CN208270771U - The device of mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit - Google Patents
The device of mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit Download PDFInfo
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- CN208270771U CN208270771U CN201721512347.XU CN201721512347U CN208270771U CN 208270771 U CN208270771 U CN 208270771U CN 201721512347 U CN201721512347 U CN 201721512347U CN 208270771 U CN208270771 U CN 208270771U
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Abstract
The device of mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, by setting operating mode control unit so that satellite positioning unit can switch between low-power consumption standby mode and normal power consumption operational mode, be conducive to guarantee the precision of satellite navigation and positioning result, it can reduce mobile satellite location equipment power consumption again, improve battery capacity and use effect.Described device, including the main control unit and satellite positioning unit in mobile satellite location equipment, it is characterized in that, Inertial Measurement Unit is provided in the mobile satellite location equipment, the Inertial Measurement Unit connects the main control unit, and the main control unit connects the satellite positioning unit by operating mode control unit.
Description
Technical field
The present invention relates to Satellite Navigation Techniques, especially a kind of to reduce mobile satellite location equipment power consumption using Inertial Measurement Unit
Device and method, by setting operating mode control unit so that satellite positioning unit can in low-power consumption standby mode and just
It is switched between normal power consumption operating mode, is conducive to the precision that can either guarantee satellite navigation and positioning result, and can reduce
Mobile satellite location equipment power consumption improves battery capacity and uses effect.
Background technique
As the extensive use of Global Satellite Navigation System and Beidou enhance the perfect of high-precision the urban satellite navigation service, defend
The performance of star navigation equipment is higher and higher, be able to carry out difference enhancing high accuracy positioning navigation equipment gradually vehicle, nobody
The industries such as machine monitoring are used, and at some harbours, garden, are externally carried out interim vehicle and are entered the later driving trace in harbour or garden
Carry out high accuracy positioning.The inventors discovered that satellite navigation or mobile satellite location equipment generally use battery power supply, this has
Conducive to autonomous working is more easily installed on vehicle, still, battery capacity tends not to meet demand, for example, rechargeable battery
Working time shorter cruising ability in other words after primary charging is insufficient, will necessarily interfere continuing normally for mobile satellite location equipment
It uses.Therefore, the working time length after rechargeable battery once charges is very crucial index, user for the user
Wishing stand-by time, the longer the better, meets the job requirements of longer time, still, is limited by battery capacity and repeatedly charging makes
With the decline of later battery performance, the potential that battery is excavated is extremely limited.Inventors believe that if in satellite
The change that energy-saving aspect is carried out on the operating mode of position equipment, then equally can effectively extend battery life.There is mirror
In this, the present inventor is by setting operating mode control unit so that satellite positioning unit can in low-power consumption standby mode and just
It is switched between normal power consumption operating mode, so as to complete the present invention.
Summary of the invention
The present invention is in view of the deficiencies in the prior art or insufficient, provides a kind of utilization Inertial Measurement Unit reduction satellite
The device and method of positioning device power consumption, by setting operating mode control unit so that satellite positioning unit can be in low-power consumption
It is switched between standby mode and normal power consumption operational mode, is conducive to the essence that can either guarantee satellite navigation and positioning result
Degree, and can reduce mobile satellite location equipment power consumption, it improves battery capacity and uses effect.
Technical scheme is as follows:
The device that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, including the master control list in mobile satellite location equipment
Member and satellite positioning unit, which is characterized in that Inertial Measurement Unit, the inertia measurement are provided in the mobile satellite location equipment
Unit connects the main control unit, and the main control unit connects the satellite positioning unit by operating mode control unit.
The operating mode control unit includes carrying out following operating mode selection: low-power consumption to the satellite positioning unit
Standby mode or normal power consumption operational mode, the low-power consumption standby mode correspond to the Inertial Measurement Unit measure it is described
Mobile satellite location equipment remains static or the measurement result of uniform speed motion state, described in the normal power consumption operational mode correspondence
The mobile satellite location equipment that Inertial Measurement Unit measures is in the measurement result of variable motion state.
The main control unit connects positioning result output unit, and the positioning result output unit includes normal power consumption positioning
As a result output and the output of low-power consumption positioning result, described in the low-power consumption refers to when the satellite positioning unit is in standby mode
The power consumption of mobile satellite location equipment, the normal power consumption refer to that the satellite positioning unit is in and search star operational mode and work normally
The power consumption of mobile satellite location equipment when mode.
The low-power consumption positioning result output includes low-power consumption at the uniform velocity positioning result output and the static positioning result of low-power consumption
Output, it is described at the uniform velocity to refer to that determining that the mobile satellite location equipment is in using the measurement result of the Inertial Measurement Unit at the uniform velocity transports
Dynamic state, it is described it is static refer to determine that the mobile satellite location equipment is in static using the measurement result of the Inertial Measurement Unit
State.
The Inertial Measurement Unit includes accelerometer and gyroscope, and the accelerometer obtains acceleration signal, described
Gyroscope obtains angular velocity signal.
The satellite positioning unit connects satellite earth antenna, and the main control unit connects power-supply system.
The power-supply system includes rechargeable battery and USB charge port.
The method for reducing mobile satellite location equipment power consumption using Inertial Measurement Unit, which is characterized in that be included in satellite positioning
Inertial Measurement Unit is set in equipment, and the Inertial Measurement Unit connects main control unit, and the main control unit connects satellite positioning
Unit, operation after the mobile satellite location equipment electrifying startup is the following steps are included: the Inertial Measurement Unit and described defend
Star positioning unit is respectively started, i.e. Inertial Measurement Unit and satellite positioning unit enters Multi-thread synchronization working condition；It is described
Main control unit determines the state of the mobile satellite location equipment according to the measurement result of the Inertial Measurement Unit, and is defended according to described
The state of star positioning device controls the operating mode of the satellite positioning unit.
The state of the mobile satellite location equipment includes stationary state, uniform speed motion state and variable motion state；For
The stationary state, the main control unit replicate the satellite positioning result output location data before the stationary state；For described
Uniform speed motion state, the main control unit go out positioning result according to the direction and velocity simulation of the uniform motion and export positioning number
According to；For the variable motion state, the main control unit according to the satellite positioning unit to search star positioning result defeated in real time
Satellite real time positioning data out.
The operating mode of the satellite positioning unit includes chosen below: low-power consumption standby mode or normal power consumption run mould
Formula, the low-power consumption standby mode correspond to the mobile satellite location equipment that the Inertial Measurement Unit measures and remain static
Or the measurement result of uniform speed motion state, the normal power consumption operational mode correspond to the Inertial Measurement Unit measure it is described
Mobile satellite location equipment is in the measurement result of variable motion state.
Technical effect of the invention is as follows: the present invention reduces the device of mobile satellite location equipment power consumption using Inertial Measurement Unit
And method, the following cognition based on the present inventor, mobile satellite location equipment are not always in fortune in universal use process
Dynamic state or its motion state are likely to be in a kind of stable state, such as uniform speed motion state or stationary state etc.,
This can carry out the change of energy-saving aspect on the operating mode of mobile satellite location equipment, be controlled by setting operating mode
Unit is so that satellite positioning unit can switch between low-power consumption standby mode and normal power consumption operational mode, to have
It conducive to can either guarantee the precision of satellite navigation and positioning result, and can reduce mobile satellite location equipment power consumption, improve battery capacity
Working time cruising ability in other words can be greatly prolonged using effect or after so that battery is once charged.
In general, the power consumption average value of Inertial Measurement Unit is 15mW, and satellite positioning unit works normally shape
Average power consumption 200mW~700mW under state.Therefore, by certain measurement results using Inertial Measurement Unit, for example, static shape
Satellite positioning unit can be placed in standby mode i.e. low-power consumption mode, to reduce satellite by state or uniform speed motion state etc.
The Overall Power Consumption of bit location.Using the art of this patent, within the period for meeting condition, average 80% or more energy saving.?
During the whole service of mobile satellite location equipment, that is, navigation equipment, power consumption also will be greatly reduced.
Detailed description of the invention
Fig. 1 is to implement a kind of structure for the device for reducing mobile satellite location equipment power consumption using Inertial Measurement Unit of the present invention to show
It is intended to.
Fig. 2 is the work original for implementing a kind of method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit of the present invention
Manage schematic diagram.
Appended drawing reference lists as follows: 1- Inertial Measurement Unit；2- main control unit；3- rechargeable battery；4-USB charge port；
The output of 5- normal power consumption positioning result or the output of speed change positioning result or the output of normal power consumption operational mode positioning result；6- positioning
As a result output unit；7- low-power consumption at the uniform velocity positioning result output or low-power consumption standby mode at the uniform velocity positioning result exports；The low function of 8-
Consume static positioning result output or the static positioning result output of low-power consumption standby mode；9- satellite positioning unit；10- satellite reception
Antenna；11- operating mode control unit；The output of 12- low-power consumption positioning result or the output of low-power consumption standby Pattern localization result.
Specific embodiment
With reference to the accompanying drawing (Fig. 1-Fig. 2) the present invention will be described.
Fig. 1 is to implement a kind of structure for the device for reducing mobile satellite location equipment power consumption using Inertial Measurement Unit of the present invention to show
It is intended to.As shown in Figure 1, reducing the device of mobile satellite location equipment power consumption using Inertial Measurement Unit, including in mobile satellite location equipment
Main control unit 2 and satellite positioning unit 9, be provided with Inertial Measurement Unit 1, the inertia measurement in the mobile satellite location equipment
Unit 1 connects the main control unit 2, and the main control unit 2 connects the satellite positioning list by operating mode control unit 11
Member 9.The operating mode control unit 11 includes carrying out following operating mode selection: low-power consumption to the satellite positioning unit 9
Standby mode or normal power consumption operational mode, the low-power consumption standby mode correspond to the institute that the Inertial Measurement Unit 1 measures
State that mobile satellite location equipment remains static or the measurement result of uniform speed motion state, the normal power consumption operational mode correspond to institute
State the measurement result that the mobile satellite location equipment that Inertial Measurement Unit 1 measures is in variable motion state.The Working mould
Formula control unit 11 can integrate in the main control unit 2, also can integrate in the satellite positioning unit 9, can also be with
At standalone module.
The main control unit 2 connects positioning result output unit 6, and the positioning result output unit 6 includes normal power consumption
Positioning result output 5 and low-power consumption positioning result output 12, the low-power consumption refers to that the satellite positioning unit 9 is in standby mould
The power consumption of mobile satellite location equipment when formula, the normal power consumption refer to that the satellite positioning unit 9 is in and search star operational mode
I.e. normal mode of operation when the mobile satellite location equipment power consumption.Low-power consumption positioning result output 12 include low-power consumption at the uniform velocity
Positioning result output 7 and the static positioning result output 8 of low-power consumption, the survey at the uniform velocity referred to using the Inertial Measurement Unit 1
Amount result determines that the mobile satellite location equipment be in uniform speed motion state, described static to refer to the utilization Inertial Measurement Unit 1
Measurement result determine that the mobile satellite location equipment remains static.The Inertial Measurement Unit 1 includes accelerometer and top
Spiral shell instrument, the accelerometer obtain acceleration signal, and the gyroscope obtains angular velocity signal.The satellite positioning unit 9 connects
Satellite earth antenna 10 is connect, the main control unit 2 connects power-supply system.The power-supply system includes that rechargeable battery 3 and USB fill
Power port 4.
Fig. 2 is the work original for implementing a kind of method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit of the present invention
Manage schematic diagram.As shown in Fig. 2, the method for reducing mobile satellite location equipment power consumption using Inertial Measurement Unit, is included in satellite positioning
Inertial Measurement Unit is set in equipment, and the Inertial Measurement Unit connects main control unit, and the main control unit connects satellite positioning
Unit, operation after the mobile satellite location equipment electrifying startup is the following steps are included: the Inertial Measurement Unit and described defend
Star positioning unit is respectively started, i.e. Inertial Measurement Unit and satellite positioning unit enters Multi-thread synchronization working condition；It is described
Main control unit determines the state of the mobile satellite location equipment according to the measurement result of the Inertial Measurement Unit, and is defended according to described
The state of star positioning device controls the operating mode of the satellite positioning unit.The state of the mobile satellite location equipment includes static
State, uniform speed motion state and variable motion state；For the stationary state, the main control unit replicates the static shape
Satellite positioning result before state exports location data；For the uniform speed motion state, the main control unit is at the uniform velocity transported according to this
Dynamic direction and velocity simulation goes out positioning result and exports location data；For the variable motion state, the main control unit
Star positioning result output satellite real time positioning data is searched in real time according to the satellite positioning unit.The satellite positioning unit
Operating mode includes chosen below: low-power consumption standby mode or normal power consumption operational mode, and the low-power consumption standby mode is corresponding
The mobile satellite location equipment that the Inertial Measurement Unit measures remains static or the measurement result of uniform speed motion state,
The normal power consumption operational mode corresponds to the mobile satellite location equipment that the Inertial Measurement Unit measures and is in variable motion
The measurement result of state.
The device and method that the present invention reduces mobile satellite location equipment power consumption using Inertial Measurement Unit, utilize inertia measurement list
Feature first (IMU) low in energy consumption, is increased Inertial Measurement Unit in mobile satellite location equipment, is sentenced using the algorithm of Inertial Measurement Unit
The posture of disconnected equipment, formulates power saving strategy, so that mobile satellite location equipment, under the premise of meeting user usage requirements, optimization is wherein
The operating mode of satellite positioning unit reduces overall power, to extend the working time of mobile satellite location equipment.Inertia measurement list
First (IMU) is the device for measuring object triaxial attitude angle (or angular speed) and acceleration.In general, an IMU contains three
The accelerometer of a single shaft and three uniaxial gyros, accelerometer detection object stand the acceleration of three axis in carrier coordinate system unification and independence
Signal is spent, and angular velocity signal of the gyro detection carrier relative to navigational coordinate system, the angle of measurement object in three dimensions are fast
Degree and acceleration, and calculate with this posture of object.
Mobile satellite location equipment by main control unit, satellite positioning unit and Inertial Measurement Unit wait for three big cores and its
Its peripheral devices composition.Mobile satellite location equipment, that is, satellite navigation booting work, starts satellite entering normal workflow
After positioning unit, main control unit sends out control command and starts Inertial Measurement Unit, that is, Inertial Measurement Unit and satellite positioning list
Member enters Multi-thread synchronization working condition.When main control unit judges mobile satellite location equipment according to the result that Inertial Measurement Unit exports
When remaining static, main control unit sends out the standby mode that control command allows satellite positioning unit to enter low-power consumption, at this time complete machine
Power consumption can decline to a great extent.Mobile satellite location equipment exports location data according to static preceding positioning result.When main control unit is according to used
Property measuring unit output result when judge that mobile satellite location equipment is in uniform speed motion state, main control unit, which is sent out control command and allowed, to be defended
Star positioning unit enters the standby mode of low-power consumption, and Overall Power Consumption can decline to a great extent at this time.Mobile satellite location equipment is surveyed according to inertia
Direction and the equipment present speed for measuring unit output, simulate positioning result by software algorithm and export.When main control unit root
According to Inertial Measurement Unit export result judge mobile satellite location equipment enter motion state i.e. variable motion state when, main control unit
Hair control command allows satellite positioning unit to start, into normal mode of operation, output satellite positioning result.It is low with standby mode
Power mode is compared, and normal mode of operation belongs to the high power consumption period.The power consumption average value of Inertial Measurement Unit is 15mW, and satellite
Average power consumption 200mW~700mW under positioning unit normal operating conditions.Using the present invention program, in the period for meeting condition
It is interior, average 80% or more energy saving.During navigation equipment whole service, power consumption unquestionably also will be greatly reduced.
It is hereby stated that described above facilitate those skilled in the art understand that the invention, but not limit the present invention
The protection scope of creation.Any equivalent replacement described above, modification are improved without disengaging the invention substantive content
And/or delete numerous conform to the principle of simplicity and the implementation that carries out, each fall within the protection scope of the invention.
Claims (5)
1. the device of mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit, including the main control unit in mobile satellite location equipment
And satellite positioning unit, which is characterized in that Inertial Measurement Unit, the inertia measurement list are provided in the mobile satellite location equipment
Member connects the main control unit, and the main control unit connects the satellite positioning unit by operating mode control unit；
The main control unit connects positioning result output unit, and the positioning result output unit includes normal power consumption positioning result
Output and the output of low-power consumption positioning result, the low-power consumption refer to the satellite when satellite positioning unit is in standby mode
The power consumption of positioning device, the normal power consumption refer to that the satellite positioning unit is in and search star operational mode i.e. normal mode of operation
The power consumption of Shi Suoshu mobile satellite location equipment；
The low-power consumption positioning result output includes the low-power consumption at the uniform velocity static positioning result output of positioning result output and low-power consumption,
It is described at the uniform velocity refer to determine that the mobile satellite location equipment is in uniform motion shape using the measurement result of the Inertial Measurement Unit
State, it is described it is static refer to determine that the mobile satellite location equipment is in static shape using the measurement result of the Inertial Measurement Unit
State.
2. the device according to claim 1 for being reduced mobile satellite location equipment power consumption using Inertial Measurement Unit, feature are existed
In the operating mode control unit includes carrying out following operating mode selection: low-power consumption standby to the satellite positioning unit
Mode or normal power consumption operational mode, the low-power consumption standby mode correspond to the satellite that the Inertial Measurement Unit measures
Positioning device remains static or the measurement result of uniform speed motion state, and the normal power consumption operational mode corresponds to the inertia
The mobile satellite location equipment that measuring unit measures is in the measurement result of variable motion state.
3. the device according to claim 1 for being reduced mobile satellite location equipment power consumption using Inertial Measurement Unit, feature are existed
In the Inertial Measurement Unit includes accelerometer and gyroscope, and the accelerometer obtains acceleration signal, the gyroscope
Obtain angular velocity signal.
4. the device according to claim 1 for being reduced mobile satellite location equipment power consumption using Inertial Measurement Unit, feature are existed
In the satellite positioning unit connects satellite earth antenna, and the main control unit connects power-supply system.
5. the device according to claim 4 for being reduced mobile satellite location equipment power consumption using Inertial Measurement Unit, feature are existed
In the power-supply system includes rechargeable battery and USB charge port.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741595A (en) * | 2017-11-14 | 2018-02-27 | 北京东方联星科技有限公司 | The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741595A (en) * | 2017-11-14 | 2018-02-27 | 北京东方联星科技有限公司 | The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit |
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