CN205450257U - Space positioning system - Google Patents
Space positioning system Download PDFInfo
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- CN205450257U CN205450257U CN201620191116.2U CN201620191116U CN205450257U CN 205450257 U CN205450257 U CN 205450257U CN 201620191116 U CN201620191116 U CN 201620191116U CN 205450257 U CN205450257 U CN 205450257U
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Abstract
The utility model discloses a space positioning system, this system include at least three beacon and at least one position terminal, the beacon distributes and sets up in position space undetermined for produce the low frequency electromagnetic field, every position terminal receives the low frequency electromagnetic field that a plurality of beacons produced to according to the low frequency electricity magnetic field data that the at least three beacon of received produced, calculation position terminal's spatial position. And simultaneously, the utility model discloses overcome effectively current location scheme implementation complexity high, arrange with high costs, positioning error big, defects such as delays are updated to the locating information, through low -priced scheme, realizes indoor accurate real -time tracking the on a large scale, and is and loose to the environmental requirement broad, no metal, magnetic field interference can, the suitability of space orientation scheme in the environment scene of difference has been improved to apparent landing.
Description
Technical field
This utility model relates to space orientation technique, particularly relates to a kind of space positioning system.
Background technology
In recent years, along with the development of wireless communication technology and gradually popularizing of intelligent terminal, application based on location-based service (LocationBasedService, LBS) provides convenient experience in many fields for production and life, becomes the important component part of social life.In unscreened open environment, utilize gps satellite signal and communication base station signal to realize location, have become as industry usual way.But, using gps satellite signal and the poor stability of communication base station signal framing, it is easily subject to signal and blocks and the impact of the factor such as signal covering, and the error of gps satellite signal and communication base station signal framing often reaches several meters simultaneously, the most tens of rice, it is impossible to meet the demand of precise positioning.
Along with general fit calculation and the further investigation of Distributed Communication Technology, indoor wireless communication is rapidly developed with network technology, for based on WLAN (WirelessLocalAreaNetworks, WLAN), the space orientation technique of bluetooth and wireless sensor network (WirelessSensorNetwork, WSN) provides probability.But, interior space location technology based on networks such as WLAN, WSN there is also that networking input cost is higher, the network design time is longer, it is impossible to meets the drawbacks such as hi-Fix demand.Therefore, the most quickly, accurate, convenient, realize space orientation economically, be based on location-based service one of problem demanding prompt solution during interior space large-scale application.
Utility model content
The purpose of this utility model is to provide a kind of space positioning system and method, solves to realize the problems such as cost is high, precision is low present in existing space orientation technique scheme, and overcomes the existing location technology limitation to site requirements, distance limit etc..
In order to realize above-mentioned utility model purpose, this utility model provides a kind of space positioning system, including at least three beacon and at least one location terminal；Beacon distribution is arranged in space to be positioned, is used for producing low frequency electromagnetic field；Each location terminal receives the low frequency electromagnetic field that multiple beacons produce, and the low frequency electromagnetic field data produced according at least three beacon received, and calculates the locus of location terminal.
Preferably, use wireless mode or wired mode to communicate between multiple beacons, form ad hoc network.
Preferably, multiple beacons produce in turn with default sequential and have low frequency electromagnetic field known to same frequency, intensity；Or multiple beacon produces and has low frequency electromagnetic field known to different frequency, intensity simultaneously.
Preferably, location terminal is wirelessly set up and the connection of described ad hoc network；Location terminal, while receiving low frequency electromagnetic field, obtains the mark of the current beacon launching low frequency electromagnetic field from described ad hoc network.
Preferably, when space positioning system initializes, all beacons, under the coordination of the interim main frame of described ad hoc network, measure the distance between self and other beacons successively.
Preferably, each beacon includes transmitting coil, coil driver, signal processing circuit, microcontroller and power module, wherein coil driver and signal processing circuit all connect with transmitting coil, and coil driver, signal processing circuit are all connected with microcontroller with power module；Each location terminal includes receiving coil, signal processing circuit, microcontroller, power module and radio communication circuit；Receiving coil is connected with signal processing circuit；Signal processing circuit, power module are all connected with microcontroller with radio communication circuit.
Preferably, each beacon also includes radio communication circuit, and radio communication circuit is connected with microcontroller.
Preferably, the transmitting coil in beacon is the coil that three orthogonal manner are fixing；Receiving coil in the terminal of location is the coil that three orthogonal manner are fixing.
Preferably, the receiving coil in the terminal of location and/or the transmitting coil in beacon are provided centrally with a FERRITE CORE.
Preferably, three coils in each beacon use same frequency time division emission low-frequency electromagnetic wave.
Preferably, the low-frequency electromagnetic wave of different frequency launched by three coils in each beacon simultaneously.
Preferably, described location terminal also includes motion sensor.
Accordingly, this utility model also provides for a kind of space-location method, including: in space to be positioned, pre-set multiple beacon, be used for producing low frequency electromagnetic field；Location terminal receives the low frequency electromagnetic field that the plurality of beacon produces, and the low frequency electromagnetic field data produced according to the multiple beacons received, and determines the locus at terminal place, location.
Preferably, use wireless mode or wired mode to communicate between multiple beacons, form ad hoc network；This beacon ID, while launching low frequency electromagnetic field, is published in described ad hoc network by each beacon.
Preferably, after ad hoc network is formed, all beacons, under the coordination of the interim main frame of described ad hoc network, are measured the distance between self and other beacons successively, are set up space coordinates, determine each beacon coordinate in described space coordinates simultaneously.
Preferably, location terminal is wirelessly set up and the connection of described ad hoc network；Location terminal, while receiving low frequency electromagnetic field, obtains the mark of the current beacon launching low frequency electromagnetic field from described ad hoc network.
Preferably, multiple beacons produce in turn with default sequential and have low frequency electromagnetic field known to same frequency, intensity；Or multiple beacon produces and has low frequency electromagnetic field known to different frequency, intensity simultaneously.
Preferably, the low frequency electromagnetic field data that multiple beacons that described basis receives produce, determine the locus at terminal place, location, particularly as follows: the low frequency variable electromagnetic field intensity of the plurality of beacon generation received according to described location terminal, determine the distance between described terminal and the plurality of beacon；According to the distance between described location terminal and the plurality of beacon, determine described terminal coordinate in described space coordinates.
Compared with prior art, this utility model has the advantages that
The technical solution of the utility model effectively overcomes existing targeting scheme and implements the defects such as complexity is high, lower deployment cost is high, big, the positioning information update delay of position error, by more cheap scheme, realize indoor the most accurate (grade), real-time tracking, and it is relatively loose (without metal to environmental requirement, magnetic interference), considerably improve the suitability in different environment scenes of the space orientation scheme.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings:
Fig. 1 is a kind of structural representation of this utility model embodiment space positioning system；
Fig. 2 is a kind of deployment way schematic diagram of the beacon in this utility model embodiment；
Fig. 3 is a kind of structural representation of beacon in this utility model embodiment；
Fig. 4 is transmitting coil in this utility model embodiment/receiving coil structural representation one；
Fig. 5 is transmitting coil in this utility model embodiment/receiving coil structural representation two；
Fig. 6 is a kind of structural representation of this utility model embodiment location terminal；
Fig. 7 is that a kind of of beacon emissions coil in this utility model embodiment launches sequential chart；
Fig. 8 is localizer when launching electromagnetic field by Fig. 7, the waveform diagram received by receiving coil of location terminal；
Fig. 9 is that the electromagnetic signal of the location terminal in this utility model embodiment processes electrical block diagram one；
Figure 10 is that the electromagnetic signal of the location terminal in this utility model embodiment processes electrical block diagram two；
Figure 11 is that the electromagnetic signal of the location terminal in this utility model embodiment processes electrical block diagram two；
Figure 12 is this utility model embodiment beacon poll schematic diagram one；
Figure 13 is this utility model embodiment beacon poll schematic diagram two；
Figure 14 is this utility model embodiment space-location method schematic flow sheet.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
Due to this utility model space positioning system and method, relate to multipoint positioning principle and low frequency electromagnetic field range measurement principle, following is a brief introduction of the two principle:
Multipoint positioning principle: in space geometry, tetrahedron is a kind of stable structure, three, known bottom surface summit ABC coordinate and the 4th summit P are to the distance on three summits, bottom surface, so coordinate solution of the 4th summit P only has two, now, if it is assumed that the 4th summit P is only on bottom surface, or increase a not some D on the ABC of bottom surface, then may determine that the coordinate that P point is final.
Low frequency electromagnetic field range measurement principle: derive according to Bi-Sa-draw law and Faraday law of electromagnetic induction, the low frequency electromagnetic field attenuation law when spatial transmission can be derived according to the two law, the physical distance between emission of magnetic field source and magnetic field receiving terminal can be drawn more accurately, this conclusion passes through academicly and repeatedly proves, belong to known technology, so derivation and formula are described in detail the most in this article.
Embodiment one
Space positioning system
This utility model embodiment space positioning system, including at least three beacon and at least one location terminal, see Fig. 1, for a kind of structural representation of this utility model embodiment space positioning system, in Fig. 1, label 2 represents beacon, 1 represents location terminal, the distribution of multiple beacons is arranged in space to be positioned, constitutes a beacon array, and beacon is used for producing low frequency electromagnetic field；Each location terminal receives the low frequency electromagnetic field that multiple beacons produce, and the low frequency electromagnetic field data produced according at least three beacon received, and calculates the locus of location terminal.In this utility model embodiment, location terminal can be mobile device, such as smart mobile phone, intelligence wearable device, and wireless game pads etc. is not construed as limiting herein.
This utility model embodiment, the placement of beacon does not has particular/special requirement, it is only necessary to be substantially evenly placed in zone of action by beacon, it is ensured that has three beacons can carry out signal in range of activity and covers.Beacon can be placed on ground, it is also possible to unsettled placement, beacon dispositions method as shown in Figure 2, dash area region be three beacon signals all can overlay area, this region is for effectively positioning region.
See Fig. 3, for a kind of structural representation of beacon in this utility model embodiment, including transmitting coil 21, coil driver 24, signal processing circuit 22, microcontroller 23, radio communication circuit 25 and power module 26, wherein coil driver 24 and signal processing circuit 22 all connect with transmitting coil 21, and coil driver 24, signal processing circuit 22, radio communication circuit 25 are all connected with microcontroller 23 with power module 26；Transmitting coil 31 in beacon is the coil that three orthogonal manner are fixing, and transmitting coil structure refers to Fig. 4.Microcontroller 23 is by running control program, control coil drive circuit 24 and radio communication circuit 25.Coil driver 24 can drive the coil that three orthogonal manner are installed; produce the uniform low frequency electromagnetic field of all directions; coil driver 24 closed-loop control available electromagnetic radiation intensity simultaneously, it can be designed as having the defencive function such as stream, overheated, metal detection.
When being embodied as, if be set between beacon be connected by wired mode, then the radio communication circuit 25 in Fig. 3 can be cancelled；If beacon array is designed to centrally connected power supply, the power module 26 in the most each beacon also can be cancelled.
In technique scheme, in order to reduce winding volume, facilitate coil to be wound around simultaneously, can select to arrange a square or the FERRITE CORE of circle, as shown in Figure 5 at beacon emissions hub of a spool.But it should be understood that beacon is as electromagnetic field emissions equipment, when launching electromagnetic field intensity and being excessive, because there being the existence of magnetic core, may result in magnetic saturation, in turn resulting in the reduction of whole space positioning system perceptibility.
Seeing Fig. 6, for positioning the structural representation of positioner in terminal in this utility model embodiment, this positioner includes: receiving coil 31, signal processing circuit 32, microcontroller 33, power module 34 and radio communication circuit 35；Receiving coil 31 is connected with signal processing circuit 32；Signal processing circuit 32, power module 34 are all connected with microcontroller 33 with radio communication circuit 35.Receiving coil 31 in the terminal of location is the coil that three orthogonal manner are fixing, and receiving coil structure refers to Fig. 4 equally.Receiving coil is connect 31 waveforms received and is amplified and filters by signal processing circuit 32, is processed into the voltage waveform facilitating microcontroller 33 to sample.Power module 34 can use battery or AC adaptor power supplies to power, and is charged battery.Microcontroller 33, by running programmed instruction, controls radio communication circuit 35.
Equally, in technique scheme, in order to reduce winding volume, increase pcrmeability, facilitate coil to be wound around simultaneously, preferably the centrally disposed square of receiving coil in the terminal of location or the FERRITE CORE of circle, as shown in Figure 5.It should be understood that the number of turns of receiving coil should not be the most unsuitable the most very few, the positioner sensitivity in the terminal of location and wire circle relation relation parabolically.
Below, the operation principle of this utility model located space system is introduced:
In this utility model embodiment, each beacon has unique beacon identity, wireless mode or wired mode is used to communicate between multiple beacons, form ad hoc network, this ad hoc network can be described as beacon network, wherein wireless mode include bluetooth, WIFI, NFC and or ZigBee etc., radio communication uses frequency electromagnetic waves to be communicatively coupled, the frequency of the low frequency electromagnetic field for location that carrier frequency produces more than beacon.After MANET, distribute sequence number in a net can to each beacon, and add up beacon sum, at random a beacon is assigned as interim main frame, for co-ordination.The network of beacon composition is dynamic, deletion of node can be increased at any time, status information in network is distributed on each beaconing nodes at any time, even if interim host beacon node is deleted, remaining beaconing nodes still can be according to the status information networking again of storage, and one beacon of random assortment is as interim main frame again.
After beacon is placed, all beacons, under the coordination of the interim main frame of described ad hoc network, are measured the distance between self and other beacons successively, are set up space coordinates, determine each beacon coordinate in described space coordinates simultaneously.Measuring method is as follows:
No. 1 beacon is operated in reception pattern, and other beacons launch low frequency electromagnetic signals successively, and No. 1 beacon calculates the distance between other beacon one by one according to the low frequency electromagnetic signals intensity received, and result is published in beacon network；No. 2 beacons measure the distance between other beacon the most successively, after being measured, No. 2 beacons by measurement to itself and No. 1 beacon between distance D21 and No. 1 beacon measurement to itself and No. 2 beacons between distance D12 be averaged, obtaining the distance between No. 1 beacon and No. 2 beacons and be broadcast to beacon network, that simultaneously measured by No. 2 beacons and between other beacon distance is published to beacon network.By that analogy, complete the range finding to beacons all in area of space, determine the distance between any two beacon in band located space region, thus according to the relative position relation of the multiple beacons disposed in area of space, set up space coordinates, determine each beacon coordinate in these space coordinates.
After location terminal enters space to be positioned, first pass through wireless mode and set up the connection with beacon network；Location terminal, while receiving low frequency electromagnetic field, obtains the mark of the current beacon launching low frequency electromagnetic field from described beacon network.
In this utility model embodiment, multiple beacons produce in turn with default sequential has low frequency electromagnetic field known to same frequency, intensity；Or multiple beacon produces and has low frequency electromagnetic field known to different frequency, intensity simultaneously.
Beacon electromagnetic field is launched and is included the most several with the method positioning terminal electromagnetic field detection, and following methods can in any combination or dynamic application is in real system.
Method 1: this method is suitable for the less occasion of anchor node number.
Multiple beacons produce in turn with default sequential has low frequency electromagnetic field known to same frequency, intensity, three coils of the most each beacon use same frequency time division emission low frequency electromagnetic field, time division emission sequential chart refers to Fig. 7, in Fig. 7, A0 coil, A1 coil and A2 coil are three coils constituting beacon emissions coil, and its driving frequency is consistent.
In this utility model embodiment, when Fig. 7 sequential transmitting electromagnetic field pressed by three coils in beacon, as shown in Figure 8, in Fig. 8, respectively three receiving coils of S00, S10, S20 receive the signal intensity of A0 transmitting coil to the electromagnetic field signal that location terminal receives；Respectively three receiving coils of S01, S11, S21 receive the signal intensity of A1 transmitting coil；Respectively three receiving coils of S02, S12, S22 receive the signal intensity of A2 transmitting coil.
When Fig. 7 sequential transmitting electromagnetic field pressed by three coils in beacon, reception circuit structure in the terminal of location, refer to Fig. 9, receiving coil constitutes serial or parallel connection resonance circuit with the electric capacity of default capacitance, the resonance point making resonance circuit is identical with the frequency of the low frequency electromagnetic field that beacon produces, to be coupled to the signal intensity of maximum.After the amplified device of signal that receiving coil receives amplifies, sample for high-speed AD, then process sampled data by DSP, calculate the intensity level of 9 shown in Fig. 8 signal.The number of elements that this kind of mode uses is few, is therefore affected little by components accuracy, and batch production concordance is preferable.Wherein DSP is Digital Signal Processing, and English is: DigitalSignalProcessing；AD refers to analog-digital converter.
In Fig. 9 circuit, use high-speed AD and DSP, in order to reduce cost, a part of analog circuit can have been used to process signal, to reduce AD sampling rate and the requirement of arithmetic speed, therefore, Fig. 9 circuit can substitute with Figure 10 circuit, in Figure 10 circuit, by analog circuit by the envelope extraction of signal waveform that receives out, sampling for AD, therefore can be substantially reduced the sampling rate of AD, the microcontroller in electromagnetic transducer can directly utilize sampled result to carry out the calculating of distance simultaneously.
Additionally in Figure 10, the determination of low speed AD sampling time node can be analyzed by the sequence that AD is sampled by software.Basic ideas are as follows: when the value of three road AD samplings is 0, when the persistent period is more than 1/2 pulsewidth, can confirm that current time is idle condition；Any one road AD collects value when changing, and starts timing sampling.Same, in order to reduce the computing pressure of processor, sampling clock can be generated with analog circuit, the signal after three tunnel envelope detected is added and suitably amplifies, being compared by the threshold voltage of comparator and the number of pre-setting, the square-wave signal drawn is sampled clock signal.Processor starts timing sampling when rising edge being detected.
Method 2: this method is applicable to the occasion that anchor node number is a lot, can suitably increase detection refresh rate.
Multiple beacons produce low frequency electromagnetic field in turn with default sequential, and the low frequency electromagnetic field of different frequency launched by three coils in the most each beacon simultaneously.This method can suitably increase the refresh rate of detection and localization, it is adaptable to the occasion that beacon quantity is a lot.In this case, what the receiving coil of location terminal received is that signal mixes, and needs to be filtered processing, by the signal extraction of three frequencies out, measures its intensity respectively, it is achieved circuit refers to Figure 11.Its median filter break frequency f0 is equal to the frequency of No. 0 transmitting coil, and f1 is equal to the frequency of No. 1 transmitting coil, and f2 is equal to the frequency of No. 2 transmitting coils；The break frequency of low pass filter is far smaller than above three frequency: 10*fa < f0 < f1 < f2.
Method 3:
In order to shorten the time of beacon polled transmission, the tranmitting frequency between different beacons can also be different.During transmitting, the beacon of different frequency can divide to be launched at one group simultaneously, so can be greatly shortened the beacon polled transmission time once.It is big that this method is suitable for place, and positioning requirements is high, and the occasion that Refresh Data rate is high.
Conventional poll figure is with reference to shown in Figure 12, and the regular beacon polling method poll time once is: M × Δ T；The beacon of different frequency divides when launching for one group simultaneously, and poll figure refers to shown in Figure 13, the multi-emitting frequency beacon poll time once: M × Δ T/n, n are each group of beacon quantity.
In technique scheme, owing to the refresh rate of Magnetic oriented is insufficient for real-time demand, preferred version is: arrange motion sensor in the terminal of location, the exercise data of motion sensor senses location terminal, exercise data is utilized to be modified calculating to the locus of location terminal, location Refresh Data rate is made up, after being positioned by electromagnetic field, recalibrates the output elements of a fix every time again.Higher location Refresh Data frequency can be realized with lower cost and simple hardware plan by the way of this mixing.Motion sensor can be one or more in IMU inertial sensor, acceleration transducer, gyroscope.When the localizer of this utility model embodiment is installed in and uses on other intelligent terminal, this motion sensor can use the motion sensor on intelligent terminal.
The space positioning system of this utility model embodiment, is particularly well-suited to various indoor positioning, to environment unbounded size system, when environment is big, it is only necessary to increase beacon quantity, expands beacon array coverage.
Embodiment two
Space-location method
See Figure 14, for this utility model space-location method schematic flow sheet, comprise the steps:
S101: in space to be positioned, pre-sets multiple beacon, is used for producing low frequency electromagnetic field；
S102: location terminal receives the low frequency electromagnetic field that the plurality of beacon produces；
S103: the low frequency electromagnetic field data produced according to the multiple beacons received, determines the locus at terminal place, location.
In this utility model embodiment, use wireless mode or wired mode to communicate between multiple beacons, form ad hoc network；After ad hoc network is formed, all beacons, under the coordination of the interim main frame of described ad hoc network, are measured the distance between self and other beacons successively, are set up space coordinates, determine each beacon coordinate in described space coordinates simultaneously.MANET networking mode and beacon array initialize distance-finding method, refer to the specific descriptions in this utility model embodiment space positioning system.
This beacon ID, while launching low frequency electromagnetic field, is published in described ad hoc network by each beacon.After location terminal enters space to be positioned, first passing through wireless mode and set up the connection with described ad hoc network, location terminal, while receiving low frequency electromagnetic field, obtains the mark of the current beacon launching low frequency electromagnetic field from described ad hoc network.
The method that beacon electromagnetic field is launched with location terminal electromagnetic field detection refers to the specific descriptions in this utility model embodiment space positioning system, then this does not repeats.
In this utility model embodiment, according to low frequency electromagnetic field range measurement principle, it is known that position low frequency electromagnetic field intensity and the low frequency electromagnetic field intensity of beacon emissions that terminal receives, then can calculate location terminal and the distance launched between beacon.Then according to the distance between each beacon and location terminal, and the coordinate that beacon is in described space coordinates, utilize multipoint positioning principle, localizer coordinate in described space coordinates can be calculated.Further, according in area of space to be positioned dispose beacon time, beacon position in area of space, by coordinate system transformation can obtain position terminal actual position in area of space.
Preferably, this utility model embodiment space-location method, in the gap that electromagnetic field positioning result refreshes, usable acceleration meter, the motion sensor such as gyroscope, IMU inertial sensor comes the movement locus of detection and location terminal, output location data.Recalibrate the elements of a fix of output by electromagnetic field after being positioned again every time.Higher location Refresh Data frequency can be realized with lower cost and simple hardware plan by the way of this mixing.
Space-location method and space positioning system in this utility model embodiment belong to corresponding relation, after portion of techniques feature describes in detail in space positioning system, with regard to simple band mistake in space-location method, and can reference mutually.
All features disclosed in this specification, or disclosed all methods or during step, in addition to mutually exclusive feature and/or step, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), unless specifically stated otherwise, all can be by other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, an example during each feature is a series of equivalence or similar characteristics.
This utility model is not limited to aforesaid detailed description of the invention.This utility model expands to any new feature disclosed in this manual or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (12)
1. a space positioning system, it is characterised in that this system includes at least three beacon and at least one location terminal；Beacon distribution is arranged in space to be positioned, is used for producing low frequency electromagnetic field；Each location terminal receives the low frequency electromagnetic field that multiple beacons produce, and the low frequency electromagnetic field data produced according at least three beacon received, and calculates the locus of location terminal.
2. space positioning system as claimed in claim 1, it is characterised in that use wireless mode or wired mode to communicate between multiple beacons, form ad hoc network.
3. the space positioning system as described in any one of claim 2, it is characterised in that:
Multiple beacons produce in turn with default sequential has low frequency electromagnetic field known to same frequency, intensity；Or multiple beacon produces and has low frequency electromagnetic field known to different frequency, intensity simultaneously.
4. space positioning system as claimed in claim 3, it is characterised in that location terminal is wirelessly set up and the connection of described ad hoc network；Location terminal, while receiving low frequency electromagnetic field, obtains the mark of the current beacon launching low frequency electromagnetic field from described ad hoc network.
5. space positioning system as claimed in claim 4, it is characterised in that when space positioning system initializes, all beacons, under the coordination of the interim main frame of described ad hoc network, measure the distance between self and other beacons successively.
6. the space positioning system as described in any one of claim 1 to 5, it is characterized in that: each beacon includes transmitting coil, coil driver, signal processing circuit, microcontroller and power module, wherein coil driver and signal processing circuit all connect with transmitting coil, and coil driver, signal processing circuit are all connected with microcontroller with power module；Each location terminal includes receiving coil, signal processing circuit, microcontroller, power module and radio communication circuit；Receiving coil is connected with signal processing circuit；Signal processing circuit, power module are all connected with microcontroller with radio communication circuit.
7. space positioning system as claimed in claim 6, it is characterised in that each beacon also includes radio communication circuit, and radio communication circuit is connected with microcontroller.
8. space positioning system as claimed in claim 6, it is characterised in that the transmitting coil in beacon is the coil that three orthogonal manner are fixing；Receiving coil in the terminal of location is the coil that three orthogonal manner are fixing.
9. space positioning system as claimed in claim 8, it is characterised in that the receiving coil in the terminal of location and/or the transmitting coil in beacon are provided centrally with a FERRITE CORE.
10. space positioning system as claimed in claim 8 or 9, it is characterised in that three coils in each beacon use same frequency time division emission low-frequency electromagnetic waves.
11. space positioning systems as claimed in claim 8 or 9, it is characterised in that the low-frequency electromagnetic wave of different frequency launched by three coils in each beacon simultaneously.
12. space positioning systems as described in any one of claim 1 to 5, it is characterised in that described location terminal also includes motion sensor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785317A (en) * | 2016-03-11 | 2016-07-20 | 成都理想境界科技有限公司 | Space positioning system and method |
| ES2674123A1 (en) * | 2016-12-27 | 2018-06-27 | Skylife Engineering, S.L. | INTERIOR SYSTEM OF LOCALIZATION IN METALLIC ENVIRONMENTS. (Machine-translation by Google Translate, not legally binding) |
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2016
- 2016-03-11 CN CN201620191116.2U patent/CN205450257U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785317A (en) * | 2016-03-11 | 2016-07-20 | 成都理想境界科技有限公司 | Space positioning system and method |
| ES2674123A1 (en) * | 2016-12-27 | 2018-06-27 | Skylife Engineering, S.L. | INTERIOR SYSTEM OF LOCALIZATION IN METALLIC ENVIRONMENTS. (Machine-translation by Google Translate, not legally binding) |
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