CN112969139A - Method and system for acquiring flight attitude of javelin - Google Patents
Method and system for acquiring flight attitude of javelin Download PDFInfo
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- CN112969139A CN112969139A CN202110169962.XA CN202110169962A CN112969139A CN 112969139 A CN112969139 A CN 112969139A CN 202110169962 A CN202110169962 A CN 202110169962A CN 112969139 A CN112969139 A CN 112969139A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
Abstract
The invention relates to a javelin flight attitude acquisition method and a system thereof, wherein the method is realized based on a Bluetooth AoA real-time positioning system, the Bluetooth AoA real-time positioning system comprises a plurality of Bluetooth positioning tags and a plurality of Bluetooth base stations, the Bluetooth positioning tags are respectively arranged at the head and the tail of a javelin, and the Bluetooth base stations are arranged at the periphery of a track and field site, and the method comprises the following steps: s1, the Bluetooth base station receives the broadcast signal of the Bluetooth positioning label at a first frequency; s2, the positioning server analyzes the position information of the Bluetooth positioning label through the broadcast signal, wherein the position information comprises the position information of the head of the javelin and the position information of the tail of the javelin; and S3, recording the position information, and analyzing according to the position information to obtain the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin.
Description
Technical Field
The invention relates to the field of measuring the flight attitude of a javelin, in particular to a method and a system for acquiring the flight attitude of the javelin.
Background
Javelins are one of the throwing instruments used in track and field sports, and the throwing of javelins is a relatively complex multi-axis rotation project. The javelin is complete, momentum is obtained by holding the javelin on the shoulder through a section of run-up connection throwing step in advance, and the javelin is thrown out on the shoulder through the action of explosive final force on the longitudinal axis of the javelin.
The javelin throwing needs to go through the steps of holding the javelin, running assisting, throwing, exerting strength, buffering and the like, and any one of the steps plays a key role in influencing the throwing performance of the athletes. The existing methods for automatically judging the flight attitude of the javelin include the following methods: 1, a camera system or a GPS system is adopted, the precision is low and can only reach the meter level, and the traditional method or system can obtain the approximate throwing distance of the javelin by obtaining the initial position and the key position of the javelin; 2, as disclosed in patent No. CN200810044832.8, the measurement method of the casting angle of the cast uses the casting angle and speed of the casting javelin and the casting height to calculate the casting distance of the javelin, however, due to the low precision, the motion track of the javelin cannot be accurately tracked, analyzed and output the casting result of the athlete; 3, the starting point of the traditional javelin throwing result is the starting line specified on the track and field, however, the distance between the throwing point and the starting line of the athlete can still feed back a lot of improved information, and the traditional measuring method cannot acquire the information between the throwing point and the starting line.
The invention aims to provide a method and a system for acquiring the flight attitude of a javelin, which aim to solve the existing problems.
Disclosure of Invention
Aiming at the existing problems, the invention provides a method and a system for acquiring the flight attitude of a javelin, which can effectively solve the existing problems.
The scheme of the invention is as follows:
a method for acquiring flight attitude of a javelin, the method is implemented based on a Bluetooth AoA real-time positioning system, the Bluetooth AoA real-time positioning system comprises a plurality of Bluetooth positioning tags and a plurality of Bluetooth base stations and a positioning server, the Bluetooth positioning tags are respectively arranged at the head and the tail of the javelin, the Bluetooth base stations are arranged at the periphery of a track and field area, each Bluetooth base station comprises a Bluetooth antenna array, and the method comprises the following steps:
s1, the Bluetooth base station receives the broadcast signal of the Bluetooth positioning label at a first frequency;
s2, the positioning server analyzes the position information of the Bluetooth positioning label through the broadcast signal, wherein the position information comprises the position information of the head of the javelin and the position information of the tail of the javelin;
and S3, recording the position information, and analyzing according to the position information to obtain the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin.
Further, in step S2, the step of the positioning server analyzing the position information of the bluetooth positioning tag through the broadcast signal specifically includes: the positioning server obtains the broadcast signal intensity of the Bluetooth positioning tag through the broadcast signal and extraction, and calculates the position information of the Bluetooth positioning tag through an AoA angle position algorithm.
Further, in step S3, after the recording the position information and analyzing the hand-out speed, the hand-out javelin elevation angle, and the hand-out javelin flight elevation angle at the hand-out time of the javelin according to the position information, the method further includes: the output achievement specifically comprises:
s3.1, drawing a three-dimensional coordinate system by taking one of the Bluetooth base stations as an original point, and recording a motion track of the javelin in the three-dimensional coordinate system;
s3.2, calculating the elevation angle of the javelin at each moment;
and S3.3, analyzing and outputting a throwing result, wherein the throwing result comprises the throwing distance and the motion trail.
Further, in step S3.3, the analyzing and outputting the throwing performance specifically includes:
s3.3.1, acquiring a landing point of the label on the movement track, and if the elevation angle of the javelin at the landing point is greater than 0 degrees, the achievement is invalid;
s3.3.2, calculating the throwing distance of the javelin and outputting the throwing result.
Further, the method for acquiring the hand-out time comprises the following steps:
the method comprises the steps of obtaining a javelin elevation angle and a flight elevation angle of a javelin, and defining the starting moment when the angle difference between the javelin elevation angle and the flight elevation angle is less than 3 degrees as a starting moment.
Further, defining the position information of the javelin head as X0，Y0，Z0Defining the tail position information of javelin as X1，Y1，Z1Defining the elevation angle of the javelin as A,
further, javelin position information is defined as
The motion trail is the motion trail of the javelin position information.
Further provided is a system for acquiring a flying posture of a javelin, comprising:
the Bluetooth positioning tags are respectively arranged at the head and the tail of the javelin;
the Bluetooth base stations receive the broadcast signals of the Bluetooth positioning tags at a first frequency;
the processing system analyzes the position information of the Bluetooth positioning tag through the broadcast signal and obtains the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin according to the position information;
and the power supply system is used for respectively supplying power to each part.
Furthermore, the bluetooth base stations are arranged at the periphery of the track and field site at equal intervals.
Further, the distance between adjacent bluetooth base stations is less than 10 meters.
Accordingly, the present invention provides the following effects and/or advantages:
the invention provides a new method, which can obtain the flight track and the attitude of a javelin, and according to the position information of the head and the tail of the javelin, the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin are obtained by analyzing according to the position information, and the data can provide improved directions for athletes.
According to the invention, the position information of the Bluetooth positioning tag is calculated through the AoA angular position algorithm, the position accuracy calculated through the AoA angular position algorithm can reach 10cm through reasonable arrangement of the Bluetooth positioning tag and the Bluetooth base station, and compared with the traditional GPS positioning or wifi positioning and the like, the position accuracy is greatly improved, so that the flight attitude can be obtained, and the time point of each attitude can be obtained according to the analysis of the flight attitude.
The invention further automatically identifies the effectiveness of the score by the elevation angle of the javelin at the highest point being less than 0 degrees or the elevation angle of the javelin at the landing point being more than 0 degrees.
The initial position of the javelin elevation angle and the flight elevation angle, the angle difference of which is less than 3 degrees, is the starting time, so that the javelin elevation angle and the flight elevation angle are more in line with the actual throwing situation of athletes, and the starting time can be automatically acquired, so that sports data feedback and training are formed, and accurate data feedback is provided for the improvement of the performance of the athletes.
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Fig. 2 is a schematic view of the elevation of the javelin.
FIG. 3 is a schematic view of the flight elevation.
Fig. 4 is a schematic flow chart of calculating the tag position using AoA.
Fig. 5 is a schematic diagram of the AoA angle of arrival.
Fig. 6 is a schematic diagram of the AoA angle of arrival algorithm.
FIG. 7 is a model diagram of AOA to calculate the angle of arrival.
FIG. 8 is a model diagram of AOA calculation of azimuth.
FIG. 9 is a flow chart of steps S3.1-S3.3 of the present invention.
FIG. 10 is a schematic flow chart of steps S3.3.1-S3.3.2 of the present invention.
FIG. 11 is a schematic view of the position of the javelin at the moment of hand-off.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The present invention will be described in detail with reference to the following examples. To facilitate understanding of those skilled in the art, the structure of the present invention will now be described in further detail by way of examples in conjunction with the accompanying drawings:
the method is based on a Bluetooth AoA real-time positioning system, the Bluetooth AoA real-time positioning system comprises a plurality of Bluetooth positioning tags, a plurality of Bluetooth base stations and a positioning server, the Bluetooth positioning tags are respectively arranged at the head and the tail of the javelin, the Bluetooth base stations are arranged on the periphery of a track and field area, each Bluetooth base station comprises a Bluetooth antenna array, and the positioning server is used for providing computing power.
The process of calculating the tag location by bluetooth AoA is described below with reference to fig. 4.
Referring to fig. 5-6, in the present embodiment, the bluetooth positioning tag refers to a bluetooth peripheral device having a broadcast protocol, and is installed at two positions, namely, the center of the tennis ball and the collar of the player's coat, while the bluetooth tag will continuously and periodically broadcast to its surroundings, and it will not be connected by other devices. The broadcast signal sent by the Bluetooth positioning tag comprises a direction finding data packet, wherein the direction finding data packet comprises information such as the ID of the current tag, the ID of a logic clock synchronization unit where the current tag is located and the like. The Bluetooth base station comprises a Bluetooth antenna array, and after the system is started, logic clocks are synchronized between all the Bluetooth base stations and the Bluetooth positioning tags. The Bluetooth base station can calculate the positioning data of the Bluetooth label in real time by acquiring parameters such as signal intensity, arrival angle and the like of the Bluetooth label in real time and the positioning server. Specifically, in this embodiment, the position of the bluetooth positioning tag is obtained at a frequency of 50-200Hz, and the higher the frequency is, the more abundant the position data of the bluetooth positioning tag is obtained, so as to provide smoother data for the subsequent steps, which is not limited herein.
In the embodiment, a bluetooth 5.1 standard specification version is applied to include a direction finding function, and the function is used for positioning by receiving a broadcast signal of a bluetooth tag through a base station. The Direction Finding function (page 281 of the Bluetooth core specification document) includes two Direction measurement techniques, namely Angle of Arrival (AoA) and Angle of Departure (AoD). The system uses the AoA arrival angle technology to realize the positioning of each sub-model in the motion field model. The calculation formula for calculating the arrival angle is as follows: θ ═ arccos ((ψ λ)/(2 π d)), where d is the distance between the antennas, λ electromagnetic wave wavelength, and ψ is the phase difference when the electromagnetic wave passes through the two antennas. The more evenly calculated positions distributed around the field by the bluetooth base station are more accurate. In this embodiment, when the bluetooth base station receives the broadcast signal of the bluetooth positioning tag, the signal strength can be calculated through the RSSI value, and the signal strength reflects the distance between the tag and the base station, and the smaller the RSSI value, the farther the distance. The bluetooth base station sends the specified tag ID, the specified logical clock synchronization unit ID, and other ancillary information (e.g., signal strength value) to the location server. The specific algorithm is described in the bluetooth 5.1 standard specification version and is not specifically set forth herein.
Specifically, the broadcast signal is uniformly spread to the x, y and z three-dimensional space by taking the label as the sphere center. For noise generated by reflection of a broadcast signal indoors, a bluetooth base station receives a plurality of signals having the same tag ID and sync unit ID but different RSSI (received signal strength) values. The denoising scheme of the base station is as follows: and keeping the signal with the maximum RSSI value and discarding other signals.
Referring to fig. 7, the bluetooth base station disposed in the planar array calculates the arrival angle of the broadcast signal by using a multiple signal classification algorithm (MUSIC) according to the received broadcast signal, and referring to fig. 8, the base station based on the two-bit planar antenna array can calculate the azimuth angle and the pitch angle of the signal. The two angles, azimuth and elevation, define a line starting at the base station, on which the tape location tag is located.
When the base station receives the broadcast signal, the base station close to the tag is preferably selected according to the RSSI (received signal strength) value of the signal to calculate the azimuth angle and the elevation angle. Specifically, this embodiment further adopts any one of the following two schemes:
the first scheme is as follows: and the Bluetooth base station automatically discards the signals smaller than the RSSI threshold according to the preset RSSI threshold. According to the scheme, the calculation resources can be saved, but a proper threshold value needs to be set according to the scene on the spot, and at least three Bluetooth base stations are guaranteed to participate in calculating the azimuth angle and the pitch angle of each positioning signal.
Scheme II: the Bluetooth base station calculates all received broadcast signals, calculates an azimuth angle and a pitch angle, and transmits the content, two angle values and the RSSI value of the signals in the payload field of the broadcast signals to the positioning server. And the server selects the first 30% of elements to participate in the calculation of the subsequent xyz coordinate according to the sequence of the RSSI values from large to small, and discards the rest elements.
And finally, the positioning server receives the screened data transmitted by the base stations, and calculates the xyz coordinate values of the tags in the competition field model according to the coordinate values of each base station in the competition field model coordinate system and the azimuth angle and the pitch angle of the tags. The positioning server comprehensively considers the results output by two or more base stations, and more accurate coordinate values can be obtained by using algorithms such as weighted average and the like.
The method comprises the following steps, with reference to fig. 1:
s1, the Bluetooth base station receives the broadcast signal of the Bluetooth positioning label at a first frequency;
s2, the positioning server analyzes the position information of the Bluetooth positioning label through the broadcast signal, wherein the position information comprises the position information of the head of the javelin and the position information of the tail of the javelin;
and S3, recording the position information, and analyzing according to the position information to obtain the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin.
Specifically, in the present embodiment, the first frequency is 50 Hz.
In this embodiment, bluetooth location label sets up respectively in the head and the afterbody of javelin, can acquire the head and the afterbody information of javelin through the bluetooth basic station to calculate the airspeed, the flight gesture of javelin in real time, the flight gesture includes javelin angle of elevation and flight angle of elevation at least. Specifically, referring to fig. 2, the elevation angle of the javelin is the angle between the javelin and the horizontal line, and referring to fig. 3, the flight elevation angle is the angle between the flight direction of the javelin, i.e. the tangent line of the flight trajectory, and the horizontal line. In this embodiment, by recording the position information, the head flight trajectory and the tail flight trajectory of the javelin are constructed, the flight trajectory curve of the javelin is simulated, and the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out time are identified intelligently through the flight trajectory curve. Specifically, in the process of the athlete holding the javelin for running up, the curve of the flight path is a line basically parallel to the horizontal line, the elevation angle of the javelin is basically unchanged, and the characteristic of the curve of the flight path is used for judging that the athlete does not throw the javelin at the moment and is in the running up stage; then, the athlete throws out the javelin, the javelin flies out along a trajectory similar to a parabola, the flight elevation angle is instantaneously changed into a tangent line of the parabola and is not close to 0 degrees any more, the elevation angle of the javelin is basically unchanged, and the time point is defined as the hand-out time; then, the javelin reaches the highest point, the flight elevation angle of the javelin and the elevation angle of the javelin start to be changed from more than 0 degrees to less than 0 degrees, namely the head of the javelin is about to face downwards, and the position point is defined as the highest point; finally, the javelin lands, the flying speed becomes 0, and the position point is defined as a landing point. The hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flying elevation angle at the hand-out moment of the javelin can be known through the curve information. Meanwhile, the performance of the athlete throwing at this time can be automatically calculated.
Further, in step S2, the step of the positioning server analyzing the position information of the bluetooth positioning tag through the broadcast signal specifically includes: the positioning server obtains the broadcast signal intensity of the Bluetooth positioning tag through the broadcast signal and extraction, and calculates the position information of the Bluetooth positioning tag through an AoA angle position algorithm.
Further, in step S3, after the recording the position information and analyzing the hand-out speed, the hand-out javelin elevation angle, and the hand-out javelin flight elevation angle at the hand-out time of the javelin according to the position information, the method further includes: the output achievement specifically comprises: with reference to figure 9 of the drawings,
s3.1, drawing a three-dimensional coordinate system by taking one of the Bluetooth base stations as an original point, and recording a motion track of the javelin in the three-dimensional coordinate system;
s3.2, calculating the elevation angle of the javelin at each moment;
and S3.3, analyzing and outputting a throwing result, wherein the throwing result comprises the throwing distance and the motion trail.
Further, in step S3.3, the analyzing and outputting the throwing performance specifically includes: with reference to figure 10 of the drawings,
s3.3.1, acquiring a landing point of the label on the movement track, and if the elevation angle of the javelin of the landing point is greater than 0 °, the performance is invalid, specifically, the elevation angle of the javelin landing is greater than 0 °, which indicates that the tail of the javelin faces downward, and at this time, the javelin is in a posture that the tail of the javelin faces downward when the javelin lands under the influence of wind power due to the wind power, the mistake of the throwing posture of the athlete, the mistake of the throwing angle of the athlete, and the like, and the head of the javelin is not inserted into the field, and the embodiment automatically recognizes the posture;
s3.3.2, calculating the throwing distance of the javelin and outputting the throwing result.
Further, the air conditioner is provided with a fan,
the method for acquiring the hand-out time comprises the following steps:
the method comprises the steps of obtaining a javelin elevation angle and a flight elevation angle of a javelin, and defining the starting moment when the angle difference between the javelin elevation angle and the flight elevation angle is less than 3 degrees as a starting moment. Specifically, in the process of the athlete holding the javelin for running up, the curve of the flight path is a line which is basically parallel to the horizontal line, the elevation angle of the javelin is basically unchanged, and the characteristic of the curve of the flight path is used for judging that the athlete does not throw the javelin at the moment and is in the running up stage; the player then throws out the javelin, which flies out in a trajectory similar to a parabola, at which point the flight elevation changes instantaneously to the tangent of the parabola and no longer close to 0, and the javelin elevation is substantially constant, this point in time being defined as the moment of hands-on. The throwing angle of the athlete is preferably 30-42 degrees, and the athlete can properly adjust the throwing angle according to the data such as wind speed, wind direction and the like. Referring to fig. 11, after the player throws the javelin, the flight path of the javelin is not parabolic, but flies for 20-30 meters in a state of a constant flight elevation angle, that is, the initial flight state of the javelin is a straight line, and the flight elevation angle of the javelin is substantially equal to the elevation angle of the javelin. The embodiment analyzes the hand-out time of the javelin by judging the special flight track of the javelin.
Further, defining the position information of the javelin head as X0，Y0，Z0Defining the tail position information of javelin as X1，Y1，Z1Defining the elevation angle of the javelin as A,
further, javelin position information is defined as
The motion trail is the motion trail of the javelin position information.
Further provided is a system for acquiring a flying posture of a javelin, comprising:
the Bluetooth positioning tags are respectively arranged at the head and the tail of the javelin;
the Bluetooth base stations receive the broadcast signals of the Bluetooth positioning tags at a first frequency;
the processing system analyzes the position information of the Bluetooth positioning tag through the broadcast signal and obtains the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin according to the position information;
and the power supply system is used for respectively supplying power to each part.
Furthermore, the bluetooth base stations are arranged at the periphery of the track and field site at equal intervals.
Further, the distance between adjacent bluetooth base stations is less than 10 meters.
The principle of operation of the various components included in the present system is similar to that described above.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (10)
1. A method for acquiring the flight attitude of a javelin is characterized by comprising the following steps: the method is realized based on a Bluetooth AoA real-time positioning system, the Bluetooth AoA real-time positioning system comprises a plurality of Bluetooth positioning tags, a plurality of Bluetooth base stations and a positioning server, the Bluetooth positioning tags are respectively arranged at the head and the tail of a javelin, the Bluetooth base stations are arranged at the periphery of a track and field area, each Bluetooth base station comprises a Bluetooth antenna array, and the method comprises the following steps:
s1, the Bluetooth base station receives the broadcast signal of the Bluetooth positioning label at a first frequency;
s2, the positioning server analyzes the position information of the Bluetooth positioning label through the broadcast signal, wherein the position information comprises the position information of the head of the javelin and the position information of the tail of the javelin;
and S3, recording the position information, and analyzing according to the position information to obtain the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin.
2. The method for acquiring the flight attitude of the javelin according to claim 1, wherein the method comprises the following steps: in step S2, the step of the positioning server analyzing the position information of the bluetooth positioning tag through the broadcast signal is specifically: the positioning server obtains the broadcast signal intensity of the Bluetooth positioning tag through the broadcast signal and extraction, and calculates the position information of the Bluetooth positioning tag through an AoA angle position algorithm.
3. The method for acquiring the flight attitude of the javelin according to claim 1, wherein the method comprises the following steps: in step S3, after obtaining the hand-out speed, the hand-out javelin elevation angle, and the hand-out javelin flight elevation angle at the hand-out time of the javelin according to the position information analysis, the method further includes: the output achievement specifically comprises:
s3.1, drawing a three-dimensional coordinate system by taking one of the Bluetooth base stations as an original point, and recording a motion track of the javelin in the three-dimensional coordinate system;
s3.2, calculating the elevation angle of the javelin at each moment;
and S3.3, analyzing and outputting a throwing result, wherein the throwing result comprises the throwing distance and the motion trail.
4. The method for acquiring the flight attitude of the javelin according to claim 3, wherein the method comprises the following steps: in step S3.3, the analyzing and outputting the throwing performance specifically includes:
s3.3.1, acquiring a landing point of the label on the movement track, and if the elevation angle of the javelin at the landing point is greater than 0 degrees, the achievement is invalid;
s3.3.2, calculating the throwing distance of the javelin and outputting the throwing result.
5. The method for acquiring the flight attitude of the javelin according to claim 1, wherein the method comprises the following steps: the method for acquiring the hand-out time comprises the following steps:
the method comprises the steps of obtaining a javelin elevation angle and a flight elevation angle of a javelin, and defining the starting moment when the angle difference between the javelin elevation angle and the flight elevation angle is less than 3 degrees as a starting moment.
6. The method for acquiring the flight attitude of the javelin according to claim 5, wherein the method comprises the following steps: defining the position information of the javelin head as X0，Y0，Z0Defining the tail position information of javelin as X1，Y1，Z1Defining the elevation angle of the javelin as A,
7. the method for acquiring the flight attitude of the javelin according to claim 6, wherein the method comprises the following steps: defining javelin position information as
The motion trail is the motion trail of the javelin position information.
8. The utility model provides an acquisition system of javelin flight gesture which characterized in that: comprises the following steps:
the Bluetooth positioning tags are respectively arranged at the head and the tail of the javelin;
the Bluetooth base stations receive the broadcast signals of the Bluetooth positioning tags at a first frequency;
the processing system analyzes the position information of the Bluetooth positioning tag through the broadcast signal and obtains the hand-out speed, the hand-out javelin elevation angle and the hand-out javelin flight elevation angle at the hand-out moment of the javelin according to the position information;
and the power supply system is used for respectively supplying power to each part.
9. The system for acquiring the flying attitude of the javelin as claimed in claim 8, wherein: the bluetooth basic station equidistant sets up in the periphery in track and field ground.
10. The system for acquiring the flying attitude of the javelin as claimed in claim 9, wherein: the distance between adjacent Bluetooth base stations is less than 10 meters.
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Application publication date: 20210615 |