CN207008053U - A kind of regional positioning device based on attitude transducer calibration - Google Patents
A kind of regional positioning device based on attitude transducer calibration Download PDFInfo
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- CN207008053U CN207008053U CN201721018203.9U CN201721018203U CN207008053U CN 207008053 U CN207008053 U CN 207008053U CN 201721018203 U CN201721018203 U CN 201721018203U CN 207008053 U CN207008053 U CN 207008053U
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- base station
- module
- low frequency
- frequency signal
- tracking cell
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Abstract
Tracking monitoring system technical field is the utility model is related to, is related to a kind of regional positioning device based on attitude transducer calibration.The device includes：Base station unit, it is used to carry out signal covering to the specific region centered on base station unit, the base station unit includes base station power module, base station CPU module, base station communication module, low frequency signal transmitter module, and described low frequency signal transmitter module includes three low frequency signal transmitting antennas；Tracking cell, it is at tracking object, the tracking cell includes tracking cell power module, the axle sensor module of tracking cell six, tracking cell CPU module, tracking cell communication module, low frequency signal receiving module, and described low frequency signal receiving module includes a low frequency signal reception antenna.The utility model can preferably realize positioning function.
Description
Technical field
The utility model is related to positioner technical field, specifically, be related to it is a kind of based on attitude transducer calibration
Regional positioning device.
Background technology
In the existing position sensing scheme based on low frequency signal, Base Transmitter low frequency 125K signals are used mostly, are tracked
Unit receives the region that the low frequency signal is then thought to enter base station signal covering, and the area size is generally using base station as circle
The heart, the border circular areas of radius 3-6 rice, this kind of scheme can only judge the residing general area of tracking cell roughly, cannot be accurate
The particular location in the region of locating and tracking unit.
It is also a kind of using similar techniques in special pipeline scene, judge the specific position of tracking cell in the duct
Put, core control requires that the 125K antennas of base station equipment keep complete parallel with the antenna of tracking cell, implements and used
Require higher in journey, can not apply in more general occasions.
The content of the invention
The utility model provides a kind of regional positioning device based on attitude transducer calibration, and it can overcome existing skill
It can not be accurately positioned in art and the defects of more difficult operation.
A kind of regional positioning device based on attitude transducer calibration, it includes：
Base station unit, it is used to carry out signal covering, the base station unit bag to the specific region centered on base station unit
Include base station power module, base station CPU module, base station communication module, low frequency signal transmitter module, described low frequency signal transmitting mould
Block includes three low frequency signal transmitting antennas；
Tracking cell, at tracking object, the tracking cell includes tracking cell power module, the axle of tracking cell six for it
Sensor assembly, tracking cell CPU module, tracking cell communication module, low frequency signal receiving module, described low frequency signal connect
Receiving module includes a low frequency signal reception antenna.
Preferably, described base station power module is used to power to base station unit, base station CPU module is used for the storage of data
Deposit, calculate and compare, base station communication module is used for and tracking cell carries out data transmission, and low frequency signal transmitter module is used to launch
Signal covers to specific region, three low frequency signal transmitting antenna keeping parallelisms of described low frequency signal transmitter module and
In same level, antenna is placed into triangle.
Preferably, described tracking cell power module is used to power to tracking cell, the axle sensor of tracking cell six
Module is used for the inclination angle for obtaining low frequency signal reception antenna and horizontal plane and towards data, and tracking cell CPU module is used to count
According to storage, tracking cell communication module be used for and base station unit carry out data transmission, low frequency signal receiving module be used for receive
The signal of low frequency signal transmitter module.
Preferably, described base station unit can be provided with the axle sensor module of base station six, for obtaining base station unit in real time
Low frequency signal transmitting antenna and horizontal plane inclination angle and orientation information.
Preferably, it should be received during the direction installation of the axle of the described axle sensor module of tracking cell six with low frequency signal
Antenna direction is consistent, and is in approximately the same plane, is easy to the calculating in later stage.
Preferably, base station communication module and tracking cell communication module are communicated by 2.4G or 433M signals.
In the utility model, tracking cell is only operated in the part range of base station unit low frequency signal covering, in the model
In enclosing, the signal intensity that reception antenna receives is only to the distance of equipment room, with the inclination angle of horizontal plane and towards related, reception day
The relation and computational methods of line position and signal intensity are as follows：
The signal intensity that reception antenna receives is related to the distance and angle of reception antenna and transmitting antenna, and once receives
Antenna is parallel with transmitting antenna（I.e. angle is 0 or 180 degree）When, then it is believed that signal intensity is only related to both distances,
The intensity of reception signal and the distance x of antenna relation function are f (x)；It is false when transmitting antenna is not parallel with reception antenna
With reception antenna in the case of identical distance, if variable angle to each other will be measured not transmitting antenna at reception antenna end
Same high low signal intensity, if the angle of reception antenna and transmitting antenna is α（0°<=α<=90°）, during α=0 degree, now two
Antenna parallel, obtain maximum signal；When α=90 degree, now signal intensity is most weak, is 0.According to theoretical model, Huo Zheshi
Border is calculated, and is located at transmitting and reception antenna in the case of constant, the intensity of reception signal and the pass of the change of antenna angle
It is that function is f (α)；By analysis as above, in certain condition and range, the signal intensity received by reception antenna is by day
Distance and angle joint effect between line.Signal intensity B=f (x) * f (α) of reception antenna.If can be by any one angle
Degree influence to compensation to it is parallel when signal strength values, then after signal strength values simply and distance related, f (x)=B/
f(α).In fact, different signal strength values and the relation of distance can be calculated and paint table and draw, in reality in use, only needing
Signal strength values are calculated, the distance value of base station and tracking cell is can be obtained by according to table.If the different positions on base station
Put three antennas of installation（Known to the distance between antenna）, signal is sent respectively, and tracking cell calculates three antennas respectively
The distance between, it is possible to according to triangle polyester fibre algorithm, draw absolute position of the tracking cell with respect to base station.
A kind of regional positioning device based on attitude transducer calibration of the present utility model, its principle is to install base station
Afterwards, the position relationship of low frequency signal reception antenna and base station unit can be calculated according to above-mentioned principle, and is fabricated to low frequency signal
The intensity level of reception antenna with base station location and with the inclination angle of horizontal plane and the deck watch of the relation of direction, in the positioning in later stage
During only need obtain tracking cell in low frequency signal reception antenna receive signal intensity and with the inclination angle of horizontal plane and
Towards data, it is possible to obtain tracking the position of object, accomplish fast and accurately to position.
Brief description of the drawings
Fig. 1 is the system block diagram of embodiment 1；
Fig. 2 is the system block diagram of the base station unit in embodiment 1；
Fig. 3 is the system block diagram of the tracking cell in embodiment 1.
Embodiment
To further appreciate that content of the present utility model, the utility model is described in detail in conjunction with the accompanying drawings and embodiments.
It should be appreciated that embodiment be only the utility model is explained and and it is non-limiting.
Embodiment 1
As shown in figure 1, present embodiments providing a kind of regional positioning device based on attitude transducer calibration, it includes：
Base station unit, it is used to carry out signal covering, the base station unit bag to the specific region centered on base station unit
Include base station power module, base station CPU module, base station communication module, low frequency signal transmitter module, described low frequency signal transmitting mould
Block includes three low frequency signal transmitting antennas；
Tracking cell, at tracking object, the tracking cell includes tracking cell power module, the axle of tracking cell six for it
Sensor assembly, tracking cell CPU module, tracking cell communication module, low frequency signal receiving module, described low frequency signal connect
Receiving module includes a low frequency signal reception antenna.
Wherein, described base station power module be used for give base station unit power supply, base station CPU module be used for data storage,
Calculate and compare, base station communication module is used for and tracking cell carries out data transmission, and low frequency signal transmitter module, which is used to launch, to be believed
Number specific region is covered, three low frequency signal transmitting antenna keeping parallelisms of described low frequency signal transmitter module and
In same level, certain distance is kept to be placed into triangle between antenna.
Wherein, described tracking cell power module is used to power to tracking cell, the axle sensor module of tracking cell six
For obtaining the inclination angle of low frequency signal reception antenna and horizontal plane and being used for data towards data, tracking cell CPU module
Storage, tracking cell communication module is used for and base station unit carries out data transmission, and low frequency signal receiving module is used to receive low frequency
The signal of signal emission module.
Wherein, described base station unit can be provided with the axle sensor module of base station six, for obtaining the low of base station unit in real time
The inclination angle and orientation information of frequency signal transmitting antenna and horizontal plane.
Wherein, should be with low frequency signal reception antenna during the direction installation of the axle of the described axle sensor module of tracking cell six
Direction is consistent, and is in approximately the same plane.
Wherein, base station communication module and tracking cell communication module are communicated by 2.4G or 433M signals.
During real work, mounted base station first, base station unit obtains low frequency signal transmitting antenna and horizontal plane after installation
Inclination angle and towards data, and be stored in base station CPU module；Base station CPU module connects according to the data and low frequency signal of acquisition
The intensitometer for receiving antenna reception signal calculates distance pass of the low frequency signal reception antenna respectively with three low frequency signal transmitting antennas
System；According to the low frequency signal reception antenna of the acquisition distance relation and three low frequencies with three low frequency signal transmitting antennas respectively
The inclination angle of signal transmitting antenna and horizontal plane and towards data, calculates the absolute position of low frequency signal reception antenna and base station unit
Put relation, and be fabricated to the intensity level of low frequency signal reception antenna and with base station location and with the inclination angle of horizontal plane and direction
The deck watch of relation is stored in base station CPU module；By tracking cell at tracking object, when tracking object is believed into base station
During number overlay area, the intensity level of the low frequency signal reception antenna of tracking cell is obtained and with the inclination angle of horizontal plane and towards number
According to, the position of tracking object can be obtained by contrasting the deck watch of making.
With reference to shown in Fig. 2, base station unit include base station power module, the axle sensor module of base station six, base station CPU module,
Base station communication module, low frequency signal transmitter module, wherein, the axle sensor module of base station six is not essential, if base station unit
The axle sensor module of mounted base station six, then can obtain in real time the inclination angle of base station unit low frequency signal transmitting antenna and horizontal plane with
And towards data, if base station unit is fitted without the axle sensor module of base station six, after need to only being installed in base station, low frequency signal
The inclination angle of transmitting antenna and horizontal plane and towards in the prior typing base station of data, once base station location adjusts, is then re-typed,
Therefore, considered based on low cost, without each axle sensor module of base station mounted base station six again.
With reference to shown in Fig. 3, tracking cell includes tracking cell power module, the axle sensor module of tracking cell six, tracking
Unit CPU module, tracking cell communication module, low frequency signal receiving module.
In the present embodiment the low frequency signal reception antenna of tracking cell use one, be possible in active procedure occur with
The vertical situation of the low frequency signal transmitting antenna of base station unit, signal intensity now is 0, can not calculate range information, is solved
Method be to be placed in tracking cell using three low frequency signal reception antennas into solid, can not possibly so go out in use
Existing three with low frequency signal reception antenna signal intensity be all 0 situation, during calculating only need to that most strong root antenna of the number of winning the confidence enter
Row calculates.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without designing and the technical scheme for creativeness
Similar frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (6)
- A kind of 1. regional positioning device based on attitude transducer calibration, it is characterised in that：Including：Base station unit, it is used to carry out signal covering to the specific region centered on base station unit, and the base station unit includes base Stand power module, base station CPU module, base station communication module, low frequency signal transmitter module, described low frequency signal transmitter module bag Include three low frequency signal transmitting antennas；Tracking cell, it is at tracking object, and the tracking cell includes tracking cell power module, the axle of tracking cell six senses Device module, tracking cell CPU module, tracking cell communication module, low frequency signal receiving module, described low frequency signal receive mould Block includes a low frequency signal reception antenna.
- A kind of 2. regional positioning device based on attitude transducer calibration according to claim 1, it is characterised in that：It is described Base station power module be used for give base station unit power supply, base station CPU module be used for data storage, calculating and comparison, base station leads to Letter module is used for and tracking cell carries out data transmission, and low frequency signal transmitter module covers for transmission signal to specific region Lid, three low frequency signal transmitting antenna keeping parallelisms of described low frequency signal transmitter module and in same level, antenna Placed into triangle.
- A kind of 3. regional positioning device based on attitude transducer calibration according to claim 1, it is characterised in that：It is described Tracking cell power module be used to give tracking cell power supply, the axle sensor module of tracking cell six is used to obtain low frequency signal and connect Receive the inclination angle of antenna and horizontal plane and towards data, tracking cell CPU module is used for the storage of data, tracking cell communication mould Block is used for and base station unit carries out data transmission, and low frequency signal receiving module is used for the signal for receiving low frequency signal transmitter module.
- A kind of 4. regional positioning device based on attitude transducer calibration according to claim 1, it is characterised in that：It is described Base station unit can be provided with the axle sensor module of base station six, in real time obtain base station unit low frequency signal transmitting antenna and water The inclination angle of plane and orientation information.
- A kind of 5. regional positioning device based on attitude transducer calibration according to claim 3, it is characterised in that：It is described The axle sensor module of tracking cell six axle direction installation when should be consistent with low frequency signal reception antenna direction, and locate In approximately the same plane.
- A kind of 6. regional positioning device based on attitude transducer calibration according to claim 1, it is characterised in that：Base station Communication module and tracking cell communication module are communicated by 2.4G or 433M signals.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721018203.9U CN207008053U (en) | 2017-08-15 | 2017-08-15 | A kind of regional positioning device based on attitude transducer calibration |
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| CN201721018203.9U CN207008053U (en) | 2017-08-15 | 2017-08-15 | A kind of regional positioning device based on attitude transducer calibration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407079A (en) * | 2017-08-15 | 2019-03-01 | 杭州米越科技有限公司 | A kind of regional positioning device and method based on attitude transducer calibration |
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- 2017-08-15 CN CN201721018203.9U patent/CN207008053U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407079A (en) * | 2017-08-15 | 2019-03-01 | 杭州米越科技有限公司 | A kind of regional positioning device and method based on attitude transducer calibration |
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