CN207662411U - A kind of secrecy box with navigation feature - Google Patents
A kind of secrecy box with navigation feature Download PDFInfo
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- CN207662411U CN207662411U CN201721758217.4U CN201721758217U CN207662411U CN 207662411 U CN207662411 U CN 207662411U CN 201721758217 U CN201721758217 U CN 201721758217U CN 207662411 U CN207662411 U CN 207662411U
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- module
- secrecy box
- babinet
- bracelet
- navigation feature
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Abstract
The utility model is related to a kind of secrecy box with navigation feature, including babinet, bracelet and safety guard, safety guard is embedded in babinet, and bracelet is equipped with temperature detecting module, and bracelet is wirelessly connected with safety guard；The safety guard includes microprocessor, babinet alarm, power module, I/O modules, data memory module, self-destructor, chip encryption module, integrated positioning module and communication and wireless transport module.Once the temperature of human body is less than setting value or secrecy box is abnormal or radio wave interrupts, system will alarm to monitoring center, and human body and secrecy box also can same alarm, the state of human body, secrecy box and human body and secrecy box can be monitored in real time.Using combined orientation technology, Point-positioning Precision is improved, the location information of energy real time location tracking secrecy box, posture information, velocity information are monitored in real time and recorded to the running route of secrecy box.
Description
Technical field
The utility model is related to luggage security technology areas, and in particular to a kind of secrecy box with navigation feature.
Background technology
Currently, bag lock mostly uses greatly dial-up mode or mechanical structure, also there is part luggage to use electronic cipher identification
Mode.Due to the single and low confidentiality of itself function, oneself is not through being well positioned to meet the social demand with market.
, all there is larger defect in two kinds of current traditional luggage modes：For dial-up mode, since which employs machines
Tool structure, can be opened using corresponding mechanical means, not have good security performance；For easy electronic cipher side
Formula is easy to crack using the password that several single number combinations are formed；Meanwhile dial-up mode and electronic cipher side
Formula cannot all carry out remote monitoring and in real time positioning, can not carry out remote alarms.
Utility model content
The purpose of this utility model is to provide a kind of secrecy boxes with navigation feature, are protected to solve existing secrecy box
The secrecy box collection of the problem that close sexual function is single, safety is poor, the utility model positions in real time, remote monitoring and automatic alarm etc.
Function is in one.
To achieve the above object, specifically, it with the secrecy box of navigation feature should include babinet, bracelet and safeguard protection dress
It sets, safety guard is embedded in babinet, and bracelet is equipped with temperature detecting module, and bracelet is wirelessly connected with safety guard；
The safety guard includes microprocessor, babinet alarm, power module, I/O modules, data storage mould
Block, self-destructor, chip encryption module, integrated positioning module and communication and wireless transport module, babinet alarm, power supply mould
Block, I/O modules, data memory module, self-destructor, chip encryption module, integrated positioning module and communication and wireless transmission mould
Block is connect with microprocessor, and receives and execute microprocessor instruction.
Self-destructor is additionally provided in the babinet, self-destructor is connect with microprocessor.
The microprocessor is MCU.
The safety guard further includes chip encryption module, and chip encryption module is connect with microprocessor.
The integrated positioning module includes satellite positioning module and Inertial Measurement Unit.
The satellite positioning module is GPS/BD compatible modules.
The Inertial Measurement Unit includes three axis accelerometer, three-axis gyroscope, three axle magnetometer and barometertic altimeter.
The Inertial Measurement Unit preferably three axis normal acceleration meters, the orthogonal gyroscope of three axis, three axis orthogonal magnetometers and
Barometertic altimeter
The bracelet is equipped with bracelet alarm.
The babinet is equipped with the camera of connection microprocessor.
The localization method of secrecy box, the integrated positioning module includes satellite positioning module and Inertial Measurement Unit；
The localization method includes the following steps：
S1, the carrier phase tracking circuit using the bandwidth self-adaption based on fuzzy inference system, when satellite-signal noise
Carrier phase tracking loop bandwidth is reduced when than reducing, and improving the anti-noise jamming ability of receiver；
S2, the adaptive Kalman filtering Integrated Navigation Algorithm of noise model is measured using based on fuzzy inference system,
Description measures noise variation, and adjustment in real time measures noise variance matrix, improves Integrated Navigation Algorithm anti-noise jamming ability.
The step S1 is as follows：
S101, signal-to-noise ratio C/N0 is calculated according to the transformed GPS digital signals of downconverted and digital-to-analogue, formula is as follows：
Wherein：
A is GPS signal amplitude, M in upper two formulaEIt is integrating meter numerical value, δiqFor signal noise standard deviation, TIntWhen to integrate
Between.
S102, Fuzzy control system is established, is input with C/N0, is output with GPS tracking loop bandwidth, using such as lower die
Paste inference rule：
(1) if signal-to-noise ratio is less than 30dB, phase-locked loop width；
(2) if signal-to-noise ratio is 30~40dB, bandwidth of phase lock loop is moderate；
(3) if signal-to-noise ratio is higher than 40dB, phase-locked loop is wide；
Fuzzy control system is currently exported as carrier phase tracking loop band width values next time, realizes carrier loop band
Wide adaptive adjustment improves GPS or triones navigation system noise antijamming capability.
The step S2 is as follows：
S201, the new breath for calculating Thalmann filter, such as formula (4)
Wherein, zkFor practical measurement, HkFor measurement matrix,For the primary estimation of system mode.
S202, the theoretical variance of new breath is calculated, can be calculated by formula (5)：
Wherein Fk/k-1For systematic state transfer matrix, Pk-1For estimated state variance matrix, Qk-1For system noise acoustic matrix, Rk-1For
Measure noise battle array.
The realized variance that S203, calculating newly cease can be calculated by nearest N number of new breath vector, be indicated with formula (6)：
S204, the ratio for calculating new breath realized variance and theoretical variance.Due toWithIt both is set to diagonal matrix, because
This ratio is also diagonal matrix：
S205, design fuzzy inference system, newly to cease the ratio of realized variance and theoretical variance as fuzzy inference system
Input, to measure the correction factor of noise model as the output of fuzzy inference system, fuzzy inference rule has following three：
(1) if newly breath realized variance and the ratio of theoretical variance are lower, the correction factor for measuring noise model becomes smaller；
(2) if newly breath realized variance and the ratio of theoretical variance are constant (for 1), the correction factor of noise model is measured
Constant (for 1)；
(3) if newly breath realized variance and the ratio of theoretical variance are got higher, the correction factor for measuring noise model becomes larger.
Adaptive Kalman filter algorithm based on fuzzy inference system can ensure that integrated navigation system is measuring noise
It is still accurate that noise model is measured in the case of changing greatly, and system state estimation value is still optimal.
The utility model has the following advantages that：
1, bracelet is connect by radio with the safety guard in secrecy box, once the temperature of human body is less than setting value
Or secrecy box is abnormal or radio wave interrupts, system will alarm to monitoring center, and human body also can with secrecy box
Same alarm can monitor the state of human body, secrecy box and human body and secrecy box in real time.
2, using combined orientation technology, Point-positioning Precision, the location information of energy real time location tracking secrecy box, appearance are improved
State information, velocity information are monitored in real time and are recorded to the running route of secrecy box.
3, it by the way that chip encryption module built-in encryption chip is arranged, is transmitted after all data palpuses are encrypted so that pass
Defeated data more safety and stability is reliable.
Once 4, secrecy box is abnormal, monitoring center or microprocessor will start self-destructor, prevent secret leakage,
Cause irremediable loss.
5, the utility model not only adjusts satellite signal receiver bandwidth in real time, while in Integrated Navigation Algorithm
Measurement noise model also carry out adaptive correction so that integrated navigation system is in subsystem level and combinational algorithm level
Anti-noise jamming ability is all enhanced.It is obviously improved integrated navigation system anti-noise jamming ability, in satellite-signal noise
Relatively low and integrated navigation system in the case that noise changes greatly precision is obviously improved.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model embodiment 1.
Fig. 2 is the schematic diagram of safety guard in embodiment 1.
Fig. 3 is the structural schematic diagram of self-destructor.
Fig. 4 is the schematic diagram of secrecy box localization method.
Fig. 5 be receiver make an uproar than with bandwidth relationship.
Fig. 6 is conventional method and novel method noise model comparing result.
Fig. 7 is conventional method and novel method navigation accuracy comparing result.
Fig. 8 is the schematic diagram of safety guard in the utility model embodiment 2.
Fig. 9 is the structural schematic diagram of 2 middle case of embodiment.
In figure：1- babinet 2- safety guard 3- pull rod 4- babinet alarm 5- bracelet 6- bracelet alarms 7-
Partition board 8- self-destruction solution storage chamber 9- drawstring 10- cameras.
Specific implementation mode
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
Embodiment 1
Should include babinet 1, bracelet 5 and safety guard 2, safeguard protection with the secrecy box of navigation feature referring to Fig. 1
Device 2 is embedded in babinet 1, and babinet 1 is equipped with pull rod 3, and babinet 1 is equipped with babinet alarm 4, and bracelet 5 is alarmed equipped with bracelet
Device 6, bracelet 5 are equipped with temperature detecting module, and bracelet 5 is wirelessly connected with safety guard 2.Once the temperature of human body is less than setting
Value or secrecy box are abnormal or radio wave interrupts, and system will alarm to monitoring center, and bracelet 5 and secrecy box
The same alarm of meeting, can monitor the state of human body, secrecy box and human body and secrecy box in real time.
Referring to Fig. 2, safety guard 2 includes MCU (microcontroller), babinet alarm, power module, I/O modules, data
Memory module, self-destructor, chip encryption module, integrated positioning module and communication and wireless transport module, babinet alarm, electricity
Source module, I/O modules, data memory module, self-destructor, chip encryption module, integrated positioning module and communication and wireless biography
Defeated module is connect with MCU, is received and is executed MCU instructions.
Communication and wireless transport module can with but be not limited to the digital networks such as 2G, 3G, 4G, can also be based on honeycomb
Narrowband Internet of Things (Narrow Band Internet of Things, NB-IoT), for the higher unit of confidentiality requirement
Or department, private network may be used and be attached.In order to keep transmission data more safety and stability reliable, data first pass around chip
Encrypting module is encrypted, then the information such as location data are issued background management system by private network.Babinet alarm 4 with
MCU connections.It is stored with the information of safe and secret case manager in data memory module, data are entered information into using I/O modules
In memory module.
Further, integrated positioning module includes satellite positioning module and Inertial Measurement Unit, and satellite positioning module can be with
Including but not limited to BD (Big Dipper) locating modules or GPS positioning module or Galileo satellite locating module or GLONASS satellite
Locating module.We are preferably GPS/BD compatible modules.Inertial Measurement Unit can include but is not limited to three axis accelerometer, three
Axis gyroscope, three axle magnetometer and barometertic altimeter, we are preferably three axis normal acceleration meters, the orthogonal gyroscope of three axis, three
Axis orthogonal magnetometers and barometertic altimeter.
By the way that three axis normal acceleration meters and the orthogonal gyroscope of three axis is arranged in Inertial Measurement Unit, load can be calculated
Pitch angle, the roll angle of body.The data of three axle magnetometer can obtain the component in horizontal direction by pitching, roll processing,
Course angle can be obtained by the horizontal component of each axis, and the magnetic in three directions of carrier can be obtained by the data of three axle magnetometer
Intensity, pitch angle, roll angle in conjunction with calculated carrier, the horizontal magnetic field that can be obtained under local horizontal coordinates are strong
Degree, can be calculated course angle accordingly.
Data anastomosing algorithm is used on software, using Extended Kalman filter technology, to Inertial Measurement Unit data and is defended
The data of star locating module are merged, and single-point satellite positioning precision is improved.Data anastomosing algorithm include posture analysis program,
Velocity calculated program, position solver and sensor merge location algorithm program.
Posture analysis program can be according to three axis normal acceleration meters, the orthogonal gyroscope of three axis, three axis orthogonal magnetometers
Data obtain the current pitch angle, roll angle, course angle of secrecy box, realize and are accurately positioned, and monitor the posture of secrecy box, such as
Fruit secrecy box such as occurs rolling the improper posture, then alarms.
Referring to Fig. 3, self-destructor is additionally provided in babinet 1, self-destructor is connect with MCU.Once secrecy box is abnormal, prison
Control center or MCU will start self-destructor, secret leakage be prevented, to prevent major structure at irremediable loss.Self-destructor
Including partition board 7 and drawstring 9, the setting of partition board 7 forms a self-destruction solution storage chamber 8 in 1 upper inside of babinet, with 1 inner wall of babinet,
Corrosive liquids either ink is filled in self-destruction solution storage chamber 8, one end of drawstring 9 is fixedly connected with partition board 7, another
End be connected with drive its movement motor, when needing self-destruction, motor drag drawstring 9 tears partition board 7, corrosive liquids or
Ink is spilt on the file in babinet 1, to prevent confidential information to be stolen.
The course of work of the utility model is as follows：
Initialization and self-test are carried out to safety guard 2 first, if there is exception, can be alarmed, secrecy box is scrapped；If
Normally, then it can prompt normal operation signal, secrecy box that can use.
Secondly whether detecting system is intact, and human body wears the bracelet 5 with temperature detecting function that system is equipped with, in monitoring
The heart registers the original position information of the initial essential information and babinet 1 of human body, and the bracelet 5 with temperature detecting function passes through short distance
Wireless communication connection enters working condition if all normal.
Positioning：By the way that safety guard 2 is arranged, the location information of secrecy box, posture information, speed can be believed in real time
Status information (whether human body detaches with secrecy box) real-time report monitoring center of breath, human body and secrecy box, reaches to secrecy box
Real time monitoring.
Referring to Fig. 4, the localization method of the secrecy box of the utility model specifically includes following steps：
S1, satellite signal receiver bandwidth self-adaption is adjusted, is to be by the signal-to-noise ratio (i.e. C/N0) with satellite-signal
What the fuzzy inference system of input was realized.If signal-to-noise ratio reduces, illustrate that noise becomes larger, the bandwidth of phase lock loop of satellite receiver should drop
It is low to obtain better filter effect, i.e., stronger anti-noise jamming ability；If signal-to-noise ratio increases, illustrate that noise becomes smaller, to obtain
Better dynamic property is obtained, the bandwidth of phase lock loop of satellite receiver should be improved accordingly.Due to not bright between signal-to-noise ratio and bandwidth
True mathematical relationship, and bandwidth of phase lock loop does not have unique optimal value under the conditions of different noises, Different Dynamic, therefore adjusted from simplifying
Principle, raising robustness angle are set out, suitable for being adjusted to receiver bandwidth of phase lock loop using fuzzy inference system.Specific step
It is rapid as follows：
S101, signal-to-noise ratio C/N0 is calculated according to the transformed GPS digital signals of downconverted and digital-to-analogue, formula is as follows：
Wherein：
A is GPS signal amplitude, M in upper two formulaEIt is integrating meter numerical value, δiqFor signal noise standard deviation, TIntWhen to integrate
Between.
S102, Fuzzy control system is established, is input with C/N0, is output with GPS tracking loop bandwidth, using such as lower die
Paste inference rule：
(1) if signal-to-noise ratio is less than 30dB, phase-locked loop width；
(2) if signal-to-noise ratio is 30~40dB, bandwidth of phase lock loop is moderate；
(3) if signal-to-noise ratio is higher than 40dB, phase-locked loop is wide；
Fuzzy control system is currently exported as carrier phase tracking loop band width values next time, realizes carrier loop band
Wide adaptive adjustment improves GPS or triones navigation system noise antijamming capability.
The input C/N0 of fuzzy inference system is tracking result (the same phase generated according to receiver " integral-clearing " process
Signal and orthogonal signalling), it is calculated using " variance summation algorithm (VSM) ".
S2, on the basis of receiver bandwidth adaptively adjusts, the utility model additionally uses adaptive Kalman filter
Technology adjusts the measurement noise model of integrated navigation system in real time, and the method is also to be realized by fuzzy inference system
's.The basic principle for measuring noise model adjustment is so that the new breath variance of the theory of Kalman filter and practical new breath variance one
It causes.It is as follows：
S201, the new breath for calculating Thalmann filter, new breath refer to predicting that measurement is measured with practical in Kalman filter
The difference of amount, such as formula (4)
Wherein, zkFor practical measurement, HkFor measurement matrix,For the primary estimation of system mode.
S202, new breath show Kalman filtering algorithm state：If system mode models and measurement matrix is correct, and is
System noise and measurement noise model are accurate, and Kalman filtering is normal, then new breath should be the white noise of zero-mean, and calculating is new to cease reason
By variance, can be calculated by formula (5)：
Wherein Fk/k-1For systematic state transfer matrix, Pk-1For estimated state variance matrix, Qk-1For system noise acoustic matrix, Rk-1For
Measure noise battle array.
The realized variance that S203, calculating newly cease can be calculated by nearest N number of new breath vector, be indicated with formula (6)：
S204, the ratio for calculating new breath realized variance and theoretical variance.Due toWithIt both is set to diagonal matrix, because
This ratio is also diagonal matrix：
S205, design fuzzy inference system, newly to cease the ratio of realized variance and theoretical variance as fuzzy inference system
Input, to measure the correction factor of noise model as the output of fuzzy inference system, fuzzy inference rule has following three：
(1) if newly breath realized variance and the ratio of theoretical variance are lower, the correction factor for measuring noise model becomes smaller；
(2) if newly breath realized variance and the ratio of theoretical variance are constant (for 1), the correction factor of noise model is measured
Constant (for 1)；
(3) if newly breath realized variance and the ratio of theoretical variance are got higher, the correction factor for measuring noise model becomes larger.
If Kalman filter is working properly, new breath and realized variance and theoretical variance should be consistent.If
Deviation occurs for theoretical variance and realized variance, then illustrates that there are errors in computation for theoretical variance, reason may be system model mistake or
Noise model is inaccurate.
In general, Fk/k-1、Pk-1And Qk-1All be easy to get or measure and accuracy is higher, and measures noise battle array Rk-1
It is then to change with noise variation is measured, may changes in varied situations more violent.To satellite and inertia combined navigation system
For system, measurement can be the pseudorange and pseudorange rates of all visible satellites, and wherein pseudorange rates are obtained by phaselocked loop, if satellite is believed
Number noise changes greatly, and pseudorange rates noise can also change, and will correct measure noise battle array R at this timek-1。
When pseudorange rates noise changes, the realized variance meeting respective change newly ceased thus can be according to theoretical variance
Difference amendment with realized variance measures noise model Rk-1, to realize that adaptive Kalman filter algorithm, i.e. real-time online are repaiied
It is positive to measure noise model.
Adaptive Kalman filter algorithm based on fuzzy inference system can ensure that integrated navigation system is measuring noise
It is still accurate that noise model is measured in the case of changing greatly, and system state estimation value is still optimal.
Referring to Fig. 5, it is proof scheme validity, noise was artificially added at the 20th second so that signal-to-noise ratio becomes from 45dB-Hz
For 25dB-Hz, when 30s, slowly gos up again, until 45dB-Hz.It will be seen from figure 1 that bandwidth of phase lock loop when signal-to-noise ratio reduces
It is reduced rapidly, to enhance receiver noise anti-interference ability.
Referring to Fig. 6, upper figure is to measure the comparison of noise criteria difference, and figure below is theoretical new breath variance and practical new breath variance ratio
Comparing result.It can be seen from the figure that the utility model proposes system schema can to measure noise model carry out it is online
Adjustment so that theoretical new breath variance is always 1 (i.e. 0dB) with practical new breath variance ratio, and legacy system then can not adjustment amount
Survey noise model, changing in noise, newly breath variance ratio changes up to 20dB stylish breath variance with reality.
Referring to Fig. 7, from the graph, it is apparent that (the 20s- when satellite-signal noise is relatively low apparent with noise variation
35s), novel navigation system navigation accuracy is substantially better than conventional combination navigation system.
The utility model is combined by fuzzy self-adaption bandwidth of phase lock loop with Fuzzy Adaptive Kalman Filtering algorithm, is made
It obtains integrated navigation system noise resisting ability to be remarkably reinforced, still in the case where satellite-signal noise is relatively low and noise changes greatly
The navigation of degree of precision can be kept to export, the visible Figure of description of comparing result figure 5~7.
Embodiment 2
Referring to Fig. 8~9, the safety guard 2 in the present embodiment further includes a camera 10, the camera 10 with
MCU connections, when secrecy box starts to start self-check program, camera 10 carries out captured in real-time, and photographing information is passed through communication
And wireless transport module is uploaded to monitoring center.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (9)
1. a kind of secrecy box with navigation feature, it is characterised in that：The secrecy box includes babinet, bracelet and safeguard protection dress
It sets, safety guard is embedded in babinet, and bracelet is equipped with temperature detecting module, and bracelet is wirelessly connected with safety guard；
The safety guard include microprocessor, babinet alarm, power module, I/O modules, data memory module, from
Ruin mechanism, chip encryption module, integrated positioning module and communication and wireless transport module, babinet alarm, power module, I/O
Module, data memory module, self-destructor, chip encryption module, integrated positioning module and communication and wireless transport module with
Microprocessor connects, and receives and execute microprocessor instruction.
2. the secrecy box according to claim 1 with navigation feature, it is characterised in that：It is additionally provided with self-destruction in the babinet
Mechanism, self-destructor are connect with microprocessor.
3. the secrecy box according to claim 1 or 2 with navigation feature, it is characterised in that：The microprocessor is
MCU。
4. the secrecy box according to claim 1 with navigation feature, it is characterised in that：The safety guard also wraps
Chip encryption module is included, chip encryption module is connect with microprocessor.
5. the secrecy box according to claim 1 with navigation feature, it is characterised in that：The integrated positioning module includes
Satellite positioning module and Inertial Measurement Unit.
6. the secrecy box according to claim 5 with navigation feature, it is characterised in that：The satellite positioning module is
GPS/BD compatible modules.
7. the secrecy box according to claim 5 with navigation feature, it is characterised in that：The Inertial Measurement Unit includes
Three axis accelerometer, three-axis gyroscope, three axle magnetometer and barometertic altimeter.
8. the secrecy box according to claim 1 with navigation feature, it is characterised in that：The bracelet is equipped with bracelet report
Alert device.
9. the secrecy box according to claim 1 with navigation feature, it is characterised in that：It is micro- that the babinet is equipped with connection
The camera of processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721758217.4U CN207662411U (en) | 2017-12-15 | 2017-12-15 | A kind of secrecy box with navigation feature |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721758217.4U CN207662411U (en) | 2017-12-15 | 2017-12-15 | A kind of secrecy box with navigation feature |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107941213A (en) * | 2017-12-15 | 2018-04-20 | 北斗时空物联网（北京）股份有限公司 | A kind of secrecy box and its localization method with navigation feature |
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2017
- 2017-12-15 CN CN201721758217.4U patent/CN207662411U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107941213A (en) * | 2017-12-15 | 2018-04-20 | 北斗时空物联网（北京）股份有限公司 | A kind of secrecy box and its localization method with navigation feature |
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Granted publication date: 20180727 Termination date: 20211215 |