CN205484773U - Space positioning system - Google Patents
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- CN205484773U CN205484773U CN201620189349.9U CN201620189349U CN205484773U CN 205484773 U CN205484773 U CN 205484773U CN 201620189349 U CN201620189349 U CN 201620189349U CN 205484773 U CN205484773 U CN 205484773U
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Abstract
The utility model discloses a space positioning system, including total controller, at least three electromagnetic sensor node and at least one locator, the locator is used for producing the low frequency electromagnetic field, the electromagnetic sensor node is used for receiving the low frequency electromagnetic field that the locator produced to to receive data transfer to total controller, total controller is used for controlling time and the intensity that the locator produced the low frequency electromagnetic field to and the spatial position at every locator place of the data calculation who is used for passing back according to at least three electromagnetic sensor node. And simultaneously, the utility model discloses can 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 and method.
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 (Location Based Service, 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 (Wireless Local Area Networks, WLAN), the space orientation technique of bluetooth and wireless sensor network (Wireless Sensor Network, 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, and this system includes master controller, at least three electromagnetic transducer node and at least one localizer；Localizer is used for producing low frequency electromagnetic field；Electromagnetic transducer node is for receiving the low frequency electromagnetic field that localizer produces, and reception data are delivered to master controller；Master controller produces the time and intensity of low frequency electromagnetic field for controlling localizer, and the data for passing back according at least three electromagnetic transducer node calculate the locus at each localizer place.
Preferably, master controller uses the mode of sequential or broadcast to control described localizer and produces low frequency electromagnetic field.
Preferably, the receiving coil in electromagnetic transducer node is the coil that three orthogonal manner are fixing；Transmitting coil in localizer is the coil that three orthogonal manner are fixing.
Preferably, the receiving coil in electromagnetic transducer node and/or the transmitting coil in localizer are provided centrally with a FERRITE CORE.
Preferably, three coils in each localizer use same frequency time division emission low frequency electromagnetic field；Or three coils in each localizer launch the low frequency electromagnetic field of different frequency simultaneously.
Preferably, described FERRITE CORE is square or circular.
Preferably, wired or wireless mode is used to be communicatively coupled between described electromagnetic transducer node and master controller.
Preferably, described electromagnetic transducer node 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, described localizer includes: transmitting coil, coil driver, microcontroller, power module and radio communication circuit；Transmitting coil is connected with coil driver；Coil driver, radio communication circuit are all connected with microcontroller with power module.
Preferably, described localizer also includes motion sensor, and the exercise data of detection is sent to master controller by motion sensor, for producing the gap of low frequency electromagnetic field, the locus of corrected Calculation localizer at localizer.
Preferably, multiple electromagnetic transducer nodes are arranged by cellular distribution.
Preferably, master controller internal memory contains the positional information of each electromagnetic transducer node.
Accordingly, this utility model also proposes a kind of space-location method, including: in space to be positioned, pre-set multiple electromagnetic transducer node；After one or more localizers enter space to be positioned, under the control of master controller, produce low frequency electromagnetic field；Described electromagnetic transducer node receives the low frequency electromagnetic field that localizer produces, and reception data are delivered to master controller；The data that master controller is passed back according to multiple electromagnetic transducer nodes, calculate the locus at each localizer place respectively.
Preferably, master controller uses the mode of sequential to control localizer and is sequentially generated low frequency electromagnetic field known to intensity, or master controller uses broadcast mode to control low frequency electromagnetic field known to localizer generation intensity.
Preferably, the distribution in space to be positioned of the plurality of electromagnetic transducer joint is arranged, array known to composition structure；Master controller sets up space coordinates according to described array, determines each electromagnetic transducer node coordinate in described space coordinates.
Preferably, the plurality of sensor node is arranged in space to be positioned by cellular distribution.
Preferably, master controller, from the electromagnetic transducer node returned data received, selects 3～5 data to calculate the locus of 1 localizer every time.
Preferably, electromagnetic transducer node is delivered to the data of master controller is its low frequency electromagnetic field intensity received；The low frequency electromagnetic field intensity received according to electromagnetic transducer node, and the low frequency electromagnetic field intensity that localizer is launched, calculate electromagnetic transducer node and the distance launched between localizer；According to the distance between each electromagnetic transducer node and localizer, and the coordinate that electromagnetic transducer node is in described space coordinates, utilize multipoint positioning principle to calculate localizer coordinate in described space coordinates.
Preferably, described space-location method also includes: by the exercise data of motion sensor senses localizer, according to the locus of exercise data corrected Calculation localizer.
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 structural representation of the electromagnetic transducer node in this utility model embodiment；
Fig. 3 is a kind of structural representation of localizer 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 that a kind of of localizer transmitting coil in this utility model embodiment launches sequential chart；
Fig. 7 is localizer when launching electromagnetic field by Fig. 6, the waveform diagram received by the receiving coil of electromagnetic transducer node；
Fig. 8 is that the electromagnetic signal of the electromagnetic transducer node in this utility model embodiment processes electrical block diagram one；
Fig. 9 is that the electromagnetic signal of the electromagnetic transducer node in this utility model embodiment processes electrical block diagram two；
Figure 10 is that the electromagnetic signal of the electromagnetic transducer node in this utility model embodiment processes electrical block diagram two；
Figure 11 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 master controller, at least three electromagnetic transducer node and at least one localizer, localizer is worn on to be positioned on object or be arranged on and is positioned in object.Seeing Fig. 1, for a kind of structural representation of this utility model embodiment space positioning system, in Fig. 1, label 2 represents electromagnetic transducer node, and the distribution of several electromagnetic transducer nodes 2 is arranged in space to be positioned, constitutes an electromagnetic transducer node array.Localizer 3 is used for producing low frequency electromagnetic field, and master controller 1 produces the time and intensity of low frequency electromagnetic field for controlling localizer 3；Electromagnetic transducer node 2 is for receiving the low frequency electromagnetic field that localizer 3 produces, and reception data are delivered to master controller 1, and master controller 1 calculates the locus at each localizer 3 place according to the data that at least three electromagnetic transducer node is passed back.
In this utility model embodiment, wired mode between electromagnetic transducer node and master controller, can be used to be communicatively coupled, it would however also be possible to employ bluetooth, WIFI, NFC and or the wireless mode such as ZigBee be communicatively coupled.Wireless connections use frequency electromagnetic waves, the frequency of the low frequency variable electromagnetic field for location that carrier frequency produces more than localizer.
In this utility model embodiment, master controller 1 can use localizer described in sequential logic control to produce low frequency electromagnetic field the most in turn, the mode that can also use broadcast controls described localizer and produces low frequency electromagnetic field, and how both modes control to describe in detail in space-location method below.
In this utility model embodiment, multiple electromagnetic transducer Node distribution are arranged in space to be positioned, array known to composition structure.Electromagnetic transducer node preferably employ even distribution pattern arrange, cellular distribution set-up mode it is further preferred that.Before space positioning system works, in technique scheme, need according to the position relationship between emf sensor, space coordinates are set up for array of electro-magnetic sensors, to determine each electromagnetic transducer node co-ordinate position information in space coordinates, and the co-ordinate position information of each electromagnetic transducer node is stored in master controller, for calculating the position coordinates of localizer in position fixing process.Wherein, the position relationship between emf sensor can be carried out in the way of logical manual measurement, demarcation are measured or automatically measured, and concrete measuring method refers to the description in this specification embodiment of the method.
Electromagnetic transducer node
See Fig. 2, for a kind of structural representation of the electromagnetic transducer node in this utility model embodiment, comprising: receiving coil 21, signal processing circuit 22, microcontroller 23, power module 24 and radio communication circuit 25；Receiving coil 21 is connected with signal processing circuit 22；Signal processing circuit 22, power module 24 are all connected with microcontroller 23 with radio communication circuit 25 three.Receiving coil 21 is the coil that three orthogonal manner are fixing, and the structure of receiving coil 21 refers to Fig. 4.The waveform that receiving coil is received by signal processing circuit 22 is amplified and filters, and is processed into the voltage waveform facilitating microcontroller 23 to sample.Power module 24 can use battery or AC adaptor power supplies to power, and is charged battery.Microcontroller 23, by running programmed instruction, controls radio communication circuit 25.
In the specific implementation, if electromagnetic transducer node is set to be connected with master controller by wired mode, then the radio communication circuit 25 in Fig. 2 can be cancelled；If array of electro-magnetic sensors is designed to centrally connected power supply, the power module 24 in the most each electromagnetic transducer node also can be cancelled.
In technique scheme, in order to reduce winding volume, increase pcrmeability, facilitate coil to be wound around, preferably the centrally disposed square of the receiving coil in electromagnetic transducer node or the FERRITE CORE of circle, as shown in Figure 5 simultaneously.It should be understood that the number of turns of receiving coil should not be the most unsuitable the most very few, electromagnetic transducer sensitivity and wire circle relation relation parabolically.
Localizer
Seeing Fig. 3, for a kind of structural representation of the localizer in this utility model embodiment, it includes transmitting coil 31, coil driver 32, microcontroller 33, power module 34 and radio communication circuit 35；Transmitting coil 31 is connected with coil driver 32；Coil driver 32, radio communication circuit 35 are all connected with microcontroller 33 with power module 34.Equally, the transmitting coil 31 in localizer is the coil that three orthogonal manner are fixing, and transmitting coil structure refers to Fig. 4 equally.Microcontroller 33 is by running control program, control coil drive circuit 32 and radio communication circuit 35.Coil driver 32 can drive the coil that three orthogonal manner are installed; produce the uniform low frequency electromagnetic field of all directions; coil driver 32 closed-loop control available electromagnetic radiation intensity simultaneously, it can be designed as having the defencive function such as stream, overheated, metal detection.
Equally, in technique scheme, in order to reduce winding volume, facilitate coil to be wound around, it is also possible to select in the centrally disposed square of localizer transmitting coil or the FERRITE CORE of circle, as shown in Figure 5 simultaneously.But it should be understood that localizer 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.
Low frequency electromagnetic field is produced owing to master controller uses the mode of sequential or broadcast to control described localizer, the gap of low frequency electromagnetic field is produced at localizer, if localizer moves, master controller cannot refresh its new position, therefore one motion sensor can be set in localizer, the exercise data of detection is sent to master controller by motion sensor, for producing the gap of low frequency electromagnetic field, the locus of corrected Calculation localizer at localizer.Motion sensor can be one or more in IMU inertial sensor, acceleration transducer, gyroscope.Certainly, 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.
In one embodiment, three coils in each localizer can use same frequency time division emission low frequency electromagnetic field, and time division emission sequential chart refers to Fig. 6, in Fig. 6, A0 coil, A1 coil and A2 coil are three coils constituting localizer transmitting coil, and its driving frequency is consistent.
In this utility model embodiment, when Fig. 6 sequential transmitting electromagnetic field pressed by three coils in localizer, electromagnetic field signal that electromagnetic transducer node receives as it is shown in fig. 7, in Fig. 7 respectively three receiving coils of S00, S10, S20 receive the signal intensity of A0 transmitting coil；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. 6 sequential transmitting electromagnetic field pressed by three coils in localizer, reception circuit structure in electromagnetic transducer node, refer to Fig. 8, 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. 7 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: Digital Signal Processing；AD refers to analog-digital converter.
In Fig. 8 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. 8 circuit can substitute with Fig. 9 circuit, in Fig. 9 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 Fig. 9, 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.
In another embodiment, three coils in each localizer can also launch the low frequency electromagnetic field of different frequency simultaneously.This method can suitably increase the refresh rate of detection and localization, it is adaptable to the occasion that localizer quantity is a lot.In this case, what the receiving coil of electromagnetic transducer node 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 10.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.
In technique scheme, it not to be continued for launching electromagnetic field due to localizer, therefore the refresh rate of Magnetic oriented is insufficient for real-time demand, preferred version is: localizer also includes motion sensor, the exercise data of motion sensor senses localizer, and exercise data is sent to master controller；Produce the gap of low frequency electromagnetic field at localizer, master controller utilizes exercise data to be modified the locus of localizer calculating, and makes up location Refresh Data rate, recalibrates the output elements of a fix 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.Wherein, 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 electromagnetic transducer number of nodes, expands array of electro-magnetic sensors coverage.
Embodiment two
Space-location method
See Figure 11, for this utility model embodiment space-location method schematic flow sheet, comprise the steps:
S101: pre-set multiple (more than three) electromagnetic transducer node in space to be positioned, forms electromagnetic transducer node array；
After S102: one or more localizers enter space to be positioned, under the control of master controller, produce low frequency electromagnetic field, localizer can be worn to be positioned on object or be arranged on and is positioned in object, being positioned object can be any loose impediment, such as intelligent terminal, game paddle or intelligence wearable device etc., do not limit.
S103: described electromagnetic transducer node receives the low frequency electromagnetic field that localizer produces, and reception data are delivered to master controller；
The data that S104: master controller is passed back according to multiple electromagnetic transducer nodes, calculate the locus at each localizer place respectively.
In this utility model embodiment, wired mode between electromagnetic transducer node and master controller, can be used to be communicatively coupled, it would however also be possible to employ bluetooth, WIFI, NFC and or the wireless mode such as ZigBee be communicatively coupled.
In this utility model embodiment, the distribution in space to be positioned of the plurality of electromagnetic transducer joint is arranged, array known to composition structure；Master controller sets up space coordinates according to described array, determines each electromagnetic transducer node coordinate in described space coordinates.Wherein setting up space coordinates according to described array, need the positional information to node each in array or relative position information to measure, this measurement can be carried out in the way of logical manual measurement, demarcation are measured or automatically measured.Manual measurement refers to the distance that people measures in array between each electromagnetic transducer node and other electromagnetic transducer nodes with gage.Calibration measuring method can be: in space to be positioned, preset point known to more than three distances, on these aspects, the electromagnetic field of given frequency is launched respectively with a localizer, receive for electromagnetic transducer node, by low-frequency electromagnetic wave range measurement principle, available each electromagnetic transducer node and the distance of pre-set each point, equally, by multipoint positioning, the coordinate position of available each electromagnetic transducer node.Automatically measure the most slightly more complicated, need electromagnetic transducer node to possess coil driver, under the control of master controller, receiving coil can be converted to emission mode.Such as: master controller controls No. 1 electromagnetic transducer node and works emission mode, and other electromagnetic transducers receive, itself and the direct distance of other electromagnetic transducers can be measured one by one according to receiving electromagnetic signal strength.
In this utility model embodiment, electromagnetic transducer node preferably employ even distribution pattern arrange, cellular distribution set-up mode it is further preferred that.
In this utility model embodiment, master controller can control localizer in the way of using sequential and produce low frequency electromagnetic field known to intensity the most in turn, such as: when localizer is three, controlling sequential is can be " launch 1-and launch 2-transmitting 3-stopping-", then No. 1 localizer first produces magnetic field, duration T, then stops producing magnetic field；No. 2 localizers start to produce magnetic field, duration T ... treat that all localizers produce magnetic field complete, all localizers stopping generation magnetic field, duration T s, the most again from the beginning of No. 1, and repetitive cycling.Electromagnetic transducer stops the sequencing of signal between flag bits by two and determines the sequence number of emission source, and then distinguishes data that electromagnetic transducer collects from which localizer.
In this utility model embodiment, master controller can also use broadcast mode to control localizer and produce low frequency electromagnetic field known to intensity, broadcast mode is the most more flexible, when master controller broadcasts No. 1 localizer transmitting signal, No. 1 localizer produces magnetic field, and the field signal that the most all electromagnetic transducers receive is what No. 1 localizer was launched.
Preferably, in this utility model embodiment, master controller, from the electromagnetic transducer node returned data received, selects 3～5 data to calculate the locus of 1 localizer every time.
Preferably, the process decayed in space due to magnetic field is quickly, can be set by certain threshold value, the only electromagnetic transducer node near localizer can detect the intensity in magnetic field that this localizer launches, three (or four) node signals are selected to calculate the locus of localizer, such as: three (or four) node signals that optional field signal is the strongest calculate localizer locus from the electromagnetic transducer node receiving field signal.
In this utility model embodiment, it is its low frequency electromagnetic field intensity received that electromagnetic transducer node is delivered to the data of master controller；According to low frequency electromagnetic field range measurement principle, it is known that low frequency electromagnetic field intensity that electromagnetic transducer node receives and the low frequency electromagnetic field intensity that localizer is launched, then can calculate electromagnetic transducer node and the distance launched between localizer.Then according to the distance between each electromagnetic transducer node and localizer, and the coordinate that electromagnetic transducer node 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 electromagnetic transducer node time, electromagnetic transducer node position in area of space, localizer actual position in area of space can be obtained by coordinate system transformation.
In this utility model embodiment, three coils in each localizer can use same frequency time division emission low frequency electromagnetic field, it is also possible to launch the low frequency electromagnetic field of different frequency simultaneously, specifically describes the description referring in leading space alignment system embodiment.
In technique scheme, it not to be continued for launching electromagnetic field due to localizer, therefore the refresh rate of Magnetic oriented is insufficient for real-time demand, and preferred version is: by the exercise data of motion sensor senses localizer, and exercise data is sent to master controller；Produce the gap of low frequency electromagnetic field at localizer, master controller utilizes exercise data to be modified the locus of localizer calculating, and makes up location Refresh Data rate.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.
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.
Localizer of the present utility model can be installed in any mobile device, for mobile device is carried out precise positioning.
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.
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 master controller, at least three electromagnetism
Sensor node and at least one localizer；Localizer is used for producing low frequency electromagnetic field；Electromagnetic transducer node
For receiving the low frequency electromagnetic field that localizer produces, and reception data are delivered to master controller；Master controller
The time and intensity of low frequency electromagnetic field is produced for controlling localizer, and for passing according at least three electromagnetism
The data that sensor node is passed back calculate the locus at each localizer place.
2. space positioning system as claimed in claim 1, it is characterised in that master controller use sequential or
The mode of broadcast controls described localizer and produces low frequency electromagnetic field.
3. space positioning system as claimed in claim 2, it is characterised in that in electromagnetic transducer node
Receiving coil is the coil that three orthogonal manner are fixing；Transmitting coil in localizer is that three orthogonal manner are solid
Fixed coil.
4. space positioning system as claimed in claim 3, it is characterised in that in electromagnetic transducer node
Receiving coil and/or localizer in transmitting coil be provided centrally with a FERRITE CORE.
5. space positioning system as claimed in claim 4, it is characterised in that three in each localizer
Coil uses same frequency time division emission low frequency electromagnetic field；Or three coils in each localizer launch simultaneously
The low frequency electromagnetic field of different frequency.
6. space positioning system as claimed in claim 4, it is characterised in that described FERRITE CORE is just
Square or circular.
7. the space positioning system as described in any one of claim 1 to 6, it is characterised in that described electricity
Wired or wireless mode is used to be communicatively coupled between Magnetic Sensor node and master controller.
8. the space positioning system as described in any one of claim 1 to 6, it is characterised in that described electromagnetism
Sensor node 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 and radio communication electricity
Lu Junyu microcontroller is connected.
9. the space positioning system as described in any one of claim 1 to 6, it is characterised in that described location
Device includes: transmitting coil, coil driver, microcontroller, power module and radio communication circuit；Send out
Ray circle is connected with coil driver；Coil driver, radio communication circuit and power module are all with micro-
Controller is connected.
10. the space positioning system as described in any one of claim 1 to 6, it is characterised in that described fixed
Position device also includes motion sensor, and the exercise data of detection is sent to master controller by motion sensor, is used for
The gap of low frequency electromagnetic field, the locus of corrected Calculation localizer is produced at localizer.
11. space positioning systems as described in any one of claim 1 to 6, it is characterised in that Duo Ge electricity
Magnetic Sensor node is arranged by cellular distribution.
12. space positioning systems as described in any one of claim 1 to 6, it is characterised in that master control
Device internal memory contains the positional information of each electromagnetic transducer node.
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| CN105785316A (en) * | 2016-03-11 | 2016-07-20 | 成都理想境界科技有限公司 | Space positioning system and method |
| 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 |
| CN106647622A (en) * | 2017-02-13 | 2017-05-10 | 深圳市华鼎星科技有限公司 | Array coding magnetic signal positioning machine tool |
| CN107490802A (en) * | 2017-09-04 | 2017-12-19 | 哈尔滨工业大学 | A kind of space-location method, apparatus and system based on more magnetic beacons |
| TWI628527B (en) * | 2017-01-11 | 2018-07-01 | 加銳企業有限公司 | Programmable linear displacement sensing device |
| CN110275602A (en) * | 2018-03-13 | 2019-09-24 | 脸谱科技有限责任公司 | Artificial reality system and head-mounted display |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105785316A (en) * | 2016-03-11 | 2016-07-20 | 成都理想境界科技有限公司 | Space positioning system and method |
| 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 |
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