TW201814251A - Method and system for establishing movement track and determining location of movable carrier - Google Patents

Abstract

A method and system for establishing moving track and determining location of a movable carrier is provided, wherein a velocity information, and an orientation information with respect to the movable carrier are respectively detected by a built-in detecting system and an electronic device whereby a movement track of the movable carrier can be established. Meanwhile, air pressure information is also detected by an air pressure sensor for determining level information of the movable carrier. According to the established movement track and level information, it is capable of determining the location of the movable carrier so as to assist user to track the location of the movable carrier. Since the OBD system is a built-in system in the movable carrier and electronic device is available in the market, the system can be simplified to reduce the manufacturing cost and the signal interference problem can also be avoided.

Description

 Vehicle moving track reconstruction and vehicle positioning system and method  

The present invention relates to a technique for trajectory reconstruction and positioning, and more particularly to a system and method for vehicle trajectory reconstruction and vehicle positioning.

With the development of technology, positioning technology has also evolved. Among the early positioning technologies, the most widely known is the Global Positioning System (GPS), which combines multiple satellite and wireless communication technologies to accurately locate the user. In addition, as modern cities continue to develop, many places that provide life functions, such as large supermarkets and shopping centers, are also evolving toward large buildings. When doing activities in a large space, such as shopping or parking, it is often because the space is too large and people feel that they cannot grasp the current location. Although they can enjoy the convenience of large facilities, they also suffer from the inability to grasp the location. For example, in a large underground parking lot, when the user returns to find a vehicle after the user finishes the activity, if the parking location is not recorded in advance, the situation that the car cannot be found may occur. Or, in shopping, because the space in the shopping center is too large, there is a problem of not finding a person or place when waiting for someone to go shopping in a specific place.

At present, indoor positioning systems mainly have GPS positioning methods and wireless positioning methods. The first form is GPS positioning, and GPS is currently the most widely used positioning technology. For example, the Republic of China Patent Publication No. I349863 discloses a search method for a parking position using a global positioning system device detachably mounted on a car to perform the search method. The search method for the parking location includes receiving satellite signals transmitted by the global positioning system. And detect if the GPS device is separated from the car. When detecting that the global positioning system device is separated from the automobile, the parking position related information is automatically generated according to the satellite signal. When the driver wants to search for the parking position, the corresponding position of the parking position related information is represented by voice or video. However, since the technology requires satellite communication, the user must be able to receive the satellite signal area before using GPS to obtain positioning and navigation information. In a closed environment indoors, satellite signals are severely weakened or even unable to receive satellite signals, thus causing difficulties in positioning. In addition, the accuracy of GPS positioning has a systematic error of about 5-10 meters. Therefore, it is acceptable in outdoor large-scale positioning applications, but it is a serious error for indoor positioning.

The second type belongs to the Indoor Positioning System (IPS), for example, using radio waves, magnetic fields, or sound waves. In this type of technology, for example, Chinese Patent Publication No. CN102883262 discloses a Wi-Fi indoor positioning method based on fingerprint matching, which includes step 1 to divide the indoor space S into a plurality of reference nodes, and place the mobile terminal A at each reference node. At the same time, the Wi-Fi signal is collected and stored in the server database to construct a signal database of the space S; then, in step 2, the server divides the space S into q regions, and for each region j, each is established. The effective signal range of the MAC address, and finally step 3, when the mobile terminal B is in the space S, the acquisition signal is sent to the server; the valid signal range of each MAC address in each area of the server determines the current signal belongs to If there is only one area with the most valid signal, it is determined that the mobile terminal B is in the area; if there are multiple, the area where the signal space distance is the smallest is the area where the terminal B is located; the server is according to the area The reference node coordinates are included to get the location of terminal B.

In addition, the Republic of China Patent Publication No. 200925553 discloses an indoor positioning technology, which is applicable to a portable electronic device. The indoor positioning method includes at least the following steps: First, downloading an electronic map of an indoor environment, wherein There are more than one specific landmark on this electronic map. Calculating the portable electronic device corresponding to a current location on the electronic map according to the positioning signal transmitted by the indoor positioning system. Then, a route is planned based on this particular landmark and this current location.

The foregoing wireless positioning methods have their own defects and deficiencies in applications, such as: high cost, complicated architecture of the positioning system body, and poor anti-interference ability. In summary, there is a need for a system and method for vehicle trajectory reconstruction and vehicle positioning to address the deficiencies of conventional techniques.

The invention provides a vehicle movement trajectory reconstruction and positioning system and method, which utilizes speed and orientation information to establish a trajectory about the mobile vehicle, and records the stop position of the mobile vehicle, thereby achieving the purpose of trajectory reconstruction and positioning. In addition, it can be supplemented by detecting acceleration information and increasing the number of values, thereby improving the accuracy of trajectory reconstruction.

The invention provides a vehicle movement trajectory reconstruction and positioning system and method, which uses the speed detection module built in the mobile vehicle to obtain speed information, and uses the position sensor and the acceleration sensor built in the smart handheld device to Reconstruct the trajectory of the mobile vehicle and use the air pressure sensor to determine the height of the mobile vehicle, and apply to the position of the indoor positioning mobile vehicle to provide real-time positioning or historical location information to assist the user in quickly finding the movement. vehicle. By utilizing the speed detecting module for the vehicle and the built-in sensor of the handheld device, the cost of trajectory reconstruction and the establishment of the indoor positioning system can be reduced, and the complexity of the positioning system body and the interference can be avoided.

In one embodiment, the present invention provides a vehicle movement trajectory reconstruction system including a speed detection module, an electronic device, and an arithmetic processing unit. The speed detecting module is disposed on a moving vehicle for detecting a plurality of first speed signals corresponding to different time points of the moving carrier during the moving process. The electronic device is disposed on the mobile carrier, the electronic device further includes an orientation sensor, wherein the orientation sensor senses an orientation of the mobile vehicle corresponding to different time points to generate a corresponding plurality Position signal. The operation processing unit is configured to receive the plurality of first speed signals, the plurality of orientation signals, and the operation processing unit determines the first plurality of first speed signals according to the plurality of first speed signals. The movement distance and the orientation corresponding to each orientation signal establish a movement trajectory with respect to the mobile vehicle.

In one embodiment, the electronic device further includes a gas pressure sensor for sensing an atmospheric pressure at a position of the moving carrier to generate a corresponding atmospheric pressure signal. The arithmetic processing unit determines the height of the mobile vehicle according to the atmospheric pressure signal, and further determines the floor where the mobile vehicle is located. The vehicle movement track reconstruction system further has a wireless communication unit for telecommunication connection with a cloud server, wherein the cloud server has a cloud database, which has floors in different heights in a space. The location of each zone contained, the cloud database further determines the floor on which the mobile vehicle is located and the area in which the mobile vehicle is stopped.

In another embodiment, the vehicle movement track reconstruction system further includes a handheld device, wherein the handheld device executes an application program, and the application program is connected to the cloud database, and the application program can be based on the cloud. The floor on which the mobile vehicle is transported by the database and the area to be stopped provide a navigation information. In addition, in another embodiment, the electronic device is a portable smart handheld device, and an application is executed therein, and the application is connected to the cloud database, and the application can be based on the cloud database. The navigation floor on which the mobile carrier is transported and the stopped area provide a navigation information.

In an embodiment, the electronic device further includes an acceleration sensor for capturing a plurality of acceleration signals corresponding to different time points of the moving carrier during the moving process. The operation processing unit determines the moving distance according to the plurality of first speed signals and the acceleration signal. The operation processing unit determines a plurality of corresponding second speed signals according to the plurality of acceleration signals, and uses the first speed signal to correct the second speed signal corresponding to the first speed signal.

In an embodiment, the present invention further provides a method for reconstructing and locating a moving trajectory, which comprises the following steps: First, providing a speed detecting module, an electronic device having an azimuth sensor, and the speed detecting The measurement group and the electronic device are connected to an arithmetic processing unit by telecommunication. Then, the speed detecting module is used to detect a plurality of first speed signals corresponding to different time points of the moving carrier during the moving process. Then, the orientation sensor is used to sense the orientation of the mobile vehicle corresponding to different time points to generate a corresponding plurality of orientation signals. Finally, the operation processing unit receives the plurality of first speed signals, the plurality of orientation signals, and establishes a movement trajectory about the mobile vehicle according to the plurality of first speed signals and the orientation corresponding to the position signals.

2‧‧‧ Vehicle moving track reconstruction system

20‧‧‧Speed Detection Module

21‧‧‧Electronic devices

22‧‧‧Operation Processing Unit

210‧‧‧Acceleration sensor

211‧‧‧Azimuth sensor

212‧‧‧Operation Processing Unit

23‧‧‧Wireless communication unit

24‧‧‧Cloud Server

30~33‧‧‧Steps

30a~33a‧‧‧Steps

90‧‧‧Mobile Vehicles

91, 92, 93‧‧‧ Curve

930‧‧‧Moving distance information

931‧‧‧ Direction Information

94‧‧‧moving track

95‧‧‧Buildings

96‧‧‧Parking

Figure 1A is a schematic diagram of a mobile carrier.

FIG. 1B is a schematic diagram of an embodiment of a vehicle moving track reconstruction and positioning system according to the present invention.

2 is a schematic diagram of another embodiment of a vehicle moving track reconstruction and positioning system according to the present invention.

3 is a schematic flow chart of an embodiment of a method for reconstructing and locating a vehicle trajectory according to the present invention.

4 is a schematic diagram of an acceleration signal, a speed signal, and a moving distance according to the present invention.

FIG. 5 is a schematic diagram of the second speed signal correction obtained by integrating the first speed signal and the acceleration signal of the speed detecting module.

Figure 6 is a schematic diagram of moving distance and orientation information.

Figure 7 is a schematic diagram of the reconstructed movement trajectory.

Figure 8 is a schematic view of the moving vehicle entering the building.

FIG. 9 is a schematic diagram of still another embodiment of a vehicle moving track reconstruction and positioning system according to the present invention.

FIG. 10 is a schematic diagram of still another embodiment of a method for reconstructing and positioning a vehicle trajectory according to the present invention.

Various illustrative embodiments may be described more fully hereinafter with reference to the accompanying drawings. However, the inventive concept may be embodied in many different forms and should not be construed as being limited to the illustrative embodiments set forth herein. Rather, these exemplary embodiments are provided so that this invention will be in the Similar numbers always indicate similar components. The magnetic sensing device will be described below in conjunction with various embodiments, however, the following embodiments are not intended to limit the invention.

Please refer to FIG. 1A and FIG. 1B , wherein FIG. 1A is a schematic diagram of a mobile carrier; FIG. 1B is a schematic diagram of a system for moving track reconstruction and vehicle positioning according to the present invention. In this embodiment, the vehicle movement track reconstruction system 2 includes a speed detection module 20, an electronic device 21, and an operation processing unit 22. The speed detecting module 20 is disposed on a moving carrier 90 for detecting a plurality of first speed signals corresponding to different time points of the moving carrier 90 during the moving process. In this embodiment, the carrier 90 is a vehicle. The speed detecting module 20, in this embodiment, is an automatic diagnostic device OBD, which is disposed in the vehicle, except for a system for monitoring the running state of the vehicle and returning an abnormality, for example, a subsystem that can be present in the vehicle When the problem occurs, the fault code and the reminder signal are sent to notify the owner and the depot of the diagnosis and repair, and the real-time condition such as the vehicle speed, the engine speed, the battery voltage, and the cooling water temperature can be detected. Therefore, in the present embodiment, the first speed signal measured by the built-in automatic diagnostic device OBD is used as a basis for subsequent calculation. It should be noted that the speed detecting module 20 can also be composed of a sensor for detecting acceleration, and then the speed is obtained by the integral calculation.

The electronic device 21 is mounted on the mobile carrier 90 for sensing acceleration information and orientation information about the mobile carrier 90. The electronic device 21 can be a fixed electronic device or a detachable electronic device. In an embodiment, the fixed electronic device may be an electronic device made by the vehicle manufacturer, and has an acceleration sensor 210 and an orientation sensor 211 therein. The acceleration sensor 210 can be an accelerometer, such as a capacitive, piezoelectric or magnetoresistive sensor, but is not limited thereto. The position sensor 211 can be a sensor such as an electronic compass or a gyroscope. The detachable electronic device can be a handheld device such as a smart phone, a smart tablet or a smart wearing device. Similarly, an acceleration sensor 210 and an orientation sensor 211 are also provided in the handheld device. These two types of sensors are mostly standard components built into current handheld devices. The acceleration sensor 210 in the electronic device 21 is configured to capture a plurality of acceleration signals corresponding to different time points during the movement of the mobile carrier 90, and the orientation sensor 211 senses the movement when corresponding to different time points. The carrier 90 produces a corresponding plurality of orientation signals.

The operation processing unit 22 is in telecommunication connection with the speed detecting module 20 and the electronic device 21 to receive the plurality of first speed signals, the plurality of acceleration signals and the plurality of orientation signals, and the operation processing unit 22 is configured according to the operation The plurality of first speed signals, the moving distance generated by the acceleration signals, and the orientation corresponding to the azimuth signals establish a movement trajectory about the moving carrier 90. It should be noted that the operation processing unit 22 can be disposed in a fixed electronic device or a detachable electronic device, and is connected to the speed detecting module via a wired or wireless manner to receive the speed of the mobile vehicle. Signal. The wireless communication method can be performed by means of Bluetooth, wifi or near field communication, and there is no limitation.

In addition, in another embodiment, as shown in FIG. 2, the system further includes a wireless communication unit 23 and a cloud server 24, wherein the wireless communication unit 23 and the electronic device 21, the speed detection module 20 and the arithmetic processing unit 22 are coupled, and the wireless communication unit 23 and the cloud server 24 perform wireless communication. The wireless communication method may be 3G wireless communication, 4G wireless communication or wifi wireless communication, but is not limited thereto. In addition, in an embodiment, the operation processing unit 22 can also be disposed in the cloud server 24 to receive the speed, acceleration, and orientation signals generated by the speed detection module 20 and the electronic device 21. In another embodiment, the operation processing unit 22 can also be disposed as an independent component in the mobile carrier 90 or in the electronic device 21 or the speed detection module 20. The cloud server 24 further has a cloud database for storing the received speed, acceleration and position signals. The cloud database further stores the calculated movement track information about the mobile vehicle.

Next, the trajectory reconstruction method will be described. Please refer to FIG. 1A, FIG. 1B and FIG. 3, wherein FIG. 3 is a schematic flow chart of an embodiment of a trajectory reconstruction method according to the present invention. The method first provides a speed detecting module 20, an electronic device 21 having an acceleration sensor 210 and an orientation sensor 211, and a telecommunication connection with the speed detecting module 20 and the electronic device 21. The arithmetic processing unit 22. The devices in this step are disposed in the mobile carrier 90, in particular, the speed detecting module 20, generally a mobile carrier 90, such as a car, a built-in automatic diagnostic device OBD, and the electronic device 21 can be It is required to use a fixed or detachable electronic device. The arithmetic processing unit 22 can be disposed in the near-end electronic device 21 or in a cloud server disposed at the remote end without any limitation.

Then, in step 31, the speed detecting module 20 detects a plurality of first speed signals corresponding to different time points of the moving carrier during the moving process, and transmits the first speed signals to the operation processing unit 22. Then, in step 32, the acceleration sensor 210 is used to capture a plurality of acceleration signals corresponding to different time points of the mobile carrier 90 during the movement, and the orientation sensor 211 is used to sense different time points. The orientation of the mobile carrier 90 produces a corresponding plurality of orientation signals. In this step, the obtained acceleration signal is as shown in FIG. 4( a ), which is an accelerometer that senses a plurality of acceleration signals when the mobile carrier 90 moves for a certain period of time, due to a certain period of time. The acceleration sensor 210 senses a plurality of acceleration signals. It should be noted that each acceleration signal corresponds to a position signal. In step 31, the frequency of the sensing speed of the speed detecting module 20 is greater than the frequency of the acceleration sensor 211 of step 32. Therefore, the number of acceleration signals generated in step 32 is greater than that in step 31 in the same period of time. The first speed signal generated.

Then, the step 33 is configured to receive the plurality of first speed signals, the plurality of acceleration signals and the plurality of azimuth signals, and the moving distance and the position signal generated by the operation processing unit 22 according to the plurality of first speed signals and the acceleration signals. The corresponding orientation establishes a movement trajectory with respect to the mobile carrier 90. In this step, the arithmetic processing unit 22 obtains the y information through the calculation as shown in FIGS. 4(b), 4(c), and 4(d). According to the mathematical calculation principle, it is necessary to obtain the distance that the mobile vehicle 90 moves. The acceleration value is integrated twice. Before performing integration, a signal filtering process can be performed on the acceleration signal to remove noise, and a smoother acceleration signal is obtained, as shown in FIG. 4(b). There are many kinds of filtering processes for removing noise, such as a low pass filter algorithm or a Kalman filter algorithm to perform noise filtering on the acceleration signal. After filtering, the first integration is performed to obtain a velocity curve, which is composed of a plurality of second velocity signals obtained by integrating a plurality of acceleration signals, as shown in FIG. 4(c). It should be noted that since the moving carrier 90 is in the process of traveling, the speed of the moving vehicle can be instantly known through the OBD, but the interval of the OBD value is limited by the influence of the hardware structure, and the value is lower than the value. Acceleration sensor, so the speed information details between the two OBD time intervals are not captured, which will cause errors in the subsequent movement trajectory calculation. Therefore, in an embodiment, the acceleration signal 210 is used to compensate for the insufficient speed information of the speed detecting module 20, and the acceleration sensor 210 detects the obtained acceleration signal. The arithmetic processing unit 22 is given to perform the integral calculation.

On the other hand, since the acceleration is converted into a displacement, it is necessary to undergo two integral calculations, so that an integral accumulated error is generated. In order to avoid the problem of the accumulated error, after the speed curve is obtained, the operation processing unit 22 can correct the second speed signal obtained by the integration with the first speed signal obtained by the speed detecting module 20. In an embodiment, the acceleration sensor obtains the speed information after the integration, and can be compared with the speed information obtained by the speed detecting module 20, that is, the first speed obtained by using the speed detecting module 20. The signal is used to correct the second speed signal obtained by integrating the acceleration signal to avoid the accumulation of the integral error and affect the result of the subsequent movement trajectory reconstruction. For example, as shown in FIG. 5, a curve 91 (solid line) represents a speed curve obtained by integrating the acceleration, and a curve 92 (dashed line) represents a speed curve obtained by the speed detecting module 20, and the speed detecting module 20 is provided. The obtained first speed signal and the second speed signal obtained by using the acceleration integral at the corresponding time can be corrected to make the speed information more accurate. In the manner of correction, the averaging method can be utilized. For example, in an embodiment, for example, the speed values corresponding to the first and second speed signals are averaged, or the first speed value is replaced by the second speed value. Speed, but not limited to this, statistical algorithms can be implemented.

After the correction, the speed signal obtained after the second integration is obtained, and the moving distance information as shown in FIG. 4(d) can be obtained. As for how the moving distance information is converted into the trajectory information, as shown in FIG. 6, the curve 93 represents a curve formed by the plurality of moving distance information 930, and each moving distance information 930 corresponds to the azimuth sensed by the azimuth sensor 211. The information 931 can reconstruct the movement trajectory of the mobile vehicle according to the orientation information 931 and the corresponding movement distance information 930. As shown in the movement trajectory 94 of FIG. 7, in an embodiment, the movement trajectory 94 is a mobile vehicle. 90 The trajectory of the parking lot on a particular floor within the building. Since the first speed signal, the acceleration signal, and the azimuth signal can be continuously transmitted to the arithmetic processing unit for processing, the immovable moving track reconstruction can be performed. In addition, since the aforementioned data is also transmitted to the database storage of the cloud processor, it is also possible to perform tracking of the movement trajectory about the mobile vehicle at any time in the past.

In an embodiment, as shown in FIG. 1B or FIG. 2, the electronic device 21 may further be provided with a barometric sensor 212 for sensing atmospheric pressure, which is used for sensing the atmospheric pressure of the position of the mobile carrier 90. Force to generate the corresponding atmospheric pressure signal. The atmospheric pressure signal is further transmitted to the arithmetic processing unit 22, and the arithmetic processing unit 22 determines the height at which the mobile vehicle 90 is located based on the atmospheric pressure signal. Therefore, if the floor information of each place building is established in the cloud database in the cloud server 24 in advance, the height of the mobile vehicle 90 can be determined according to the altitude information or the cloud server according to the atmospheric pressure signal. The movement trajectory in which floor of the mobile vehicle 90 is in the building is known.

The moving trajectory reconstruction system 2 shown in FIG. 1B or FIG. 2 can further serve as an indoor positioning system. In the embodiment of the indoor positioning system, since the speed, acceleration, azimuth and atmospheric pressure information of the mobile vehicle 90 are stored in the cloud database, the movement trajectory and height change of the mobile vehicle 90 can be known, and then the It is to track the position of the moving vehicle at any point in the past. In one embodiment, the cloud repository has building information about various locations in a space, and the location of each zone contained within a floor of a different height in each building. In an embodiment, the area may be a store or a parking lot, and this embodiment is a parking lot. Further, the mobile carrier 90 can first be positioned by GPS to enter a specific building, and the GPS positioning can be implemented by the speed detecting module 20 or the electronic device 21. After the GPS signal is transmitted to the cloud server 24 via the wireless communication unit 23, the cloud server 24 finds the corresponding building information according to the location, and according to the flow shown in FIG. 3, the mobile vehicle 90 can be grasped in the building. The instantaneous movement trajectory in each floor of the object or the historical movement trajectory.

In an embodiment, as shown in FIG. 8, it is a bird's-eye view in an area, which is illustrated by the parking example. When the mobile vehicle 90 enters the basement of the building 95, it can be positioned by GPS. When entering the building 95, the cloud server can determine the building 95 in which it is located according to the location of the last GPS, and then through the aforementioned indoor trajectory reconstruction function, the movement trajectory of the mobile vehicle 90 after entering the building can be known and The floor changes. As shown in FIG. 7, after the mobile carrier 90 finds the parking space 96 to be parked, the cloud server 24 can know the position where the mobile vehicle 90 is finally stopped according to the movement trajectory 94 reconstructed by using FIG. Come down. In an embodiment, the information returned by the electronic device 21 to the cloud server 24 further includes an identification information, which may be account information that the user logs in, or identification information of the mobile vehicle 90, for example, a license plate. Etc., but not limited by the foregoing. When the user wants to return to the mobile vehicle, the user can use his own handheld device to find the parking location. In one embodiment, the handheld device is an electronic device in the system. An application APP is installed in the handheld device. When the user launches the application APP, the application automatically connects to the cloud server 24 through a wireless network, such as 3G, 4G or wifi communication, when the user When the identification information is input, the cloud server 24 searches for the corresponding movement trajectory 94 and the last stopped position based on the identification information, and transmits it back to the user. In one embodiment, if the trajectory history record spans multiple levels, the user may choose to receive the last parked floor and the trajectory information on that floor. In the case of a poor communication environment in the basement, the user can first connect to the cloud server in a good communication environment to obtain relevant information.

In one embodiment, the application displays a plan view of the floor to which the mobile vehicle last parked, and information on its movement trajectory, as shown in FIG. 7, to allow the user to conveniently locate the parking location. In another embodiment, since the database in the cloud server 24 has identification information of each parking location in each floor, for example, a parking space number. Therefore, the cloud server can transmit the identification information corresponding to the parking location to the user's handheld device. Users can find their own vehicles more quickly based on this information.

Please refer to FIG. 9 and FIG. 10 , which are schematic diagrams of another embodiment of a vehicle moving track reconstruction and positioning system and method according to the present invention. In this embodiment, the frequency of the speed detecting module 20 is fast enough, for example, the frequency of the frequency is more than 20 times per second. In an embodiment, the speed detecting module 20 takes the frequency. The value frequency is 25 times per second, but is not limited to this. In this way, the acceleration signal detected by the acceleration sensor can be omitted in the electronic device 21, and only the speed information detected by the speed detecting module 20 and the position sensor 211 and the air pressure sensor 212 can be used. The detected position information and atmospheric pressure information, and the functions of moving track reconstruction and indoor positioning. With the system of FIG. 11, in conjunction with the flow of FIG. 12, in steps 30a to 30c, the first speed signal and the azimuth signal are obtained by using the speed detecting module and the electronic device, and then in step 30d, when the arithmetic processing unit 22 receives After the speed information, the movement distance of the mobile vehicle can be obtained through the integral operation processing, and then the movement information of the mobile vehicle can be reconstructed in real time through the corresponding orientation information, and then used for real-time indoor positioning or past trajectory tracking. The details are as described above with reference to FIG. 4 to FIG. 9 and corresponding texts, and are not described herein. It should be noted that since the embodiment of FIG. 9 and FIG. 10 does not have an acceleration sensor, or has an acceleration sensor but does not use the detected information, it does not need to perform two types as shown in FIG. Speed correction procedure.

In summary, the present invention utilizes a built-in speed detection module of a mobile vehicle, such as an automatic diagnostic device OBD to obtain speed information, and uses a built-in position sensor of the smart handheld device to reconstruct a trajectory of the mobile vehicle, and The atmospheric pressure sensor is used to determine the height of the mobile vehicle, and is applied to the position of the indoor positioning mobile vehicle to assist the user in quickly finding the mobile vehicle. By using the speed detecting module of the vehicle and the built-in sensor of the handheld device, the cost of the trajectory reconstruction and the indoor positioning system can be reduced, and in addition to solving the defects of the conventional GPS signal positioning, the positioning system body can be avoided. Complex architecture and interference issues.

However, the specific embodiments described above are merely used to exemplify the features and functions of the present invention, and are not intended to limit the scope of the present invention, and may be applied without departing from the spirit and scope of the present invention. Equivalent changes and modifications made to the disclosure of the present invention are still covered by the scope of the following claims.

Claims (20)

 A moving track reconstruction and positioning system includes: a speed detecting module disposed on a moving vehicle for detecting a plurality of first corresponding to different time points of the moving carrier during the moving process The speed signal is an electronic device that is disposed on the mobile vehicle. The electronic device further includes an orientation sensor, and the orientation sensor is configured to sense an orientation of the mobile vehicle corresponding to different time points to generate Corresponding multiple orientation signals; and an operation processing unit, which is in telecommunication connection with the speed detection module and the electronic device to receive the plurality of first speed signals, the plurality of orientation signals, and the operation processing unit is configured according to the The plurality of first speed signals determine a moving distance and an orientation corresponding to each of the azimuth signals to establish a movement trajectory about the mobile vehicle.    The mobile track reconstruction and positioning system of claim 1, wherein the electronic device further comprises a gas pressure sensor for sensing atmospheric pressure of the position of the mobile vehicle to generate a corresponding atmospheric pressure signal.    The mobile track reconstruction and positioning system of claim 2, wherein the operation processing unit determines the height of the mobile vehicle according to the atmospheric pressure signal.    The mobile track reconstruction and positioning system according to claim 3, further comprising a wireless communication unit for connecting with a cloud server, wherein the cloud server has a cloud database, and the cloud server has a cloud database For the location information of at least one area included in the floor of different heights in a space, the cloud database determines the floor where the mobile vehicle is located and the moving load according to the height or the atmospheric pressure signal and the movement track. With the area that is stopped.    The mobile track reconstruction and positioning system of claim 4, further comprising a handheld device, wherein the handheld device executes an application, the application is connected to the cloud database, and the application can be The height of the mobile vehicle transmitted by the cloud database and the area corresponding to the height provide a guiding information.    The mobile track reconstruction and positioning system of claim 4, wherein the electronic device is a portable smart handheld device, wherein an application is executed, the application is connected to the cloud database, and the application is connected to the cloud database. The application can provide a navigation information according to the height of the mobile vehicle transmitted by the cloud database and the area corresponding to the height.    The vehicle trajectory reconstruction system of claim 1, wherein the electronic device further comprises an acceleration sensor for capturing a plurality of corresponding time points of the mobile vehicle during the moving process. Acceleration signals.    The mobile track reconstruction and positioning system of claim 7, wherein the operation processing unit determines the moving distance according to the plurality of first speed signals and the plurality of acceleration signals.    The mobile track reconstruction and positioning system of claim 8, wherein the operation processing unit determines a plurality of corresponding second speed signals according to the plurality of acceleration signals, and corrects the first speed signal by using the first speed signal. The second speed signal of the first speed signal corresponding to the time point.    The mobile track reconstruction and positioning system of claim 1, wherein the speed detecting module is an automatic diagnostic device.    A method for reconstructing and locating a moving trajectory includes the following steps: providing a speed detecting module, an electronic device having an orientation sensor, and a telecommunication connection with the speed detecting module and the electronic device The unit uses the speed detecting module to detect a plurality of first speed signals corresponding to different time points of the moving vehicle during the moving process; and the position sensor is used to sense corresponding time points. Positioning the mobile carrier to generate a corresponding plurality of orientation signals; and receiving, by the operation processing unit, the plurality of first speed signals, the plurality of orientation signals, and corresponding to the plurality of first speed signals and the position signals The orientation establishes a movement trajectory about the mobile vehicle.    The method for reconstructing and locating a moving trajectory according to claim 11, further comprising: a barometric sensor disposed in the electronic device, sensing atmospheric pressure at a position of the moving carrier to generate a corresponding The steps of the atmospheric pressure signal.    The method for reconstructing and locating a moving trajectory according to claim 12, wherein the arithmetic processing unit determines the height of the mobile vehicle according to the atmospheric pressure signal.    For example, the method for reconstructing and locating a moving trajectory according to claim 13 has a cloud server, which has a cloud database, and the cloud database has a floor with different heights in a space. The location information of each area of the cloud database determines the floor where the mobile vehicle is located and the area where the mobile vehicle is stopped according to the height or the atmospheric pressure signal and the movement track.    For example, the mobile track reconstruction and positioning method described in claim 14 further includes a handheld device, wherein the handheld device executes an application program, and the application program is connected to the cloud database, and the application can be The floor on which the mobile vehicle is transmitted by the cloud database and the stopped area provide a navigation information.    The mobile track reconstruction and positioning method of claim 14, wherein the electronic device is a portable smart handheld device, wherein an application is executed, and the application is connected to the cloud database, and the application is connected to the cloud database. The application can provide a navigation information according to the floor on which the mobile vehicle is transmitted by the cloud database and the area where the mobile device is located.    The method for reconstructing and locating a moving trajectory according to claim 11, wherein the electronic device further comprises an acceleration sensor for capturing a plurality of corresponding time points corresponding to the moving carrier during the moving process. Acceleration signals.    The method for reconstructing and locating a moving trajectory according to claim 17 further includes the step of determining, by the arithmetic processing unit, the moving distance according to the plurality of first speed signals and the plurality of acceleration signals.    The method for reconstructing and locating a moving trajectory according to claim 18, wherein the operation processing unit determines a plurality of corresponding second speed signals according to the plurality of acceleration signals, and corrects the first speed signal by using the first speed signal. The second speed signal of the first speed signal corresponding to the time point.    The method for reconstructing and locating a moving trajectory according to claim 11, wherein the speed detecting module is an automatic diagnostic device.