KR101554995B1 - Method and System for Providing Underwater Navigation Using Mobile Sensor Platform - Google Patents

Abstract

The present invention relates to a mobile sensor platform-based underwater navigation method and a system thereof and, more specifically, to a navigation method and a system utilized as an underwater navigation system using a smartphone platform including an existing smartphone and other android platform-based terminals currently occupying most of the global mobile market. According to an embodiment of the present invention, a control method for a mobile sensor platform-based underwater navigation system comprises: a step of inputting information on an entry spot on the water as global positioning system (GPS) information to be recorded as a starting position; a step of recognizing information on the movement of a user using one or more among an accelerometer sensor, a gyro sensor, a geomagnetic sensor, and a pressure sensor on the basis of the recorded starting point after the user enters into the water; and a step of calculating relative distances about all the routes which the user moves after entered into the water using the recognized movement information and then generating data as a three-dimensional navigation map.

Description

TECHNICAL FIELD [0001] The present invention relates to an underwater navigation system based on a mobile sensor platform,

The present invention relates to a navigation system based on a mobile sensor platform and a control method thereof, and more particularly, to a navigation system using a smartphone platform (other terminals based on an existing smartphone and an Android operating system) (Underwater navigation) system and a control method thereof. In the navigation system based on the mobile sensor platform of the present invention, information about a point of arrival at a water surface in a boat or a beach dive is input as GPS (Global Positioning Syatem) information, and is set as a reference point. After acquisition, an acceleration sensor Sensor and Gyro sensor, Geo-magnetic sensor, and Pressure sensor to automatically detect motion information by analyzing device shake and forward / backward switching. To a navigation system based on a mobile sensor platform capable of generating and storing three-dimensional navigation map data by calculating a relative distance with respect to all the traveled paths in real time, and a control method thereof.

In case of car navigation system used on the ground, GPS navigation is implemented. However, in the underwater environment, when the radio frequency (RF) is used due to the characteristics of the medium, the transmitted energy is rapidly damped by the distance depending on physical phenomena such as scattering, refraction and absorption. .

Therefore, since the use of radio waves is not appropriate in underwater communication, sound waves are widely used as means for transmitting information. For this reason, GPS and Wi-Fi signals are also difficult to pass through the water.

A conventional underwater navigation system is a system for performing underwater navigation using a GPS, an accelerometer, a magnetometer, a pressure sensor, and a sonar. However, since it is a proprietary navigation system, it can not provide information about the origin of a dive that should be restored at the time of diving, and there is a problem that various data recorded during navigation, a photograph and a moving picture can not be stored in the SNS or the server.

Another conventional underwater inertial navigation system is a system for performing distance error correction of navigation data using a moving reference point such as a buoy located at a waterfront, or a separate buoy should be used. In the case of deep water depth, There is a problem that there is a large problem and it is not possible to provide information about the origin of diving and there is a problem that various data recorded during navigation can not be stored in the SNS or the server.

Another conventional underwater navigation system is a navigation system using a smartphone in water. The GPS module is connected with a wired line to an optical fiber and receives position information and is used for underwater navigation. However, it is inconvenient for a navigation system user to navigate by connecting the GPS module with a wired line, and it is difficult to grasp the accurate value of the current depth.

Therefore, it is convenient to use under water, but it also generates navigation map based on the origin of origin and utilizes it as navigation data and shares it with various data, pictures and videos recorded during navigation as well as information about the origin of diving, It is necessary to develop an underwater navigation system capable of providing a platform for building and scaling navigation information of scuba diving and exploration routes around the world and storing them on a server.

Japanese Patent Application Laid-Open No. 10-2013-220683 ("Underwater Navigation & Water Intermediate Communication System for Diver or Remote-Operated Unmanned Surveyor, Stand-

Korean Patent Publication No. 10-2012-0103294 ("Underwater Inertial Navigation Error Correction System and Error Correction Method Using Moving Reference Point")

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the prior art as described above, and an object of the present invention is to provide a navigation system, By using Accelerometer Sensor, Gyro Sensor, Geo-magnetic Sensor and Pressure Sensor installed in the system, it is possible to automatically analyze the shaking and back / A navigation system based on a mobile sensor platform capable of generating and storing three-dimensional navigation map data by calculating a relative distance with respect to all the traveled paths in real time, and a control method thereof.

According to an embodiment of the present invention, there is provided a method of controlling an underwater navigation system based on a mobile sensor platform, the method comprising: inputting information about an acquisition point on a surface of a water surface as GPS (Global Positioning System) After the user obtains the information, the user may use one or more sensors such as an accelerometer sensor, a gyro sensor, a geo-magnetic sensor, and a gravity sensor on the basis of the recorded origin Recognizing information on the movement of the user; And generating and storing data using a three-dimensional navigation map by calculating a relative distance with respect to all paths moved after the acquisition using the information on the recognized motion in real time.

Preferably, the step of recognizing information on the movement of the user may include applying one or more filters of a high pass filter, a low pass filter, or a Kalman filter to the sensor data values measured by the acceleration sensor, the geodetic sensor and the gyro sensor Processing the data into a stable data value, and confirming which direction the current user is pointing to using the processed data; Calculating a travel distance using the processed acceleration sensor data and estimating a travel route relative to the route traveled by the user at the arrival point; Estimating movement information on the depth of the water by using the pressure sensor value; And recognizing the movement information on the direction, the movement distance, the movement path, and the diving water depth of the user as information on the movement of the user.

Preferably, the control method of the underwater navigation system based on the mobile sensor platform performs a control method of an underwater navigation system based on a mobile sensor platform using a waterproof housing, So that an underwater navigation system based on a mobile sensor platform is implemented.

Preferably, the method further comprises: calibrating an underwater navigation system using an analog compass connected to a user-installed air reservoir and a display direction of a digital compass displayed on a display screen of the underwater navigation system before acquisition; And calculating the direction of the origin point of introduction using the analog compass connected to the air cylinder when the underwater navigation system malfunctions.

Preferably, the method includes storing information including diving depth, diving time, navigation distance, and current position, and displaying safety information including dive time automatic calculation information by diving depth on a display screen of the underwater navigation system Further comprising the steps of:

Preferably, the method further includes the step of storing the photographed information by performing a moving picture and / or a camera photographing while the user is navigating the water in the water while using the underwater navigation system.

Preferably, the method further comprises the steps of: transferring and storing photographs and / or video information stored by a user through a link function of a photo and / or moving picture on a route to a social network service (SNS) or a service server; And sharing by the terminal device.

Preferably, the method further comprises the steps of: confirming the shortest distance of the point of arrival (return destination) through the navigation when the user loses the current position due to the fast tide, And displaying the return information on the display screen of the underwater navigation system so as to return.

The mobile sensor platform-based underwater navigation system according to an embodiment of the present invention includes: origin point setting means for inputting information on a point of arrival on a water surface in the case of a boat or a beach dive as GPS information and setting the point as a origin; And after the data is acquired, it is possible to use an underwater navigation system device (for example, a navigation system) by using at least one of an accelerometer sensor, a gyro sensor, a geo-magnetic sensor and a gravity sensor, A data generating and storing means for generating and storing data by a three-dimensional navigation map by calculating the relative distance with respect to all the traveled paths after recognizing the information on the movement by automatically analyzing the shaking, And a control unit.

Preferably, the data generating and storing means includes means for generating a sensor data value corresponding to a sensor data value measured by the acceleration sensor, the geomagnetic sensor and the gyro sensor, in order to recognize the information on the motion, either of a high pass filter, a low pass filter, Means for applying one or more filters to produce a stable data value, and utilizing the processed data to determine in which direction the current user is pointing; Means for calculating a travel distance using the processed acceleration sensor data and estimating a travel route relative to the route traveled by the user at the point of arrival; Means for estimating movement information for a diving water depth using a pressure sensor value; And means for recognizing the movement information about the direction, the movement distance, the movement path, and the diving water depth of the user as information on the movement of the user.

Preferably, the underwater navigation system based on the mobile sensor platform further includes a waterproof housing, and an underwater navigation system based on a mobile sensor platform is implemented by controlling the wireless terminal through operation of a touch part formed on the waterproof housing .

Preferably, the system further comprises: means for calibrating an underwater navigation system using an analog compass connected to a user-installed reservoir and a display direction of a digital compass displayed on a display screen of the underwater navigation system before acquisition; And means for calculating the direction of the origin point of entry using an analog compass connected to the air port when the underwater navigation system malfunctions.

Preferably, the system stores information including a dive depth, a dive time, a navigation distance, and a current position, and displays safety information including dive time automatic calculation information by dive depth on a display screen of the underwater navigation system Further comprising:

Preferably, the system further comprises means for storing the photographed information by performing a moving picture and / or a camera photographing while the user is navigating the underwater system while using the underwater navigation system.

Preferably, the system transmits a record and photograph and / or video information stored by a user to a social network service (SNS) or a service server through a link function of a photo and / or a moving picture on a path, And means for sharing by the terminal apparatus.

Preferably, the system determines the shortest distance of the point of arrival (return destination) through the navigation when the user loses the current position due to the fast tide or the direction of the user is lost due to the inadequate clock, And means for displaying the return information on the display screen of the underwater navigation system to return.

A computer-readable recording medium according to another embodiment of the present invention records a program for executing a navigation method of an underwater navigation based on a mobile sensor platform.

According to the mobile sensor platform-based navigation system and control method of the present invention having the above-described structure, navigation based on an experience that a diver or a diver has to take care of for a specific purpose such as scuba diving or exploration, Navigation and data sharing, it is possible to save various data recorded during navigation as well as information about the origin of diving that should be returned at the time of diving, photos, videos, etc. to the SNS or the server so that the navigation of scuba diving and exploration routes It can provide a platform for building and scaling information and sharing it.

FIG. 1 is a block diagram of a mobile navigation system based on a mobile sensor platform according to the present invention.
2 shows a waterproof housing housing a smartphone for waterproofing the underwater navigation system 100 according to the present invention.
3 shows an embodiment implemented with a waterproof housing.
4 shows a display screen 160 of the underwater navigation system 100 according to the present invention and various sensing functions located in the waterproof housing.
FIG. 5 shows a display screen of an underwater navigation system based on a mobile sensor platform according to the present invention.
FIG. 6 shows a display screen in which a navigation system based on a mobile sensor platform according to the present invention is operated in a compass mode (a diver computer mode).
Figure 7 shows a decompression table provided by the NAUI Scuba Diving Association.
8 is a block diagram of an underwater navigation system using an embedded system based sensor platform according to the present invention.
9 is a block diagram of a head tracking algorithm using multi-sensor fusion of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a mobile sensor platform-based navigation system and a control method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The following drawings are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the following drawings, but may be embodied in other forms. In addition, like reference numerals designate like elements throughout the specification.

In this case, unless otherwise defined, technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In the following description and the accompanying drawings, A description of known functions and configurations that may unnecessarily obscure the description of the present invention will be omitted.

In addition, a system refers to a collection of components, including devices, mechanisms, and means that are organized and regularly interact to perform the required function.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention relates to a mobile sensor platform based underwater navigation system.

The mobile navigation system based on a mobile sensor platform according to an embodiment of the present invention includes an origin point setting means for setting information about a point of arrival on a water surface in the case of a boat or a beach dive as GPS information and setting it as a origin point, Automatically analyze the fluctuation of the navigation system in the water using the acceleration sensor (Accelerometer Sensor), the gyro sensor (Geo-magnetic Sensor), and the pressure sensor (Pressure) And data generating and storing means for generating and storing data by three-dimensional navigation map by calculating the relative distance with respect to all the traveled paths after recognizing the information on the movement in real time.

The origin setting means and the data generating and storing means may be implemented as a detailed function module of an application program running on a smartphone platform.

In addition, the data generation and storage means may be configured to generate the data by using at least one of a high-pass filter, a low-pass filter, and a Kalman filter as sensor data values measured by the acceleration sensor, the geomagnetic sensor and the gyro sensor A means for applying a filter to process the data into a stable data value and using the processed data to confirm which direction a user such as a diver or a diver is pointing to, a movement distance is calculated using the processed acceleration sensor data, A means for estimating movement information relative to the path traveled by the user at the diving water depth, a means for estimating movement information about the diving water depth using the pressure sensor value, and means for estimating the movement direction, And means for recognizing the movement information as information on the motion of the user have.

A control method for controlling a function of an underwater navigation system based on a mobile sensor platform according to an embodiment of the present invention includes the steps of inputting information about a point of arrival on the surface of a water surface as GPS (Global Positioning System) A sensor such as an accelerometer sensor, a gyro sensor, a geo-magnetic sensor, and a pressure sensor may be used as a reference for the recorded origin, A step of recognizing information on the movement of the user by using the information on the movement and a step of calculating the relative distance with respect to all the traveled paths after the acquisition by using the information on the recognized movement, Step < / RTI >

In addition, the step of recognizing information on the movement of the user may be performed by applying one or more filters of a high pass filter, a low pass filter, or a Kalman filter to the sensor data values measured by the acceleration sensor, the geodetic sensor and the gyro sensor, Processing a data value and confirming which direction the current user is pointing to using the processed data; Calculating a travel distance using the processed acceleration sensor data and estimating a travel route relative to the route traveled by the user at the arrival point,

A step of estimating movement information on a diving water depth using a pressure sensor value, and a step of recognizing movement information on a direction, a moving distance, a movement path, and a diving water depth of the user as information on the movement of the user, .

Hereinafter, an in-water navigation system based on a mobile sensor platform and a control method thereof according to an embodiment of the present invention will be described in detail with reference to FIG. 1 to FIG.

FIG. 1 shows a block diagram of a construction of a mobile sensor platform-based underwater navigation system 100 according to the present invention. 1, the navigation system 100 using the mobile sensor platform includes a sensor H / W and a filter 110, a mobile operating system 120, a linear filter and sensor API 130, and an application program 140 .

The sensor H / W and the filter 110 may include a gyro sensor 111, an accelerometer sensor 112, a geo-magnetic sensor 113, a pressure sensor (pressure sensor) 114 and the like, and hardware configured to be connected to each sensor and to remove noise of the information collected by each sensor.

The filters 115 perform filtering to reduce the error of the measured data from the respective sensors,

For example, when a Kalman filter is used, it provides a function of smoothing the measurement data and correcting the data. The smoothing of the data provided by the Kalman filter uses the current navigation support measures to correct past navigation results and to form a navigation correction function.

The mobile operating system 120 may include device drivers 121 and a mobile OS such as Android or iOS 122. [

The Linear filter and sensor API 130 is composed of software filters 131, a sensor API (framework) 132, and a sensor API (OS) 133.

The software filters 131 may perform the function of the hardware H / W embedded in the sensor H / W and the filter 110 by software. That is, the software filters may perform filtering to reduce the error of the measured data from each sensor.

The application program 140 includes application programs 141 for performing various functions used for navigation.

Various functions of the mobile sensor platform-based underwater navigation system 100 may be implemented in an application program format. These applications can be downloaded to an app through a widely used AppStore and installed in a smartphone or can be implemented independently in a smartphone.

The function of the application program that performs the first function of the underwater navigation system 100 based on the mobile sensor platform will now be described.

The diving point where the dive company or the scuba diver submits is obtained by inputting the current coordinates using the Global Positioning System (GPS) module, recording the origin as the reference point, Depth information) to generate navigation map in real time.

A calibration of the mobile navigation system based on the mobile sensor platform is performed using the display direction of the analog compass connected to the air reservoir and the display direction of the digital compass displayed on the display screen of the underwater navigation system based on the mobile sensor platform do.

Accordingly, even if the mobile sensor platform is malfunctioning in the underwater navigation system based on the mobile sensor platform, the direction of the input source point can be determined using the analog compass connected to the air reservoir.

[0030] Referring to the function of the application program that performs the second function of the mobile navigation system 100 based on the mobile sensor platform,

It stores all records of diving depth, diving time, navigation distance, current location, etc., and provides safety information display function provided by existing diver watch or diver computer, such as automatic calculation of diving time by dive depth.

The function of the application program that performs the third function of the underwater navigation system 100 based on the mobile sensor platform will be described.

Divers or scuba divers use the mobile navigation system based on the above-mentioned mobile sensor platform to store moving image or camera photographing while taking a route and store the photographed information. A function of sharing records, pictures, and video information by using a social network service (SNS) and a terminal device (e.g., a computer, a smart phone, a mobile phone, etc.) of another person through a service server.

The function of the application program that performs the fourth function of the underwater navigation system 100 based on the mobile sensor platform will be described.

If a dive or scuba diver loses their current location due to fast tides or their direction is lost due to poor underwater clock, navigate to the shortest distance to the point of entry (return destination) and use navigation to return to the point of entry And provides the function of providing return information through the display screen of the navigation system 100. [

The underwater navigation system 100 can be implemented using an existing smartphone using a waterproof housing. 2 shows a waterproof housing housing a smartphone for waterproofing the underwater navigation system 100 according to the present invention.

2, the underwater navigation system 100 includes a sensor H / W and a filter 110, a mobile operating system 120, a linear filter and a sensor API 130, and an application program 140 using a smart phone The present system 100 further includes a waterproof housing 150 for waterproofing the underwater of the smartphone.

The waterproof housing 150 is configured to house a smartphone therein and the material of the body 151 is made of aluminum, stainless steel, acetal, copper, or the like. In order to interface the system 100 with the user, buttons 152 (touch portion) are included outside the waterproof housing, and buttons 152 are used for controlling the buttons of the smartphone (wireless terminal). The manufacturing of the waterproof housing consists of the CNC (Computer Numerical Control) machining manufacturing process. There are various types of existing smartphones and, depending on the type of the smartphone, some or all of the acceleration sensor, gyro sensor, geomagnetic sensor, and pressure sensor required in the present invention may not be included. The present system 100 can be implemented by controlling the smartphone through manipulation of the buttons 152 of the waterproof housing of the mobile phone. Accordingly, the gyro sensor 111, the accelerometer sensor 112, the geo-magnetic sensor 113, and the pressure sensor 113 included in the sensor H / W and the filter 110, A filter 114 connected to each sensor and hardware configured to remove noise of information collected by each sensor may be implemented in a waterproof housing.

3 shows an embodiment implemented with a waterproof housing. As shown in FIG. 3, the conventional smartphone includes some or all of the sensor H / W and the filter 110, the mobile operating system 120, the linear filter and sensor API 130, and the application program 140, A state in which the smartphone is built in the waterproof housing, with the sensor H / W and the filter 110 implemented partially or wholly.

4 shows a display screen 160 of the underwater navigation system 100 according to the present invention and various sensing functions located in the waterproof housing. As shown in FIG. 4, the application program 140 related to the functions performed by the underwater navigation system 100 uses the sensing information through the linear filter and the sensor API 130. As shown in FIG. 4, The sensing information calculation by the sensors provided by the sensor itself and the operation of providing the sensing information by various sensors included in the waterproof housing are simultaneously executed. For example, the sensor provides direction tracking using three-dimensional acceleration, geomagnetic field and gyroscope Head tracking 153 using a 9-axis sensor, Sea Level Data 154 for correction of depth information using a pressure sensor 154, Linear acceleration calculation for performing speed calculation using a filtered acceleration sensor using a Kalman filter (Linear Acceleration) 155, an application program 140 that performs a function of underwater navigation can utilize acceleration information and depth information It may yield a more highly accurate sensing information.

The display screen will be described in detail with reference to FIG.

FIG. 5 illustrates a display screen 200 of an underwater navigation system 100 based on a mobile sensor platform according to the present invention. As shown in FIG. 5, the underwater navigation system 100 based on the mobile sensor platform of the present invention can be implemented on the basis of a smartphone, and various information displayed on the screen of the smartphone will be described below.

- Arrival point: Before the dive operator or scuba diver obtains the GPS coordinates from the ground, specify the origin point and display it on the screen.

- Moving direction indicator: Indicates the current moving direction. (Digital compass function) The direction indicated by the arrow is the direction of movement.

- Route: displays the current moving path of the dive or scuba diver in a three-dimensional vector graphic.

- Distance gauge: Displays the total travel route reference distance. Although the distance gauge is not shown in FIG. 5, the distance gauge information may be displayed on a certain portion of the display screen 200. [

- Diver position: Displays the diver position during the current movement route. Although the diver positions are not shown in FIG. 5, the diver position information can be displayed on a certain portion of the display screen 200. FIG.

- Shortest distance return path: If it is necessary to return to the origin, the shortest distance from the current point is calculated and displayed on the screen in the same way as navigation to inform the shortest distance return route.

- Depth gauge: Displays the depth of the diver's current position and the maximum depth of the submerged depth.

- Decompression point: When returning to the origin through navigation according to diving depth, calculate the decompression point to protect the diver from danger such as diving, and inform the indication on the display screen.

- Diving time: In case of diver, the time available for diving depends on the depth of water because it uses submerged air. Displays the current dive time and possible dive time. The current temperature can be displayed together with the dive time on the display screen.

FIG. 6 shows a display screen 300 operated in a compass mode (diver computer mode) underwater navigation system 100 based on a mobile sensor platform according to the present invention.

If the navigation system 100 based on the mobile sensor platform of the present invention is operated by a user such as a dive operator or a skin scuba operator to select a compass mode by key input,

As shown in FIG. 6, a digital compass indicating a direction in the water can be displayed on a certain portion of the display screen 300, and information about the diving depth can be displayed on other portions of the display screen. You can also display the current depth, maximum depth, current temperature, and dive time.

Figure 7 shows a decompression table provided by the NAUI Scuba Diving Association. As shown in FIG. 7, the decompression table related to the diving time according to the depth of water is implemented as an application program of the underwater navigation system 100 based on the mobile sensor platform of the present invention. When the diving time is over or decompression is required, The user can be informed by vibration or the like and display the decompression time through the display screen.

FIG. 8 is a block diagram illustrating an underwater navigation system 500 using an embedded system-based sensor platform according to the present invention. 1, it is also possible to implement an underwater navigation system using a sensor platform based on an embedded system rather than a smartphone.

8, an underwater navigation system 500 using an embedded system based sensor platform includes a sensor H / W and filter 510, a mobile operating system 520, a linear filter and sensor API 530, an application program 540, .

The sensor H / W and the filter 510 are connected to each sensor such as a gyro sensor, an accelerometer sensor, a geo-magnetic sensor, a pressure sensor, Filters configured as hardware for removing noise of one information may be configured together. The filters perform filtering to reduce the error of the measured data from each sensor,

For example, when a Kalman filter is used, it provides a function of smoothing the measurement data and correcting the data. The smoothing of the data provided by the Kalman filter uses the current navigation support measures to correct past navigation results and to form a navigation correction function.

The mobile operating system 520 may include a microprocessor and embedded Linux.

The Linear filter and sensor API 530 is comprised of software filters and a sensor API (framework). The software filter can perform the function of the hardware H / W of the sensor and the hardware filter built in the filter in software. That is, the software filters may perform filtering to reduce the error of the measured data from each sensor.

The application program 540 includes application programs for performing various functions used for navigation. The functions of the underwater navigation system 500 using the embedded system based sensor platform can be implemented in an application program format. The underwater navigation system 500 using the embedded system based sensor platform can implement an application program that performs the first to fourth functions of the underwater navigation system 100 based on the mobile sensor platform as shown in FIG. .

One of the important parts for implementing the underwater navigation system according to the present invention is the head tracking of the user of the underwater navigation system of the present invention.

Head tracking is a technology that tracks the movement of the head in real time.

A method of configuring a head tracking using a mobile sensor fusion that can be used in an underwater navigation system according to the present invention will be described below.

Sensors mounted on existing smartphones or mobile platforms are basically very sensitive and very noisy. Therefore, it is impossible to implement the function by using the sensor data provided by the operating system.

Figure 9 shows a block diagram 600 of a head tracking algorithm using multiple sensor fusion of the present invention.

In order to implement the head tracking algorithm, the sensor data is received from an accelerometer sensor 611, a geo-magnetic sensor 612, and a gyro sensor 613.

The data of the acceleration sensor 611 and the geomagnetic sensor 612 are combined to determine a direction (621), and the filter 622 is passed through the combined direction data to reduce the error of the direction data.

The data input from the gyro sensor 613 is calculated (631) at predetermined time intervals to accumulate the data (632) and passes the filter 634 to the direction data of the gyro sensor to reduce the error of the direction data .

The data passing through both filters 622 and 634 are summed up, and the accurate direction data 650 combined with the sensor data of the acceleration sensor, the geomagnetic sensor and the gyro sensor is output. The moving direction of the user of the underwater navigation system device of the present invention can be accurately determined through the output data.

In order to implement head tracking of a mobile device in an underwater navigation system 100 according to the present invention, an accelerometer sensor, a geo-magnetic sensor, a gyro sensor (Kalman filter, high-pass filter, low-pass filter, etc.) to the values of the processed sensors and processing them into stable data values to implement the functions.

Using this processed data, it is confirmed which direction the current diver is pointing at. If the moving distance is calculated using the processed linear acceleration sensor data, the movement path relative to the path where the diver moves from the entry point Can be estimated. Using the pressure sensor value, it is possible to estimate the mobility of the submerged water depth.

Accordingly, when the head tracking algorithm using the multi-sensor fusion of the present invention is implemented in a smartphone and used as sensor data for functions performed in application programs, the navigation-related application program is driven by receiving stable sensor measurement data.

Meanwhile, the underwater navigation method according to the embodiment of the present invention may be implemented in a form of a program command that can be executed through a variety of means for processing information electronically and recorded in a storage medium. The storage medium may include program instructions, data files, data structures, and the like, alone or in combination.

Program instructions to be recorded on the storage medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of software. Examples of storage media include magnetic media such as hard disks, floppy disks and magnetic tape, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, magneto-optical media and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. The above-mentioned medium may also be a transmission medium such as a light or metal wire, wave guide, etc., including a carrier wave for transmitting a signal designating a program command, a data structure and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as devices for processing information electronically using an interpreter or the like, for example, a high-level language code that can be executed by a computer.

As described above, the present invention has been described with reference to specific embodiments such as specific components and exemplary embodiments. However, the present invention is not limited to the above-described embodiments, And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.

Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, fall within the scope of the present invention .

100: Underwater navigation system based on mobile sensor platform
500: Navigation system using sensor platform based on embedded system

Claims (12)

A control method of an underwater navigation system based on a mobile sensor platform,
Inputting information about a point of arrival on the water surface as GPS (Global Positioning System) information and recording it as an origin;
After the user obtains the information, the user can use the sensor to detect the user's position by using at least one of an accelerometer, a gyro sensor, a geo-magnetic sensor and a pressure sensor based on the recorded origin. Recognizing information on motion; And
Generating and storing three-dimensional navigation map data by calculating a relative distance with respect to all the traveled paths after receiving the information using the information on the recognized movement in real time;
/ RTI >
The control method of the underwater navigation system based on the mobile sensor platform
The navigation system according to claim 1, further comprising: a dive time display unit for displaying the dive time of the dive depth on the display screen of the underwater navigation system based on the dive depth, the diving time, the navigation distance and the current location information of the user, Displaying safety information including calculation information; And
Displaying return information on a display screen of the underwater navigation system based on the mobile sensor platform so as to confirm the shortest distance from the current position of the user to the point of entry and return to the point of entry;
Further comprising the steps of: (a) determining whether the mobile navigation system is a mobile navigation system;
The method according to claim 1,
The step of recognizing information on the movement of the user
The sensor data value measured by the acceleration sensor, the gyro sensor, the earth sensor and the pressure sensor is processed into a stable data value by applying at least one of a high pass filter, a low pass filter and a Kalman filter, And confirming which direction the current user is pointing to;
Calculating a travel distance using the processed acceleration sensor data and estimating a travel route relative to the route traveled by the user at the arrival point;
Estimating movement information on the depth of the water by using the pressure sensor value; And
Recognizing the movement information about the direction, the movement distance, the movement path, and the diving water depth of the user as information about the movement of the user;
Wherein the mobile navigation system comprises a mobile sensor platform.
The method according to claim 1,
The control method of the underwater navigation system based on the mobile sensor platform includes:
The control method of the underwater navigation system based on the mobile sensor platform is performed using the waterproof housing,
Wherein the underwater navigation system based on the mobile sensor platform is implemented by controlling the wireless terminal through a touch unit operation included in the waterproof housing.
The method according to claim 1,
The control method of the underwater navigation system based on the mobile sensor platform
Calibrating an in-water navigation system using an analog compass connected to a user-installed air reservoir and a display direction of a digital compass displayed on a display screen of the underwater navigation system before acquisition;
Calculating a direction of an origin point of introduction using an analog compass connected to the air cylinder when the underwater navigation system malfunctions;
Further comprising the steps of: (a) determining whether the mobile navigation system is a mobile navigation system;
The method according to claim 1,
The control method of the underwater navigation system based on the mobile sensor platform
A step in which a user carries out a moving picture or a camera photographing while moving along a path in water while using the underwater navigation system and stores the photographed information;
Further comprising the steps of: (a) determining whether the mobile navigation system is a mobile navigation system;
6. The method of claim 5,
The control method of the underwater navigation system based on the mobile sensor platform
Transmitting a record and a photo or video information stored by a user through a link function of a photo or moving picture on a route to a social network service (SNS) or a service server and storing the same by a terminal device of another person;
Further comprising the steps of: (a) determining whether the mobile navigation system is a mobile navigation system;
As an underwater navigation system based on a mobile sensor platform,
An origin point setting means for inputting information about a point of arrival on the water surface in the case of a boat or a beach dive as GPS information and setting it as the origin point; And
After the acquisition, it is possible to use the acceleration sensor (Accelerometer Sensor), Gyro Sensor, Geo-magnetic Sensor, and Pressure Sensor mounted on the mobile sensor platform to swing the underwater navigation system And data generating and storing means for generating and storing three-dimensional navigation map data by calculating a relative distance with respect to all the traveled paths after recognizing information about the movement, analyzing the forward and backward automatically, and real-
/ RTI >
The mobile sensor platform-based underwater navigation system
The diving time automatic calculation information for each diving depth is included in the display screen of the underwater navigation system based on the mobile sensor platform using the diving depth, the diving time, the navigation distance and the current position information of the user calculated by the data generating and storing means Means for displaying safety information; And
Means for displaying return information on a display screen of the underwater navigation system based on the mobile sensor platform so as to confirm the shortest distance from the user's current position to the point of entry and return to the point of entry;
Wherein the mobile navigation system further comprises a mobile sensor platform based navigation system.
8. The method of claim 7,
The means for generating and storing data
To recognize information about the motion,
By applying at least one filter of a high pass filter, a low pass filter or a Kalman filter to the sensor data values measured by the acceleration sensor, the earth sensor and the gyro sensor, it is processed into a stable data value, Means for identifying the direction in which the vehicle is traveling;
Means for calculating a travel distance using the processed acceleration sensor data and estimating a travel route relative to the route traveled by the user at the point of arrival;
Means for estimating movement information for a diving water depth using a pressure sensor value; And
Means for recognizing movement information on the user's direction, movement distance, movement path, and submersion depth as information on the movement of the user;
Wherein the navigation system comprises a mobile sensor platform.
8. The method of claim 7,
The mobile sensor platform-based underwater navigation system
Further comprising a waterproof housing,
Wherein the underwater navigation system based on the mobile sensor platform is implemented by controlling the wireless terminal through the operation of the touch unit formed on the waterproof housing.
8. The method of claim 7,
The mobile sensor platform-based underwater navigation system
Means for calibrating an underwater navigation system using an analog compass connected to a user-installed air reservoir and a display direction of a digital compass displayed through a display screen of the underwater navigation system before acquisition;
Means for calculating a direction of an origin of intake using an analog compass connected to the air cylinder when the underwater navigation system malfunctions;
Wherein the mobile navigation system further comprises a mobile sensor platform based navigation system.
8. The method of claim 7,
The mobile sensor platform-based underwater navigation system
Means for storing moving pictures and / or camera shots during moving in the water while the user is using the underwater navigation system and storing shot information;
Wherein the mobile navigation system further comprises a mobile sensor platform based navigation system.
12. The method of claim 11,
Means for transferring a record and a photograph or video information stored by a user through a link function of a photo or moving picture on a route to a social network service or a service server and storing the same by a terminal device of another person;
Wherein the mobile navigation system further comprises a mobile sensor platform based navigation system.

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