CN207036120U - A kind of alignment system based on ultra wide band positioning and inertial navigation technology - Google Patents
A kind of alignment system based on ultra wide band positioning and inertial navigation technology Download PDFInfo
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- CN207036120U CN207036120U CN201720171975.XU CN201720171975U CN207036120U CN 207036120 U CN207036120 U CN 207036120U CN 201720171975 U CN201720171975 U CN 201720171975U CN 207036120 U CN207036120 U CN 207036120U
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- human body
- wide band
- inertial navigation
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Abstract
The utility model discloses a kind of alignment system based on ultra wide band positioning and inertial navigation technology, including ultra wide band locating module and inertial navigation module；The ultra wide band locating module includes CPU, UWB receivers and UWB labels；The UWB receivers connect with CPU communication, and it is used for the position signalling for receiving the transmitting of UWB labels, and sends it to CPU；CPU calculates current location by position signalling；The inertial navigation module includes velocity sensor, gyro sensor, barometer and host computer, and it is used for the atmospheric pressure value for detecting human body walking speed, human body steering angle and detection target present position；The signal input part of host computer is connected with velocity sensor, gyro sensor and barometer respectively, and it is used to receive the human body speed of travel, human body steering angle and atmospheric pressure value, and human body walking speed and human body steering angle are used to calculate human body direct of travel and distance.
Description
Technical field
Positioner field is the utility model is related to, specifically, is related specifically to a kind of based on ultra wide band positioning and used
The alignment system of property airmanship.
Background technology
Super-broadband tech is an emerging in recent years wireless technology, before wireless indoor positioning field has well
Scape.UWB technology is that (UWB can realize hundreds of Mbit/s to several Gbit/s to a kind of transmission rate height in the range of 10 meters or so
Message transmission rate.), transmission power is relatively low, and penetration capacity is relatively strong and is the wireless technology based on ultra-narrow pulse, carrierfree.
But the technology, when application environment has different barriers and stop, its positioning precision is easily affected,
Such as：
1) solid wall：This block of solid wall will cause UWB signal decay 60-70% positioning precisions error to rise 30 lis
Rice or so, two are seen or two solid walls for seeing the above block, and UWB will be caused not position.
2) steel plate：Steel is very serious to the absorption of UWB pulse signals, and UWB will be caused not position.
3) electric pole or trees：Electric pole either it is written need when blocking to see between them apart from base station or label away from
From, and the relative distance of base station and label compare whether very little, such as, base station and positioning 50 meters of tag distances, electric pole or
Trees are just situated between, this to block just without big influence at 25 meters, such as close from base station or tag distances to be less than 1
Rice, influence just very big.
Inertial navigation system is independent of any auxiliary equipment such as aeronautical satellite, wireless base station, electronic tag and priori number
It is a kind of navigation system of entirely autonomous formula according to storehouse.By being integrated into small-sized wearable inertial sensor, installed in delivery
On body, the precise positioning of personnel, vehicle, mobile robot etc. under any scene can be achieved.But work long hours can accumulate compared with
Big error, it is therefore desirable to constantly corrected to it.
Utility model content
The purpose of this utility model is to be directed to deficiency of the prior art, there is provided one kind is based on ultra wide band positioning and inertia
The alignment system of airmanship, to solve problems of the prior art.
The technical problem that the utility model solves can be realized using following technical scheme：
A kind of alignment system based on ultra wide band positioning and inertial navigation technology, including ultra wide band locating module and inertia are led
Model plane block；
The ultra wide band locating module includes CPU, UWB receivers and UWB labels；
The UWB labels are carried by positioning target, and it is used to launch position signalling；The UWB receivers and central processing
Unit communications connect, and it is used for the position signalling for receiving the transmitting of UWB labels, and sends it to CPU；In described
Central Processing Unit is used to parse position signalling, and calculates the current location of positioning target；
The inertial navigation module includes multi-shaft inertial measuring unit, barometer and host computer, the multi-shaft inertial measurement
Unit includes velocity sensor and gyro sensor, and it is used to detect human body walking speed and human body steering angle, barometer
For detecting the atmospheric pressure value of target present position；The signal input part of host computer respectively with velocity sensor, gyro sensor
Connected with barometer, it is used to receive the human body speed of travel, human body steering angle and atmospheric pressure value, and human body walking speed and human body turn
It is used to calculate human body direct of travel and distance to angle, atmospheric pressure value is used to correct object height information.
Further, the ultra wide band locating module and inertial navigation module are respectively positioned on the waist of human body.
Further, the ultra wide band locating module is located at the waist of human body, and inertial navigation module is located at the foot of human body.
Further, the UWB receivers are provided with some places, and some UWB receivers form multiple positioning component, institute
UWB labels are stated to be located in the range of the receiving of multiple positioning component.
Compared with prior art, the beneficial effects of the utility model are as follows：
By using ultra wide band locating module and the alignment system of inertial navigation module, ultra wide band locating module can be to inertia
Navigation module carries out drift correction, and inertial navigation module can carry out precisely fixed when broadband locating module is by barrier obstruction
Position, by both combinations, improve the accuracy of alignment system.
Brief description of the drawings
Fig. 1 is the structural frames of the alignment system described in the utility model based on ultra wide band positioning and inertial navigation technology
Figure.
Fig. 2 is the workflow of the alignment system described in the utility model based on ultra wide band positioning and inertial navigation technology
Figure.
Fig. 3 is the structured flowchart of ultra wide band locating module described in the utility model.
Fig. 4 is the structured flowchart of inertial navigation module described in the utility model.
Fig. 5 is the logical schematic of inertial navigation module described in the utility model.
Embodiment
Technological means, creation characteristic, reached purpose and effect to realize the utility model are easy to understand, below
With reference to embodiment, the utility model is expanded on further.
It is described in the utility model a kind of based on ultra wide band positioning and inertial navigation referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5
The alignment system of technology, including ultra wide band locating module and inertial navigation module；
The ultra wide band locating module includes CPU, UWB receivers and UWB labels；
The UWB labels are carried by positioning target, and it is used to launch position signalling；The UWB receivers and central processing
Unit communications connect, and it is used for the position signalling for receiving the transmitting of UWB labels, and sends it to CPU；In described
Central Processing Unit is used to parse position signalling, and calculates the current location of positioning target；
The inertial navigation module includes multi-shaft inertial measuring unit, barometer and host computer, the multi-shaft inertial measurement
Unit includes velocity sensor and gyro sensor, and it is used to detect human body walking speed and human body steering angle, barometer
For detecting the atmospheric pressure value of target present position；The signal input part of host computer respectively with velocity sensor, gyro sensor
Connected with barometer, it is used to receive the human body speed of travel, human body steering angle and atmospheric pressure value, and human body walking speed and human body turn
It is used to calculate human body direct of travel and distance to angle, atmospheric pressure value is used to correct object height information.
It is pointed out that the hardware design of ultra wide band locating module and inertial navigation module is desirably integrated into a small perfume (or spice)
Inside the equipment of cigarette case size, installed in the waist location of human body, it is easy to carry.Ultra wide band locating module and inertial navigation module
Data the positioning interval that make up ultra wide band can be resolved with inertia high speed position with stringent synchronization.
Locating effect is poor from the point of view of real experiences, and sensor is arranged on waist, not bad under normal gait, but works as
Precise decreasing problem just occurs when people's random little step, sidesway, retrogressing, and these actions are very common in VR applications.
Another scheme is " foot inertial navigation (precision is high)+ultra wide band (waist) ", wears a small-sized inertial navigation positioning
Module and waist are equipped with a ultra-wide tape label, and inertial navigation module carries out location-independent, and it is auxiliary to lay a small amount of ultra wide band base station progress
Positioning is helped, i.e., the error of inertial navigation accumulation for a long time is calibrated.
The UWB receivers are provided with some places, and some UWB receivers form multiple positioning component, the UWB labels
In the range of the receiving of multiple positioning component, CPU can be sent by the diverse location UWB receivers received
Signal time difference, be accurately positioned to realize.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model
Claimed scope is by appended claims and its equivalent thereof.
Claims (4)
- A kind of 1. alignment system based on ultra wide band positioning and inertial navigation technology, it is characterised in that：Including ultra wide band positioning mould Block and inertial navigation module；The ultra wide band locating module includes CPU, UWB receivers and UWB labels；The UWB labels are carried by positioning target, and it is used to launch position signalling；The UWB receivers and CPU Communication connection, it is used for the position signalling for receiving the transmitting of UWB labels, and sends it to CPU；The centre Reason unit is used to parse position signalling, and calculates the current location of positioning target；The inertial navigation module includes multi-shaft inertial measuring unit, barometer and host computer, the multi-shaft inertial measuring unit Including velocity sensor and gyro sensor, it is used to detect human body walking speed and human body steering angle, and barometer is used for Detect the atmospheric pressure value of target present position；The signal input part of host computer is gentle with velocity sensor, gyro sensor respectively Pressure meter connection, it is used to receive the human body speed of travel, human body steering angle and atmospheric pressure value, human body walking speed and human body steering angle Spend for calculating human body direct of travel and distance, atmospheric pressure value is used to correct object height information.
- 2. the alignment system according to claim 1 based on ultra wide band positioning and inertial navigation technology, it is characterised in that：Institute State ultra wide band locating module and inertial navigation module is respectively positioned on the waist of human body.
- 3. the alignment system according to claim 1 based on ultra wide band positioning and inertial navigation technology, it is characterised in that：Institute The waist that ultra wide band locating module is located at human body is stated, inertial navigation module is located at the foot of human body.
- 4. the alignment system according to claim 1 based on ultra wide band positioning and inertial navigation technology, it is characterised in that：Institute State UWB receivers and be provided with some places, some UWB receivers form multiple positioning component, and the UWB labels, which are located at, to be reset more In the range of the receiving of hyte part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720171975.XU CN207036120U (en) | 2017-02-24 | 2017-02-24 | A kind of alignment system based on ultra wide band positioning and inertial navigation technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720171975.XU CN207036120U (en) | 2017-02-24 | 2017-02-24 | A kind of alignment system based on ultra wide band positioning and inertial navigation technology |
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| Publication Number | Publication Date |
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| CN207036120U true CN207036120U (en) | 2018-02-23 |
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| CN201720171975.XU Expired - Fee Related CN207036120U (en) | 2017-02-24 | 2017-02-24 | A kind of alignment system based on ultra wide band positioning and inertial navigation technology |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109238279A (en) * | 2018-09-28 | 2019-01-18 | 南京沃旭通讯科技有限公司 | A kind of trolley fusion and positioning method based on Gait Recognition |
| CN110197717A (en) * | 2019-05-31 | 2019-09-03 | 成都金盘电子科大多媒体技术有限公司 | A kind of medical quality managent system and management method |
| CN110736960A (en) * | 2019-09-24 | 2020-01-31 | 浙江农林大学 | standing tree position measuring device and method |
| CN112747747A (en) * | 2021-01-20 | 2021-05-04 | 重庆邮电大学 | Improved UWB/IMU fusion indoor pedestrian positioning method |
-
2017
- 2017-02-24 CN CN201720171975.XU patent/CN207036120U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109238279A (en) * | 2018-09-28 | 2019-01-18 | 南京沃旭通讯科技有限公司 | A kind of trolley fusion and positioning method based on Gait Recognition |
| CN110197717A (en) * | 2019-05-31 | 2019-09-03 | 成都金盘电子科大多媒体技术有限公司 | A kind of medical quality managent system and management method |
| CN110736960A (en) * | 2019-09-24 | 2020-01-31 | 浙江农林大学 | standing tree position measuring device and method |
| CN110736960B (en) * | 2019-09-24 | 2021-08-24 | 浙江农林大学 | Standing tree position measuring device and method |
| CN112747747A (en) * | 2021-01-20 | 2021-05-04 | 重庆邮电大学 | Improved UWB/IMU fusion indoor pedestrian positioning method |
| CN112747747B (en) * | 2021-01-20 | 2022-10-11 | 重庆邮电大学 | Improved UWB/IMU fusion indoor pedestrian positioning method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180223 Termination date: 20190224 |
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| CF01 | Termination of patent right due to non-payment of annual fee |