the intelligent terminal is in a horizontal state and keeps a certain height from the ground by adjusting the positions of the intelligent terminal and the holder, and the head and tail directions of the intelligent terminal are always in the north;
step S3, when the intelligent terminal detects that the user returns to the initial point, the motion trail of the user is calculated according to the sensor data, and the coordinates of each sample point in the motion route relative to the initial position in the three-dimensional space are calculated;
step S4, calculating the longitude, latitude and altitude corresponding to each sampling point through a specific inertial navigation positioning algorithm according to the motion trail, based on the longitude and latitude coordinates and altitude information of the initial point and the distance between each sampling point and the initial point in the east-west, south-north and vertical directions, and drawing the relative altitude range based on the different distances and different directions of the initial point.
2. The method for outdoor elevation measurement using the sensor of the intelligent terminal according to claim 1, wherein in the step S2, the geomagnetic field sensor, the acceleration sensor, the GPS positioning module and the gyroscope sensor in the intelligent terminal are used to collect sensor data during the user' S traveling.
3. The method for outdoor elevation measurement using the sensor of the smart terminal according to claim 2,
the geomagnetic field sensor is used for acquiring geomagnetic data in a traveling process; the magnetic field sensor measures a plane magnetic field by using magnetic resistance, and detects the magnetic field intensity and the direction position;
the acceleration sensor is used for acquiring acceleration data in the advancing process;
the GPS positioning module is used for acquiring positioning information data in the advancing process;
the gyroscope sensor is used for acquiring azimuth angle speed data of an x axis, a y axis and a z axis of the mobile phone in the advancing process;
the barometric sensor is used for detecting atmospheric pressure, current altitude and assisting GPS positioning.
4. The method for outdoor height measurement using the sensor of the intelligent terminal as claimed in claim 1, wherein in the steps S3, S4, the motion trail is measured by using a specific inertial navigation positioning algorithm.
5. The method for outdoor elevation measurement using the sensor of the intelligent terminal according to claim 4, wherein the longitude and latitude of the starting point are first transformed into a horizontal axis mercator projection coordinate system by a projection transformation; secondly, secondarily integrating acceleration values of all time points measured by the acceleration sensor in the three directions of the x axis, the y axis and the z axis of the intelligent terminal in time to obtain the moving distance of each time point relative to the starting point in the directions of the x axis, the y axis and the z axis; the horizontal axis mercator projection coordinates of each time point are obtained.
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| CN111474209A (en) * | 2020-03-13 | 2020-07-31 | 山东航向电子科技有限公司 | Real-time soil humidity measuring method based on intelligent terminal equipment |
| CN111721262B (en) * | 2020-07-10 | 2021-06-11 | 中国科学院武汉岩土力学研究所 | Automatic guiding method for total station tracking in field elevation measurement |
| CN112991535B (en) * | 2021-04-19 | 2021-07-27 | 中国人民解放军国防科技大学 | Three-dimensional space situation representation method and device of height information enhanced ink cartoo map |
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