CN113546394A - Vector velocity measuring device - Google Patents
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- A63—SPORTS; GAMES; AMUSEMENTS
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Abstract
The invention relates to a vector velocity measuring device, and belongs to the technical field of inertial navigation. The device comprises: the device is characterized in that a first wireless signal transmitter, a second wireless signal transmitter and a third wireless signal transmitter which are static relative to the ground are arranged indoors, the three wireless signal transmitters are arranged on different straight lines of the same plane, the device is a mobile station which integrates a three-degree-of-freedom accelerometer, a three-degree-of-freedom gyroscope and a wireless signal receiver, and the device comprises a wireless signal receiver, a three-axis accelerometer module, a three-axis gyroscope module and a data processing module and is used for acquiring indoor vector velocity. The method can accurately acquire the vector speed of the athlete for a long time in an indoor sports training venue, and solves the drift problem when the athlete wears the strapdown inertial navigation equipment.
Description
Technical Field
The invention relates to a vector velocity measuring device, and belongs to the technical field of inertial navigation.
Background
In the training process of competitive sports such as 400 m running, relay running and the like, a coach hopes to accurately master the movement speed of an athlete so as to make a training scheme for the athlete in a targeted manner. The existing means for acquiring the movement speed of the athlete in real time mainly depends on a GPS, a Beidou and other satellite navigation systems in the outdoor environment, and the speed value is acquired through the differential operation of the real-time position of a satellite navigation receiver; in an indoor training venue environment, other technical means are required due to the fact that no satellite navigation signals are shielded generally.
The inertial navigation technology is used for obtaining the vector speed in an indoor environment, namely, the three-axis gyroscope and the three-axis accelerometer are arranged on a sportsman, and the real-time speed and posture information of the sportsman can be obtained by reading the information of six degrees of freedom in real time and carrying out combined operation. However, inertial devices such as gyroscopes and accelerometers have the problem of drift, i.e. if not calibrated, the vector velocity information calculated over time will diverge and will not coincide with the direction and magnitude of the true velocity.
However, the existing method for directly acquiring vector velocity information by using the inertial navigation technology has the problem of drift. Although the above-mentioned existing inertial navigation technology has the effect of obtaining real-time speed and attitude information of an athlete when obtaining a vector velocity in an indoor environment, the use of inertial devices such as a gyroscope and an accelerometer has a drift problem, that is, if the inertial devices are not calibrated, the vector velocity information calculated after a period of time diverges and is inconsistent with the direction and the magnitude direction of the real velocity, and there is a great space for improving the performance.
The invention aims to solve the problem of the drift and provides a device for measuring vector velocity. Specifically, at least three radio signal transmitters are arranged in the indoor sports field, the athlete wears the strapdown inertial navigation device and a radio receiving unit, and the radio receiving unit calibrates the vector speed output by the strapdown inertial navigation device according to the Doppler frequency offset of received signals.
Disclosure of Invention
The invention aims to provide a vector velocity measuring device aiming at the problem that the vector velocity obtained by the existing inertial navigation in an indoor environment has drift problems in the process of obtaining real-time velocity and attitude information of an athlete, namely if the vector velocity information is not calibrated, the vector velocity information calculated after a period of time is dispersed and is inconsistent with the real velocity and the size direction, so that a great space exists in performance improvement.
In order to achieve the above purpose, the present invention adopts the following technical scheme.
The vector velocity measuring device comprises a first wireless signal transmitter, a second wireless signal transmitter and a third wireless signal transmitter which are arranged indoors and are static relative to the ground, wherein the three wireless signal transmitters are on the same plane and are not on the same straight line, and the indoor device also comprises a mobile station;
the first wireless signal transmitter transmitting a first tone signal, the second wireless signal transmitter transmitting a second tone signal, the third wireless signal transmitter transmitting a third tone signal;
the first, second and third single-tone signals are coherent in phase and different in frequency;
the mobile station receiving the first, second and third tone signals and estimating a motion state of the mobile station based on the received signals;
the mobile station calibrates the output results of the three-degree-of-freedom accelerometer and the three-degree-of-freedom gyroscope according to the estimated motion state;
the first wireless signal transmitter transmits a first tone signal at a frequency f1, wherein f1 is k × f0, and k is a positive integer;
the second wireless signal transmitter receives the first tone signal f1, generates an f0 signal by dividing frequency by k according to the first tone signal, and generates a second tone signal f2 by frequency multiplication according to an f0 signal m, wherein f2 is m multiplied by f0, and m is a positive integer not equal to k;
the third wireless signal transmitter receives the first tone signal f1, generates an f0 signal by dividing frequency by k according to the first tone signal, and generates the third tone signal f3 by frequency multiplication n according to the f0 signal, wherein f3 is n × f0, and n is a positive integer not equal to k but not equal to m;
wherein k, m and n are prime numbers;
the mobile station receives the first, second and third tone signals, and estimates a motion state of the mobile station according to the received signals, specifically: the mobile station receives the first tone signal, divides the first tone signal by k times, and obtains a frequency f01 ═ f1 '/k after the k division of the received first tone signal, wherein f 1' is the received first tone signal, f1 ═ f1+ fd1, and fd1 is a doppler frequency shift generated by the movement of the mobile station relative to the first base station;
the mobile station receives the second tone signal and divides the second tone signal by m times to obtain a frequency f02 ═ f 2'/m after m division of the received second tone signal;
wherein f2 'is the received second tone signal, f 2' ═ f2+ fd2, fd2 are doppler shifts due to the mobile station moving relative to the second base station;
the mobile station receives the third tone signal, and divides the third tone signal by n times to obtain the frequency f03 ═ f 3'/n of the received third tone signal after n division;
wherein f3 'is the received third tone signal, f 3' ═ f3+ fd3, fd3 are doppler shifts due to the mobile station moving relative to the third base station;
when abs (f01 '-f 02'), abs (f01 '-f 03'), and abs (f03 '-f 02') are all smaller than a preset threshold, the mobile station considers that it is in a stationary state and corrects the integration result of the three-axis accelerometer;
wherein abs (f01 '-f 02') represents the absolute value of the difference between f01 'and f 02', abs (f01 '-f 03') represents the absolute value of the difference between f01 'and f 03', and abs (f03 '-f 02') represents the absolute value of the difference between f03 'and f 02';
the mobile station receives the first, second and third tone signals, and estimates a motion state of the mobile station according to the received signals, specifically:
the mobile station receives the first tone signal, divides the first tone signal by k times, and obtains a frequency f01 ═ f1 '/k after the k division of the received first tone signal, wherein f 1' is the received first tone signal, f1 ═ f1+ fd1, and fd1 is a doppler frequency shift generated by the movement of the mobile station relative to the first base station;
the mobile station receives the second tone signal, divides the second tone signal by m times to obtain m-divided frequencies f02 ═ f2 '/m of the received second tone signal, wherein f 2' is the received second tone signal, f2 ═ f2+ fd2, and fd2 is the doppler shift due to the movement of the mobile station relative to the second base station;
the mobile station receives the third tone signal, and divides the third tone signal by n times to obtain the frequency f03 ═ f 3'/n of the received third tone signal after n division;
wherein f3 'is the received third tone signal, f 3' ═ f3+ fd3, fd3 are doppler shifts due to the mobile station moving relative to the third base station;
the mobile station determining a vector velocity of the mobile station based on f01 ', f02 ' and f03 ' and the location information of the first, second and third wireless signal transmitters;
the mobile station calibrates the output result of the accelerometer according to the vector velocity;
the mobile station comprises a wireless signal receiver, a three-axis accelerometer module, a three-axis gyroscope module and a data processing module;
the wireless signal receiver is configured to receive a first tone signal, a second tone signal and a third tone signal, wherein the first tone signal, the second tone signal and the third tone signal are coherent in phase and different in frequency, the first tone signal is transmitted by a first wireless signal transmitter, the second tone signal is transmitted by a second wireless signal transmitter, and the third tone signal is transmitted by a third wireless signal transmitter; the second wireless signal transmitter, the second wireless signal transmitter and the third wireless signal transmitter are static relative to the ground, are positioned on the same plane and are not positioned on the same straight line;
the three-axis accelerometer module is used for acquiring an acceleration value of the mobile station; the three-axis gyroscope module is used for acquiring an angular rate value of the mobile station; the data processing module is used for estimating the motion state of the mobile station according to the frequency information output by the wireless signal receiver module, and calibrating the output results of the three-axis accelerometer module and the three-axis gyroscope module according to the estimated motion state.
Advantageous effects
Compared with the prior strapdown inertial navigation system formed by depending on a GPS, a Beidou and other satellite navigation systems and selecting a high-quality inertial navigation unit, the vector velocity measuring device has the following beneficial effects:
1. the vector speed measuring device provided by the embodiment of the invention is used for solving the drift problem when an athlete wears the strapdown inertial navigation equipment, and accurately acquiring the vector speed of the athlete for a long time in an indoor sports training venue;
2. the mobile station in the measuring device is used for acquiring the indoor vector velocity, and calibrating the output result of the acceleration more accurately under the assistance of Doppler frequency offset to finally acquire the vector velocity value.
Drawings
Fig. 1 is a flowchart illustrating a vector velocity measuring apparatus according to an embodiment of the present invention;
fig. 2 is a block diagram of a mobile station in a vector velocity measuring apparatus according to an embodiment of the present invention.
Detailed Description
The vector velocity measuring device according to the present invention will be further described and illustrated in detail with reference to the accompanying drawings and examples.
Example 1
The embodiment of the invention provides a vector velocity measuring device, which aims to solve the problem of drifting existing in the process of measuring vector velocity by applying an inertial navigation technology during indoor sports training. Fig. 1 shows the steps of the technical solution proposed by the embodiment of the present invention:
a device for measuring vector velocity for calibrating vector velocity in a room, comprising: the mobile station comprises a first wireless signal transmitter, a second wireless signal transmitter and a third wireless signal transmitter which are arranged indoors and are static relative to the ground, wherein the three wireless signal transmitters are on the same plane and not on the same straight line;
step 110, the first wireless signal transmitter transmitting a first tone signal, the second wireless signal transmitter transmitting a second tone signal, and the third wireless signal transmitter transmitting a third tone signal, wherein the first, second and third tone signals are coherent in phase and different in frequency;
step 120, the mobile station receiving the first, second and third tone signals and estimating a motion state of the mobile station according to the received signals;
and step 130, calibrating the output results of the three-degree-of-freedom accelerometer and the three-degree-of-freedom gyroscope by the mobile station according to the estimated motion state.
According to the device provided by the embodiment of the invention, three radio transmitters are arranged in an indoor stadium, a player in the stadium wears a mobile station, and a coach can obtain the accurate vector speed of the player in a two-dimensional plane according to the output of the mobile station.
In the specific implementation step 110, the first, second and third wireless signal transmitters transmit tone signals with coherent phases and different frequencies by the following steps:
step 111, the first wireless signal transmitter transmits the first tone signal at a frequency f1, where f1 is k × f0, and k is a positive integer;
step 112, the second wireless signal transmitter receives the first tone signal f1, generates an f0 signal by frequency division of k according to the first tone signal, and generates a second tone signal f2 by frequency multiplication of m according to the f0 signal, wherein f2 is mxf 0, and m is a positive integer not equal to k;
step 113, the third wireless signal transmitter receives the first tone signal f1, generates an f0 signal by frequency division of k according to the first tone signal, and generates a third tone signal f3 by frequency multiplication of n according to the f0 signal, where f3 is n × f0, and n is a positive integer not equal to k but not equal to m;
according to the steps 111 to 113, the first, second and third wireless signal transmitters can transmit wireless signals with coherent phases and different frequencies, and the signal synchronization adopts a wireless mode, so that the wireless signal transmitter has the advantage of simple deployment.
Preferably, k, m, n are prime numbers of each other, and the benefits thus obtained include: for a receiver in the mobile station, the narrower analog bandwidth can simultaneously receive signals transmitted by the first wireless signal transmitter, the second wireless signal transmitter and the third wireless signal transmitter, which is beneficial to reducing the cost and the volume of the receiver in the mobile station; meanwhile, the k, m and n are prime numbers, so that the influence of the harmonic waves of the other two single-tone signals on the first single-tone signal, the second single-tone signal and the third single-tone signal can be reduced, and the signal quality is improved.
In the process of implementing step 120 and step 139, specifically:
step 121, the mobile station receives the first tone signal, divides the first tone signal by k times, and obtains a frequency f01 '═ f 1'/k after the k division of the received first tone signal, where f1 'is the received first tone signal, f 1' ═ f1+ fd1, and fd1 is a doppler shift generated by the movement of the mobile station relative to the first base station; by using the same procedure, the frequency f02 '═ f 2'/m of the second tone signal m frequency division received by the mobile station and the frequency f03 '═ f 3'/n of the third tone signal n frequency division can be obtained;
step 122, when abs (f01 '-f 02'), abs (f01 '-f 03'), and abs (f03 '-f 02') are all smaller than a preset threshold, the mobile station is considered to be in a static state, wherein abs (f01 '-f 02') represents the absolute value of the difference between f01 'and f 02' is calculated;
and step 123, the mobile station corrects the integration result of the three-axis accelerometer according to the information that the mobile station is in the static state.
An alternative process for implementing step 123 includes the steps of: the mobile station acquires time length t _ delta from the static state last time and speed value v _ offset of accelerometer integral output when the mobile station is in the static state this time, and output a of the accelerometer is corrected to be a _ sensor-u multiplied by v _ offset/t _ delta, wherein a _ sensor is an accelerometer output value, and u is a weighting coefficient which is larger than or equal to 0.
According to the steps, the mobile station can determine a motion state of the mobile station under the assistance of Doppler frequency offset, and then the output result of the triaxial accelerometer is calibrated.
Another process for implementing step 120 includes the steps of:
step 124 is the same as step 121, that is, the mobile station obtains f01 ═ f1 '/k, f02 ═ f2 '/m, and f03 ═ f3 '/n;
step 125, the mobile station determining a vector velocity of the mobile station according to f01 ', f02 ' and f03 ' and the position information of the first, second and third wireless signal transmitters;
and step 126, calibrating the output result of the accelerometer by the mobile station according to the vector velocity.
According to steps 124 to 126, the mobile station can calibrate the output result of the acceleration more accurately with the assistance of the doppler frequency shift, and finally obtain the vector velocity value.
To reduce the amount of operations of steps 124 through 126, first, second and third wireless signal transmitters are deployed at the corners of the indoor sports field.
In a particular implementation, more wireless signal transmitters may be deployed within the field to achieve a wider range of coverage and a higher accuracy of doppler frequency measurements.
Example 2
The embodiment of the invention provides a vector velocity measuring device. Fig. 2 illustrates a mobile station for acquiring an indoor vector velocity according to an embodiment of the present invention.
Fig. 2 shows a mobile station, which includes a wireless signal receiver, a three-axis accelerometer module, a three-axis gyroscope module, and a data processing module. It includes: a wireless signal receiver 210 for receiving a first tone signal, a second tone signal and a third tone signal, wherein the first tone signal, the second tone signal and the third tone signal are coherent in phase and different in frequency, the first tone signal being transmitted by a first wireless signal transmitter, the second tone signal being transmitted by a second wireless signal transmitter, the third tone signal being transmitted by a third wireless signal transmitter; the second wireless signal transmitter, the second wireless signal transmitter and the third wireless signal transmitter are static relative to the ground, are positioned on the same plane and are not positioned on the same straight line;
a triaxial accelerometer module 220 for acquiring an acceleration value of the mobile station; a three-axis gyroscope module 230 for obtaining angular rate values of the mobile station; a data processing module 240, configured to estimate a motion state of the mobile station according to the frequency information output by the wireless signal receiver 210 module, and calibrate output results of the three-axis accelerometer module 220 and the three-axis gyroscope module 230 according to the estimated motion state.
When an athlete moves in an indoor stadium, the device provided by the embodiment of the invention can output accurate two-dimensional vector speed.
In a specific implementation, the first, second and third wireless signal transmitters transmit phase-coherent, frequency-diverse tone signals having the following characteristics:
the first wireless signal transmitter transmits the first tone signal at a frequency f1, wherein f1 is k × f0, and k is a positive integer; the second wireless signal transmitter receives the first tone signal f1, generates a f0 signal by dividing frequency by k according to the first tone signal, and generates a second tone signal f2 by frequency multiplication m according to the f0 signal m, wherein f2 is m multiplied by f0, and m is a positive integer not equal to k; the third wireless signal transmitter receives the first tone signal f1, generates a f0 signal by frequency division of k according to the first tone signal, and generates a third tone signal f3 by frequency multiplication of n according to the f0 signal, wherein n is a positive integer not equal to k but not equal to m, and f3 is n × f 0.
The first, second and third wireless signal transmitters can transmit wireless signals with phase coherence and different frequencies, and the signal synchronization adopts a wireless mode, so that the wireless signal transmitter has the advantage of simple deployment.
Preferably, k, m, n are prime numbers of each other, and the benefits thus obtained include: for a receiver in the mobile station, the narrower analog bandwidth can simultaneously receive signals transmitted by the first wireless signal transmitter, the second wireless signal transmitter and the third wireless signal transmitter, which is beneficial to reducing the cost and the volume of the receiver in the mobile station; meanwhile, k, m and n are prime numbers mutually, so that the influence of the harmonic waves of the other two single-tone signals on the first single-tone signal, the second single-tone signal and the third single-tone signal can be reduced, and the signal quality is improved.
In a specific implementation, the wireless signal receiver 210 is further configured to receive the first tone signal, divide the first tone signal by k times, and obtain a frequency f01 '═ f 1'/k after the frequency k division of the received first tone signal, where f1 'is the received first tone signal, f 1' ═ f1+ fd1, and fd1 is a doppler shift generated by the movement of the mobile station relative to the first base station; using the same procedure, the frequency f02 ═ f2 '/m obtained by dividing the frequency of the second tone signal m received by the wireless signal receiver 210, and the frequency f03 ═ f 3'/n obtained by dividing the frequency of the third tone signal n received by the wireless signal receiver 210;
the data processing module 240 is configured to estimate a motion state of the mobile station according to the frequency information output by the wireless signal receiver 210, and specifically, when abs (f01 '-f 02'), abs (f01 '-f 03'), and abs (f03 '-f 02') are all smaller than a preset threshold, the mobile station is considered to be in a stationary state;
the data processing module 240 corrects the integration result of the tri-axial accelerometer module 220 according to the information that it is in a static state.
Optionally, the data processing module 240 obtains a time length t _ delta from the stationary state last time, and a speed value v _ offset of an accelerometer integral output when the accelerometer is in the stationary state this time, and corrects the output a of the accelerometer to be a _ sensor-u × v _ offset/t _ delta, where a _ sensor is an accelerometer output value, and u is a weighting coefficient greater than or equal to 0.
According to the above steps, the data processing module 240 can determine a motion state of the data processing module with the assistance of doppler frequency offset, and further calibrate the output result of the triaxial accelerometer module 220.
Another data processing module 240 estimates the motion state of the mobile station, comprising the steps of:
the wireless signal receiver 210 obtains f01 ═ f1 '/k, f02 ═ f2 '/m, and f03 ═ f3 '/n;
the data processing module 240 determines a vector velocity of the mobile station based on the position information of f01 ', f02 ' and f03 ' and the first, second and third wireless signal transmitters;
the data processing module 240 calibrates the output of the accelerometer according to the vector velocity.
Therefore, the data processing module 240 can calibrate the output result of the acceleration more accurately with the assistance of the doppler frequency offset, and finally obtain the vector velocity value.
While the foregoing is directed to the preferred embodiment of the present invention, it is not intended that the invention be limited to the embodiment and the drawings disclosed herein. Equivalents and modifications may be made without departing from the spirit of the disclosure, which is to be considered as within the scope of the invention.
Claims (10)
1. A vector velocity measuring apparatus characterized by: the system comprises a first wireless signal transmitter, a second wireless signal transmitter and a third wireless signal transmitter which are arranged indoors and are static relative to the ground, wherein the three wireless signal transmitters are on the same plane and not on the same straight line;
the first wireless signal transmitter transmitting a first tone signal, the second wireless signal transmitter transmitting a second tone signal, the third wireless signal transmitter transmitting a third tone signal;
the first, second and third single-tone signals are coherent in phase and different in frequency;
the mobile station receiving the first, second and third tone signals and estimating a motion state of the mobile station based on the received signals;
and the mobile station calibrates the output results of the three-degree-of-freedom accelerometer and the three-degree-of-freedom gyroscope according to the estimated motion state.
2. The apparatus of claim 1, the first wireless signal transmitter transmitting a first tone signal, the second wireless signal transmitter transmitting a second tone signal, the third wireless signal transmitter transmitting a third tone signal, wherein the first, second and third tone signals are phase coherent and different in frequency, wherein: the first wireless signal transmitter transmits a first tone signal at a frequency f1, wherein f1 is k × f0, and k is a positive integer; the second wireless signal transmitter receives the first tone signal f1, generates an f0 signal by dividing frequency by k according to the first tone signal, and generates a second tone signal f2 by frequency multiplication according to an f0 signal m, wherein f2 is m multiplied by f0, and m is a positive integer not equal to k; the third wireless signal transmitter receives the first tone signal f1, generates an f0 signal by dividing frequency by k according to the first tone signal, and generates the third tone signal f3 by multiplying frequency by n according to the f0 signal, wherein n is a positive integer not equal to k but not equal to m, and f3 is n × f 0.
3. The apparatus of claim 2, wherein: and the k, m and n are prime numbers mutually.
4. The apparatus of claim 3, wherein the mobile station receives the first, second and third tone signals and estimates a motion state of the mobile station based on the received signals, wherein: the mobile station comprises a three-axis accelerometer module, a three-axis gyroscope module and a wireless signal receiver;
the mobile station receives the first tone signal, divides the first tone signal by k times, and obtains a frequency f01 ═ f1 '/k after the k division of the received first tone signal, wherein f 1' is the received first tone signal, f1 ═ f1+ fd1, and fd1 is a doppler frequency shift generated by the movement of the mobile station relative to the first base station;
the mobile station receives the second tone signal, divides the second tone signal by m times to obtain m-divided frequencies f02 ═ f2 '/m of the received second tone signal, wherein f 2' is the received second tone signal, f2 ═ f2+ fd2, and fd2 is the doppler shift due to the movement of the mobile station relative to the second base station;
the mobile station receives the third tone signal, divides the third tone signal by n times to obtain a frequency f03 ═ f3 '/n of the received third tone signal after n division, wherein f 3' is the received third tone signal, f3 ═ f3+ fd3, and fd3 is a doppler frequency shift generated by the movement of the mobile station relative to the third base station;
when abs (f01 '-f 02'), abs (f01 '-f 03'), abs (f03 '-f 02') are all less than a preset threshold, the mobile station considers it to be in a stationary state, and corrects the integration result of the triaxial accelerometer, where abs (f01 '-f 02') represents the absolute value of the difference between calculated f01 'and f 02', abs (f01 '-f 03') represents the absolute value of the difference between calculated f01 'and f 03', and abs (f03 '-f 02') represents the absolute value of the difference between calculated f03 'and f 02'.
5. The apparatus of claim 4, wherein the mobile station receives the first, second and third tone signals and estimates a motion state of the mobile station based on the received signals, wherein:
the mobile station receives the first tone signal, divides the first tone signal by k times, and obtains a frequency f01 ═ f1 '/k after the k division of the received first tone signal, wherein f 1' is the received first tone signal, f1 ═ f1+ fd1, and fd1 is a doppler frequency shift generated by the movement of the mobile station relative to the first base station;
the mobile station receives the second tone signal, divides the second tone signal by m times to obtain m-divided frequencies f02 ═ f2 '/m of the received second tone signal, wherein f 2' is the received second tone signal, f2 ═ f2+ fd2, and fd2 is the doppler shift due to the movement of the mobile station relative to the second base station;
the mobile station receives the third tone signal, divides the third tone signal by n times to obtain a frequency f03 ═ f3 '/n of the received third tone signal after n division, wherein f 3' is the received third tone signal, f3 ═ f3+ fd3, and fd3 is a doppler frequency shift generated by the movement of the mobile station relative to the third base station;
the mobile station determining a vector velocity of the mobile station based on f01 ', f02 ' and f03 ' and the location information of the first, second and third wireless signal transmitters;
and the mobile station calibrates the output result of the accelerometer according to the vector velocity.
6. A mobile station comprises a wireless signal receiver, a three-axis accelerometer module, a three-axis gyroscope module and a data processing module, and is characterized in that: the wireless signal receiver is configured to receive a first tone signal, a second tone signal and a third tone signal, wherein the first tone signal, the second tone signal and the third tone signal are coherent in phase and different in frequency, the first tone signal is transmitted by a first wireless signal transmitter, the second tone signal is transmitted by a second wireless signal transmitter, and the third tone signal is transmitted by a third wireless signal transmitter; the second wireless signal transmitter, the second wireless signal transmitter and the third wireless signal transmitter are static relative to the ground, are positioned on the same plane and are not positioned on the same straight line;
the three-axis accelerometer module is used for acquiring an acceleration value of the mobile station;
the three-axis gyroscope module is used for acquiring an angular rate value of the mobile station;
the data processing module is used for estimating the motion state of the mobile station according to the frequency information output by the wireless signal receiver module, and calibrating the output results of the three-axis accelerometer module and the three-axis gyroscope module according to the estimated motion state.
7. The mobile station of claim 6, wherein:
the first tone signal frequency is f1, where f1 ═ k × f 0;
the second tone signal frequency is f2, where f2 ═ m × f 0;
the third tone signal frequency is f3, where f3 ═ n × f 0;
and k, m and n are positive integers which are not equal to each other.
8. The mobile station of claim 7, wherein: and the k, m and n are prime numbers mutually.
9. The mobile station of claim 7, wherein the wireless signal receiver receives the first, second and third tone signals, and wherein the data processing module estimates a motion state of the mobile station based on the received signals, wherein: the wireless signal receiver receives the first tone signal, divides the first tone signal by k times, and obtains a frequency f01 '═ f 1'/k after the k division of the received first tone signal, wherein f1 'is the received first tone signal, f 1' ═ f1+ fd1, fd1 is a doppler frequency shift generated by the movement of the mobile station relative to the first base station;
the wireless signal receiver receives the second tone signal, and divides the second tone signal by m times to obtain a frequency f02 '═ f 2'/m after the frequency division of the received second tone signal m, wherein f2 'is the received second tone signal, f 2' ═ f2+ fd2, fd2 is a doppler frequency shift generated by the mobile station moving relative to the second base station;
the wireless signal receiver receives the third tone signal, divides the third tone signal by n times, and obtains a frequency f03 '═ f 3'/n of the received third tone signal after n division, wherein f3 'is the received third tone signal, f 3' ═ f3+ fd3, fd3 is a doppler frequency shift generated by the movement of the mobile station relative to the third base station;
when abs (f01 '-f 02'), abs (f01 '-f 03'), abs (f03 '-f 02') are all less than a preset threshold, the data processing module considers the mobile station to be in a stationary state, and modifies the integration result of the triaxial accelerometer module, wherein abs (f01 '-f 02') represents an absolute value for calculating the difference between f01 'and f 02', abs (f01 '-f 03') represents an absolute value for calculating the difference between f01 'and f 03', and abs (f03 '-f 02') represents an absolute value for calculating the difference between f03 'and f 02'.
10. The mobile station of claim 6, wherein the wireless signal receiver receives the first, second and third tone signals, and wherein the data processing module estimates a motion state of the mobile station based on the received signals, wherein: the wireless signal receiver receives the first tone signal, divides the first tone signal by k times, and obtains a frequency f01 '═ f 1'/k after the k division of the received first tone signal, wherein f1 'is the received first tone signal, f 1' ═ f1+ fd1, fd1 is a doppler frequency shift generated by the movement of the mobile station relative to the first base station;
the wireless signal receiver receives the second tone signal, and divides the second tone signal by m times to obtain a frequency f02 '═ f 2'/m after the frequency division of the received second tone signal m, wherein f2 'is the received second tone signal, f 2' ═ f2+ fd2, fd2 is a doppler frequency shift generated by the mobile station moving relative to the second base station;
the wireless signal receiver receives the third tone signal, divides the third tone signal by n times, and obtains a frequency f03 '═ f 3'/n of the received third tone signal after n division, wherein f3 'is the received third tone signal, f 3' ═ f3+ fd3, fd3 is a doppler frequency shift generated by the movement of the mobile station relative to the third base station;
the data processing module determines a vector velocity of the mobile station based on f01 ', f02 ' and f03 ' and the location information of the first, second and third wireless signal transmitters;
and the data processing module calibrates the output result of the triaxial accelerometer module according to the vector velocity.
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