CN206269826U - A kind of indoor navigation device based on Multi-sensor Fusion - Google Patents
A kind of indoor navigation device based on Multi-sensor Fusion Download PDFInfo
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- CN206269826U CN206269826U CN201621314320.5U CN201621314320U CN206269826U CN 206269826 U CN206269826 U CN 206269826U CN 201621314320 U CN201621314320 U CN 201621314320U CN 206269826 U CN206269826 U CN 206269826U
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Abstract
A kind of indoor navigation device based on Multi-sensor Fusion, including indoor magnetic map structuring module, measurement module, navigation positioning module, central processing unit, data memory module, wireless communication module and feedback interactive module, indoor magnetic map structuring module, measurement module, navigation positioning module, data memory module, wireless communication module and feedback interactive module carry out data interconnection communication with central processing unit respectively, wherein indoor magnetic map structuring module includes story height measurement module, indoor path segments module, magnetic field three-component measurement module and Magnetic Gradient Measurement module.The utility model is used in combination by by multiple sensors, and navigation is accurate, accurate positioning.
Description
Technical field
The utility model belongs to the indoor navigation field based on earth magnetism distribution, more particularly to a kind of based on multiples such as magnetic gradients
The indoor navigation device of sensor fusion.
Background technology
With the fast development of economic society, the interior space of people's activity becomes increasingly huge and complexity, large-scale
The indoor places such as lower parking lot, shopping department stores, large-scale logistics warehouse determine the position of oneself or AGV, and along specific
Path navigation seems unable to do what one wishes to indoor a certain destination, especially blind person, lack visual ability when indoor navigation more
It is difficulty, therefore in the urgent need to a kind of indoor positioning airmanship.
Although indoor navigation demand is strong, traditional airmanship is because of various technology restrictions, it is impossible to meet indoor positioning
It is required that.Such as, when the widest GPS technology of current outdoor utility is used indoors, satellite-signal is easily intercepted by building, is led
Cause cannot be realized being accurately positioned；Although the wireless communication signal of mobile phone can penetrate the wall of most buildings, mobile communication base
The distribution density stood is too low, and the precision positioned using mobile phone wireless communication signal is not enough；Location technology based on Wi-Fi is needed
It is to be understood that the accurate location of each Wi-Fi Hotspot, or even each Wi-Fi signal strength is measured, measurement cost is too
Height, positioning precision is difficult to ensure that.
The indoor orientation method based on earth magnetism distribution is occurred in that in recent years, and its principle is based in building wall
The change of the ferromagnetic material to indoor magnetic field of the earth such as reinforcing bar and indoor shelf, feet, it is indoor not using magnetic field sensor detection
Positioned with the different magnetic field size of position.The weak point of existing indoor pure magnetic navigation method is essentially consisted in：Magnetic field is
One gradient fields, and only measure magnetic field three component seismic data and do not make full use of Distribution of Magnetic Field information, it is more likely that it is limited to pass
The certainty of measurement of sensor is too small with indoor earth's magnetic field changes in distribution otherness to be caused to measure " blind area ".
Utility model content
The technical problems to be solved in the utility model is to provide that a kind of navigation is accurate, and accurate positioning is melted based on multisensor
The indoor navigation device of conjunction.
In order to solve the above-mentioned technical problem, the utility model takes following technical scheme：
A kind of indoor navigation device based on Multi-sensor Fusion, described device includes indoor magnetic map structuring module, surveys
Amount module, navigation positioning module, central processing unit, data memory module, wireless communication module and feedback interactive module, indoor magnetic
Map structuring module, measurement module, navigation positioning module, data memory module, wireless communication module and feedback interactive module point
Data interconnection communication is not carried out with central processing unit.
The indoor magnetic map structuring module includes story height measurement module, indoor path segments module, three points of magnetic field
Measurement module and Magnetic Gradient Measurement module.
The measurement module include baroceptor, magnetic gradient sensor, acceierometer sensor, gyro sensor and
Ultrasonic sensor, the baroceptor, magnetic gradient sensor, acceierometer sensor, gyro sensor and ultrasonic wave are passed
Data communication is carried out by central processing unit between sensor.
The navigation positioning module be built-in with baroceptor building high measurement unit, magnetic field map matching positioning unit, plus
Speedometer short distance compensating unit, gyroscope anglec of rotation positioning unit and ultrasonic sensor range cells.
The wireless communication module includes walking path cloud recording unit and path magnetic field updating block.
The feedback interactive module includes earphone, left hand electromagnetic shaker, right hand electromagnetic shaker, keypad, LED and loudspeaker.
The data memory module includes SD card, EEPROM and/or hard disk.
The utility model is applied in combination by multiple sensors, and the magnetic map path of structure is succinct, is reduced redundancy and is overlapped,
Accurate positioning, navigation is accurate, by being used in combination for multiple sensors, farthest recognizes the magnetic field three-component of different location
Information and magnetic gradient information.
Brief description of the drawings
Accompanying drawing 1 is structural representation of the present utility model.
Specific embodiment
For the ease of the understanding of those skilled in the art, the utility model will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the utility model discloses a kind of indoor navigation device based on Multi-sensor Fusion, the dress
Put including indoor magnetic map structuring module, measurement module, navigation positioning module, central processing unit, data memory module, channel radio
News module and feedback interactive module, indoor magnetic map structuring module, measurement module, navigation positioning module, data memory module, nothing
Line communication module and feedback interactive module carry out data interconnection communication with central processing unit respectively.Central processing unit be used for gather,
Analysis geomagnetic data, and the effect such as map match, wireless network transmissions, man-computer interactive communication is carried out in real time.
Indoor magnetic map structuring module includes that story height measurement module, indoor path segments module, magnetic field three-component are surveyed
Amount module and Magnetic Gradient Measurement module.Story height measurement module demarcates the difference in height of each floor, indoor path segments mould
Block carries out all possible discrete segmentation of walking path straightway, magnetic field three automatically after the plan for obtaining indoor each floor
The three-component magnetic field of component measurement module measurement segmented paths when magnetic map is drawn, Magnetic Gradient Measurement module is drawing magnetic ground
The three-component magnetic field gradient of segmented paths is measured during figure.The three-component magnetic field data and three-component magnetic gradient data surveyed are in
Central processor is stored in data memory module.
Measurement module includes baroceptor, magnetic gradient sensor, acceierometer sensor, gyro sensor and ultrasound
Wave sensor, the baroceptor, magnetic gradient sensor, acceierometer sensor, gyro sensor and ultrasonic sensor
Between data communication is carried out by central processing unit.Draught head Δ P of the floor relative to ground is measured, magnetic gradient sensor is used for
Magnetic induction intensity time series and magnetic field gradient matrix times sequence in measuring chamber before position on certain a bit of path,
Directional accelerations of XYZ tri- when acceierometer sensor is used to measure human body or AGV dollies are advanced on walking path when
Between sequential value, the deflections of XYZ tri- when gyro sensor is used to measure human body or AGV dollies are advanced on walking path are fast
The time sequential value of degree, X-direction when ultrasonic sensor is used to measure human body or AGV dollies are advanced on walking path
The obstacle distance in front.Each sensor performs respective functional task, and measured data are carried out into depth by central processing unit
Degree fusion, and matched with the magnetic field map data in data memory module, complete indoor positioning navigation.On walking path
It is the situation based on the indoor navigation device based on Multi-sensor Fusion being loaded with this programme during traveling.
The navigation positioning module be built-in with baroceptor building high measurement unit, magnetic field map matching positioning unit, plus
Speedometer short distance compensating unit, gyroscope anglec of rotation positioning unit and ultrasonic sensor range cells.Each functional module
Program storage in data memory module, by central processing unit real-time calling when using.
Data memory module is specifically included：SD card, EEPROM and hard disk, can store map datum and each modular program.
Different application scenarios can use different data memory modules, such as apply in blind man navigation, in order to portability can be with
Using SD card, EEPROM, when being navigated if applied in AGV dollies etc., EEPROM and hard can be used in order to store mass data
Disk etc., occupation mode is flexible.
The wireless communication module includes walking path cloud recording unit and path magnetic field updating block.Walking path cloud is remembered
Guidance path and walking habits when each user of record unit record navigates, and, for day. by this walking habits record beyond the clouds
Quick calling afterwards.The magnetic field map information of each Discrete line segments when path magnetic field updating block records each walking navigation, and
Newest map data update is stored in data memory module.
The feedback interactive module includes earphone, left hand electromagnetic shaker, right hand electromagnetic shaker, keypad, LED and loudspeaker.Each mould
Block alternative is used.Earphone can provide voice messaging during navigation for blind person；Left hand electromagnetic shaker is arranged on blind person's left hand, with
Vibration mode prompting blind person turn left；Right hand electromagnetic shaker is arranged on blind person's right hand, and with vibration mode, prompting blind person turns right；Small key
Disk is numeral and monogram keyboard, and the navigation destination information input before navigation is provided for blind person；LED and loudspeaker be blind person or
Person AGV dollies provide security warning, run into certain danger or barrier in front of blind person or AGV dollies when ultrasonic sensor are detected
LED just flash for prompting when hindering thing too near, while loudspeaker also horn blew.
By the modularized design of said apparatus, can be on the Intelligent hardwares such as mobile phone, AGV, wearable navigation bracelet
Indoor navigation function is realized using the existing or new sensor of addition and respective handling unit.
It should be noted that the above is not the restriction to utility model technical scheme, it is new this practicality is not departed from
On the premise of the creation of type is conceived, any obvious replacement is within protection domain of the present utility model.
Claims (7)
1. a kind of indoor navigation device based on Multi-sensor Fusion, it is characterised in that described device includes indoor magnetic map structure
Modeling block, measurement module, navigation positioning module, central processing unit, data memory module, wireless communication module and feedback interaction mould
Block, indoor magnetic map structuring module, measurement module, navigation positioning module, data memory module, wireless communication module and feedback are handed over
Mutual module carries out data interconnection communication with central processing unit respectively.
2. the indoor navigation device based on Multi-sensor Fusion according to claim 1, it is characterised in that the indoor magnetic
Map structuring module includes story height measurement module, indoor path segments module, magnetic field three-component measurement module and magnetic field ladder
Degree measurement module.
3. the indoor navigation device based on Multi-sensor Fusion according to claim 2, it is characterised in that the measurement mould
Block includes baroceptor, magnetic gradient sensor, acceierometer sensor, gyro sensor and ultrasonic sensor, the gas
Pressure sensor, magnetic gradient sensor, between acceierometer sensor, gyro sensor and ultrasonic sensor pass through centre
Reason device carries out data communication.
4. the indoor navigation device based on Multi-sensor Fusion according to claim 3, it is characterised in that the navigation is determined
It is single that position module is built-in with baroceptor building high measurement unit, magnetic field map matching positioning unit, accelerometer short distance compensation
Unit, gyroscope anglec of rotation positioning unit and ultrasonic sensor range cells.
5. the indoor navigation device based on Multi-sensor Fusion according to claim 4, it is characterised in that the channel radio
News module includes walking path cloud recording unit and path magnetic field updating block.
6. the indoor navigation device based on Multi-sensor Fusion according to claim 5, it is characterised in that the feedback is handed over
Mutual module includes earphone, left hand electromagnetic shaker, right hand electromagnetic shaker, keypad, LED and loudspeaker.
7. the indoor navigation device based on Multi-sensor Fusion according to claim 6, it is characterised in that the data are deposited
Storage module includes SD card, EEPROM and/or hard disk.
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| CN201621314320.5U CN206269826U (en) | 2016-12-02 | 2016-12-02 | A kind of indoor navigation device based on Multi-sensor Fusion |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107421518A (en) * | 2017-07-29 | 2017-12-01 | 深圳力子机器人有限公司 | A kind of trackless navigation AGV passes in and out lorry method automatically |
| CN107830862A (en) * | 2017-10-13 | 2018-03-23 | 桂林电子科技大学 | A kind of method of the indoor positioning pedestrian tracking based on smart mobile phone |
| WO2018098850A1 (en) * | 2016-12-02 | 2018-06-07 | 广东思谷智能技术有限公司 | Multi-sensor fusion-based indoor navigation device and method |
-
2016
- 2016-12-02 CN CN201621314320.5U patent/CN206269826U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018098850A1 (en) * | 2016-12-02 | 2018-06-07 | 广东思谷智能技术有限公司 | Multi-sensor fusion-based indoor navigation device and method |
| CN107421518A (en) * | 2017-07-29 | 2017-12-01 | 深圳力子机器人有限公司 | A kind of trackless navigation AGV passes in and out lorry method automatically |
| CN107830862A (en) * | 2017-10-13 | 2018-03-23 | 桂林电子科技大学 | A kind of method of the indoor positioning pedestrian tracking based on smart mobile phone |
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