CN206450230U - A kind of pedestrian track estimation device - Google Patents
A kind of pedestrian track estimation device Download PDFInfo
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- CN206450230U CN206450230U CN201621414326.XU CN201621414326U CN206450230U CN 206450230 U CN206450230 U CN 206450230U CN 201621414326 U CN201621414326 U CN 201621414326U CN 206450230 U CN206450230 U CN 206450230U
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Abstract
The utility model discloses a kind of pedestrian track estimation device, gathered data is uploaded to processing unit by the utility model by using the inexpensive collection portion and transport part inside device, and carry out data processing and positions calculations, final output positioning result using processing unit.Because processing unit of the present utility model can use existing various wide variety of intelligent terminals, therefore the hardware cost of the present apparatus only needs collection portion and transport part, so as to reach the purpose that high accuracy positioning is realized using inexpensive device.
Description
Technical field
The utility model is related to communication technical field, more particularly to a kind of pedestrian track estimation device.
Background technology
In application is especially searched and rescued in navigation, it is necessary first to which the position where personnel is positioned, and indoors,
Under, forest, in the environment such as mine, satellite navigation signals can not almost be used due to being blocked.Currently in special scenes
Personnel positioning technology mainly have：WiFi fingerprint locations, ibeacon positioning, Zigbee positioning etc..But above-mentioned location technology needs
Lay base station known to certain amount position in advance in scene.In some applications, due to can not predict application scenarios and nothing
Method lays base station, or scene because special circumstances (fire etc.) cause power-off of base station and can not apply.
The content of the invention
In view of above-mentioned analysis, the utility model aims to provide a kind of pedestrian track estimation device, to completely or
Solve the above problems at least in part.
To solve the above problems, the utility model is mainly achieved through the following technical solutions：
The utility model provides a kind of pedestrian track estimation device, and the device includes
Collection portion, for gathering inertial data and earth magnetism field data；
Transport part, inertial data and earth's magnetic field data for the collection portion to be gathered are transferred to processing unit；
The processing unit, for carrying out data processing and positions calculations to the inertial data and the earth magnetism field data,
Obtain the track positioning result of pedestrian.
Further, the device also includes：Output section, for being exported to the positioning result.
Further, the transport part is additionally operable to, and is sent collection signal to the collection portion, is adopted with triggering the collection portion
Collect inertial data and earth magnetism field data.
Further, the collection portion further comprises inertial sensor and geomagnetic sensor；
The inertial sensor, for gathering sensed acceleration information and angular velocity data；
The geomagnetic sensor, for gathering sensed geomagnetic data.
Further, the transport part is the micro-control unit MCU of a built-in wireless transport module；
The micro-control unit, for the acceleration information and angular velocity data for gathering the inertial sensor, and
The geomagnetic data of the geomagnetic sensor collection, the processing unit is transferred to by wireless transmission protocol.
Further, the device also includes：Power supply；
The power supply, for providing electric energy to the collection portion, the transport part and the processing unit.
Further, the processing unit further comprises：
Data pre-processor is used for, and realizes and carries out basic filtering with earth magnetism field data to the collection inertial data of upload, with
Filter out interference and noise signal；
Zero-velocity curve auxiliary extended Kalman filter is used for, and preliminary track reckoning is carried out, by judging the static of foot
Time, Kalman filtering renewal is carried out to acceleration, angular speed and speed, to slow down the accumulation of position error；
Map auxiliary information device, for being limited by cartographic information personnel's walking, is updated to quantity of state, and
Inputted as the indirect operation amount of state to particle filter；
Particle filter, the number of extended Kalman filter and map auxiliary information device is aided in for combining zero-velocity curve
According to, progress Bayesian Estimation, and the track positioning result of final output pedestrian.
The utility model has the beneficial effect that：
Gathered data is uploaded to processing by the utility model by using the inexpensive collection portion and transport part inside device
Portion, and carry out data processing and positions calculations, final output positioning result using processing unit.Due to processing unit of the present utility model
Existing various wide variety of intelligent terminals can be used, therefore the hardware cost of the present apparatus only needs collection portion and transport part i.e.
Can, so as to reach the purpose that high accuracy positioning is realized using inexpensive device.
Other feature and advantage of the present utility model will illustrate in the following description, and partial from specification
Become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages can by
Specifically noted structure is realized and obtained in specification, claims and the accompanying drawing write.
Brief description of the drawings
Fig. 1 is a kind of structural representation of pedestrian track estimation device of the utility model embodiment；
Fig. 2 is the electrical block diagram of the transport part of the utility model embodiment.
Embodiment
Preferred embodiment of the present utility model is specifically described below in conjunction with the accompanying drawings, wherein, accompanying drawing constitutes the application one
Point, and for explaining principle of the present utility model together with embodiment of the present utility model.For purpose of clarity and simplification, when it
When theme of the present utility model may be made smudgy, the detailed of known function and structure in device described herein will be omitted
Illustrate.
The utility model provides a kind of pedestrian track estimation device, and the utility model is by using low inside device
Gathered data is uploaded to processing unit by cost collection portion and transport part, and carries out data processing and positions calculations using processing unit,
Final output positioning result.Because processing unit of the present utility model can use existing various wide variety of intelligent terminals, because
The hardware cost of this present apparatus only needs collection portion and transport part, thus reach realized using inexpensive device it is high-precision fixed
The purpose of position.Below in conjunction with accompanying drawing and several embodiments, the utility model is further elaborated.It should be appreciated that
Specific embodiment described herein only to explain the utility model, does not limit the utility model.
The utility model embodiment provides a kind of pedestrian track estimation device, and referring to Fig. 1, the device includes：
Collection portion, for gathering inertial data and earth magnetism field data；
Transport part, inertial data and earth's magnetic field data for the collection portion to be gathered are transferred to processing unit；
The processing unit, for carrying out data processing and positions calculations to the inertial data and the earth magnetism field data,
Obtain the track positioning result of pedestrian.
Gathered data is uploaded to processing by the utility model by using the inexpensive collection portion and transport part inside device
Portion, and carry out data processing and positions calculations, final output positioning result using processing unit.Due to processing unit of the present utility model
Existing various wide variety of intelligent terminals can be used, therefore the hardware cost of the present apparatus only needs collection portion and transport part i.e.
Can, so as to reach the purpose that high accuracy positioning is realized using inexpensive device.
When it is implemented, device described in the utility model also includes：Output section, for entering to the track positioning result
Row output.
Certain those skilled in the art directly can also complete to export track positioning result by processing unit,
Such as, directly track positioning result is shown by the display screen of processing unit.
It should be noted that the processing unit described in the utility model embodiment can use existing various wide variety of intelligence
Can terminal, such as mobile phone, computer.
When it is implemented, transport part described in the utility model embodiment is additionally operable to, collection signal is sent to the collection portion,
To trigger the collection portion collection inertial data and earth magnetism field data.
That is, the utility model sends collection signal by transport part to collection portion, and triggering the collection portion with this gathers
Inertial data and earth magnetism field data.
Specifically, as shown in Fig. 2 transport part of the present utility model uses CC2650 chips, its effect is：Pass through output end
Mouth sends control signal to inertial sensor and geomagnetic sensor, makes its every 1 millisecond to send a sampling control signal, and pass through
Input port receives sensing data；Meanwhile, carried out data transmission by the transport part of inner control logic control chip.
When it is implemented, collection portion described in the utility model embodiment further comprises inertial sensor and earth magnetism sensing
Device；
The inertial sensor, for gathering sensed acceleration information and angular velocity data；
The geomagnetic sensor, for gathering sensed geomagnetic data.
That is, inexpensive sensor is installed in user foot, acceleration and angular speed and earth's magnetic field for gathering foot
Data.When it is implemented, transport part described in the utility model embodiment is the micro-control unit of a built-in wireless transport module
MCU；
The micro-control unit, for the acceleration information and angular velocity data for gathering the inertial sensor, and
The geomagnetic data of the geomagnetic sensor collection, the processing unit is transferred to by wireless transmission protocol.
That is, the utility model by transport part micro-control unit MCU (since transport part has been depicted as MCU, cannot
Proud built-in MCU), the allomeric function logic for control device.
It should be noted that those skilled in the art can also set other function components according to actual needs
Gather acceleration information, angular velocity data, the geomagnetic data of pedestrian, and using other processors to above-mentioned data at
Reason.
Device described in the utility model embodiment also includes：Power supply；
The power supply, for providing electric energy to the collection portion, the transport part and the processing unit.
Certainly, those skilled in the art can also be powered to each functional part by other means, such as set
Collection solar energy etc. is powered.
When it is implemented, processing unit described in the utility model further comprises：
Data pre-processor is used for, and realizes and carries out basic filtering with earth magnetism field data to the collection inertial data of upload, with
Filter out interference and noise signal；
Zero-velocity curve auxiliary extended Kalman filter is used for, and preliminary track reckoning is carried out, by judging the static of foot
Time, Kalman filtering renewal is carried out to acceleration, angular speed and speed, to slow down the accumulation of position error；
Map auxiliary information device, for being limited by cartographic information personnel's walking, is updated to quantity of state, and
Inputted as the indirect operation amount of state to particle filter；
Particle filter, the number of extended Kalman filter and map auxiliary information device is aided in for combining zero-velocity curve
According to, progress Bayesian Estimation, and the track positioning result of final output pedestrian.
That is, the utility model is by the way that processing unit is installed on user's intelligent terminal, for realizing zero-velocity curve auxiliary
EKF, cartographic information auxiliary and particle filter scheduling algorithm, to realize the amendment to positioning precision.
It is described above, only the utility model preferably embodiment, but protection domain of the present utility model is not
This is confined to, any one skilled in the art can readily occur in the technical scope that the utility model is disclosed
Change or replacement, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should
It is defined by the protection domain of claims.
Claims (7)
1. a kind of pedestrian track estimation device, it is characterised in that including：
Collection portion, for gathering inertial data and earth magnetism field data；
Transport part, inertial data and earth's magnetic field data for the collection portion to be gathered are transferred to processing unit；
The processing unit, for carrying out data processing and positions calculations to the inertial data and the earth magnetism field data, is obtained
The track positioning result of pedestrian.
2. device according to claim 1, it is characterised in that also include：
Output section, for being exported to the track positioning result.
3. device according to claim 1, it is characterised in that
The transport part is additionally operable to, and collection signal is sent to the collection portion, with trigger collection portion collection inertial data with
Earth magnetism field data.
4. device according to claim 1, it is characterised in that the collection portion further comprises inertial sensor and earth magnetism
Sensor；
The inertial sensor, for gathering sensed acceleration information and angular velocity data；
The geomagnetic sensor, for gathering sensed geomagnetic data.
5. device according to claim 3, it is characterised in that the transport part is the micro- of built-in wireless transport module
Control unit MCU；
The micro-control unit, for the acceleration information and angular velocity data for gathering the inertial sensor, and it is described
The geomagnetic data of geomagnetic sensor collection, the processing unit is transferred to by wireless transmission protocol.
6. the device according to any one in claim 1-5, it is characterised in that also include：Power supply；
The power supply, for providing electric energy to the collection portion, the transport part and the processing unit.
7. the device according to any one in claim 1-5, it is characterised in that the processing unit further comprises：
Data pre-processor is used for, and realizes and carries out basic filtering with earth magnetism field data to the collection inertial data of upload, to filter out
Interference and noise signal；
Zero-velocity curve auxiliary extended Kalman filter is used for, and carries out preliminary track reckoning, by judging the quiescent time of foot,
Kalman filtering renewal is carried out to acceleration, angular speed and speed, to slow down the accumulation of position error；
Map auxiliary information device, for being limited by cartographic information personnel's walking, is updated to quantity of state, and conduct
The indirect operation amount of state is inputted to particle filter；
Particle filter, the data of extended Kalman filter and map auxiliary information device are aided in for combining zero-velocity curve, are entered
Row Bayesian Estimation, and the track positioning result of final output pedestrian.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621414326.XU CN206450230U (en) | 2016-12-22 | 2016-12-22 | A kind of pedestrian track estimation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621414326.XU CN206450230U (en) | 2016-12-22 | 2016-12-22 | A kind of pedestrian track estimation device |
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| Publication Number | Publication Date |
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| CN206450230U true CN206450230U (en) | 2017-08-29 |
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| CN201621414326.XU Active CN206450230U (en) | 2016-12-22 | 2016-12-22 | A kind of pedestrian track estimation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467594A (en) * | 2020-03-30 | 2021-10-01 | 北京小米移动软件有限公司 | Connecting module and terminal equipment |
-
2016
- 2016-12-22 CN CN201621414326.XU patent/CN206450230U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467594A (en) * | 2020-03-30 | 2021-10-01 | 北京小米移动软件有限公司 | Connecting module and terminal equipment |
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