WO2017193252A1

WO2017193252A1 - Apparatus, system and method for recording and presenting animal movement track

Info

Publication number: WO2017193252A1
Application number: PCT/CN2016/081396
Authority: WO
Inventors: 郑勇; 王忠山
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2016-05-09
Filing date: 2016-05-09
Publication date: 2017-11-16

Abstract

Provided are an apparatus, a system and a method for recording and presenting an animal movement track. The apparatus for recording an animal movement track comprises: a sensor module (102), used to acquire movement parameters of an animal in an animal carrier coordinate system; a positioning module (103), used to determine specific location information of the animal in real time within a coverage of global navigation satellite system (GNSS) signals; and a baseband processing and application processing module (101), connected to the sensor module (102) and the positioning module (103) respectively, and used to receive the movement parameters and the specific location information, calculate course angle information in the animal carrier coordinate system according to the movement parameters, and then calculate an azimuth angle and displacement of the animal in a geographic coordinate system according to a relationship between the animal carrier coordinate system and the geographic coordinate system and the course angle information. The apparatus of the present invention can determine an approximate location and movement track of an animal without a GNSS or GPS signal, such that a user can ascertain in real time the location and movement track of the animal.

Description

Device, system and method for recording and presenting animal motion trajectory

Technical field

The invention belongs to the field of positioning technology, and in particular relates to a device, a system and a method for recording and presenting a motion track of an animal.

Background technique

A wearable device is a portable device that is worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are more than just a hardware device. They also implement powerful functions through software support, data interaction, and cloud interaction. Wearable devices will make a big difference in our lives and perceptions.

Animal wearables allow people to better understand the movements, current location and other important information of animals such as dogs and horses. People wear animal wearables on pets to prevent pets from being lost.

The trajectory tracking function of the existing animal wearing equipment mainly relies on GNSS, and there is no motion trajectory tracking function in the blind area of the GNSS. In addition, the motion trajectory tracking function relies on the use of an electronic map of the navigation coordinate system. In some places of the electronic map without the navigation coordinate system, such as indoors, the motion trajectory is also difficult to present.

technical problem

The technical problem to be solved by the present invention is to provide a device, system and method for recording and presenting an animal's motion trajectory, aiming at solving the problem that the existing animal wearing device cannot be positioned in the GPS blind zone.

Technical solution

The present invention is achieved by a device for recording an animal's trajectory, the device being fixed to an animal, comprising:

a sensor module for collecting motion parameters of an animal in an animal carrier coordinate system;

a positioning module for locating specific location information of an animal in real time in an area having a global navigation satellite system signal;

a baseband processing and application processing module, respectively connected to the sensor module and the positioning module, configured to receive the motion parameter and the specific location information, and calculate the coordinate in the animal carrier coordinate system according to the motion parameter The heading angle information, and then calculating the azimuth and displacement of the animal in the geographic coordinate system according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information;

a storage module, respectively connected to the sensor module, the positioning module, and the baseband processing and application processing module, configured to store the motion parameter, the specific location information, and the baseband processing and application processing module in operation Intermediate data in the process;

The power management module is respectively connected to the sensor module, the positioning module, the baseband processing and application processing module and the storage module, for providing power and controlling the switch of the device.

Further, the device further includes:

a barometer, respectively connected to the baseband processing and application processing module, the storage module and the power management module, for measuring the air pressure value of the animal in real time, and comparing the air pressure value with the relationship between the air pressure and the height The height value at which the animal is located;

The baseband processing and application processing module is further configured to convert the height value into a height value in the geographic coordinate system;

The radio frequency module is respectively connected to the baseband processing and application processing module and the power management module, and wirelessly transmits the azimuth and displacement or the height value.

The present invention also provides an apparatus for presenting an animal's motion trajectory, comprising:

a receiving module, configured to receive azimuth, displacement, and altitude values in the geographic coordinate system, or to receive the specific location information of an animal in an area having a global navigation satellite system signal;

The origin confirmation module is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears;

a calculation module, configured to calculate, according to the azimuth angle, the displacement, and the height value, a coordinate point of the animal moving at each moment in a geographic coordinate system;

And a rendering module, which uses the origin as a starting point to connect the coordinate points of the movements at each moment into a motion trajectory, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.

Further, the calculation module includes:

a first calculating sub-unit, calculating a height value difference of consecutive time intervals, and if the height value difference is less than a preset height, calculating a coordinate point of each moment of the animal by using a calculation method of a motion trajectory of the horizontal plane;

The second calculating subunit calculates a height value difference of the continuous time interval. If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.

The present invention also provides a system for recording and presenting an animal's motion trajectory, including a device for recording an animal's motion trajectory and a device for presenting an animal's motion trajectory;

The means for recording the trajectory of the animal is coupled to the means for presenting the trajectory of the animal for recording specific location information of the animal in the area having the GNSS signal, or for recording in the absence of a global navigation satellite system The azimuth, displacement, and height values of the animal in the geographic coordinate system within the region of the signal and sent to the device that presents the animal's motion trajectory;

The device for presenting an animal's motion trajectory draws an animal's motion trajectory in a navigation coordinate system according to the specific location information, or calculates an animal's motion at various moments according to the azimuth angle, the displacement, and the height value. The coordinate points are connected to the animal's motion trajectory according to the coordinate points at each moment.

Further, the device for recording an animal's motion trajectory includes:

a baseband processing and application processing module, respectively connected to the sensor module, the barometer, the positioning module, for receiving the motion parameter, the height value, and the specific location information, and according to the motion Calculating the heading angle information in the animal carrier coordinate system, and calculating the azimuth and displacement of the animal in the geographic coordinate system according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information;

The radio frequency module is respectively connected to the baseband processing and application processing module and the power management module, and wirelessly transmits the azimuth and displacement or the height value;

a storage module, respectively connected to the sensor module, the barometer, the positioning module, and the baseband processing and application processing module, configured to store the motion parameter, the height value, the specific location information, and The baseband processing and application processing module intermediate data in the operation process;

Further, the device for presenting an animal's motion trajectory includes:

The present invention also provides a method of recording and presenting an animal's motion trajectory, comprising the steps of:

Record the specific location information of animals in the area with GNSS signals in real time, or record the azimuth, displacement and altitude values of the animals in the geographic coordinate system in real time in areas without GNSS signals;

When the GNSS signal disappears, the latitude and longitude information of the vanishing point is taken as the origin of the geographic coordinate system, and the coordinates of the movement of the animal at various moments in the geographic coordinate system are calculated according to the azimuth angle, the displacement and the height value. ;

The coordinate points of the movements at the respective moments are connected into a motion trajectory starting from the origin, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific position information.

Further, the calculating, according to the azimuth angle, the displacement, and the height value, the coordinate points of the animals moving in the geographic coordinate system at each moment include:

Calculating a difference in height values of consecutive time intervals, comparing the difference in height values with a preset height;

If the height difference is less than the preset height, the calculation method of the motion trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment;

If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.

Further, the real-time recording in the region without the global navigation satellite system signal, the azimuth, displacement and height values of the animal in the geographic coordinate system specifically include:

Real-time collection of animal parameters and barometric pressure values in the animal carrier coordinate system;

Converting the pressure value to a height value at which the animal is located, based on the relationship between air pressure and altitude;

Calculating heading angle information in an animal carrier coordinate system according to the motion parameter;

The azimuth and displacement of the animal in the geographic coordinate system are calculated according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information.

Beneficial effect

Compared with the prior art, the invention has the beneficial effects that: the device for recording the movement track of the animal uses the positioning module to locate the specific location information of the animal in real time when the GNSS or GPS signal is present, and displays the motion track of the animal on the electronic map. In the absence of GNSS or GPS signals, the sensor module is used to collect the motion parameters of the animal in the animal carrier coordinate system, and the baseband processing and application processing module is used to process the motion parameters to obtain azimuth and displacement, thereby knowing the approximate position of the animal and Movement track. In order to facilitate people to know the location and movement track of the animal in real time.

DRAWINGS

1 is a schematic structural diagram of an apparatus for recording an animal's motion trajectory according to an embodiment of the present invention;

2 is a schematic structural diagram of an apparatus for presenting an animal's motion trajectory according to an embodiment of the present invention;

3 is a schematic structural diagram of an apparatus for presenting an animal's motion trajectory according to another embodiment of the present invention;

4 is a schematic structural diagram of a system for recording and presenting an animal's motion trajectory according to an embodiment of the present invention;

FIG. 5 is a schematic flowchart diagram of a method for presenting an animal motion track according to an embodiment of the present invention; FIG.

6 is a schematic flow chart of a method for recording and presenting an animal's motion trajectory according to an embodiment of the present invention;

7 is a schematic diagram showing the relationship between an animal carrier coordinate system and a geographic coordinate system in an embodiment of the present invention;

8 is a schematic diagram of a navigation coordinate system in an embodiment of the present invention;

9 is a schematic diagram showing the relationship between a geographic coordinate system and a navigation coordinate system in an embodiment of the present invention;

10 is a schematic flowchart of a long-term fusion algorithm in an embodiment of the present invention;

Figure 11 is a schematic view showing the movement trajectory of the animal in the horizontal plane of the geographic coordinate system in the embodiment of the present invention;

FIG. 12 is a schematic diagram showing the movement trajectory of an animal in a three-dimensional space of a geographic coordinate system according to an embodiment of the present invention.

Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of an apparatus for recording an animal's motion trajectory according to an embodiment of the present invention. The apparatus for recording an animal's motion trajectory is fixed on an animal, and specifically includes: a baseband processing and application processing module 101, and a sensor module. 102. The positioning module 103, the storage module 109, and the power management module 106. The detailed description of each module is as follows:

The sensor module 102 is configured to collect motion parameters of the animal in the animal carrier coordinate system. The sensor module 102 can accurately monitor the position information of the animal's position and motion. The attitude information includes a pitch angle θ (pitch), a yaw angle yaw (yaw), a roll angle Φ (roll), a direction angle, a heading angle, and the like.

Specifically, the motion parameters may be acceleration, angular velocity, magnetic field strength, and the like. The acceleration and angular velocity of the animal reflect the state of motion of the animal.

Positioning module 103 for use in a global navigation satellite system (GNSS, Global Navigation) The Satellite System) locates the specific location information of the animal in real time within the area of the signal.

The baseband processing and application processing module 101 is respectively connected to the sensor module 102 and the positioning module 103 for receiving motion parameters and specific position information, and calculating the heading angle information in the animal carrier coordinate system according to the motion parameters, and then according to the animal. The relationship between the carrier coordinate system and the geographic coordinate system and the heading angle information calculate the azimuth and displacement of the animal in the geographic coordinate system.

The baseband processing and application processing module 101 can use the MTK6580 Cortex The A7 quad-core 1.4G processor is responsible for recording and computing the attitude information in the animal carrier coordinate system.

Specifically, the Euler transform matrix of the animal carrier coordinate system and the geographic coordinate system may be used to obtain the heading angle information of the geographic coordinate system from the heading angle information of the animal carrier coordinate system. The attitude information includes a pitch angle θ (pitch), a yaw angle yaw (yaw), a roll angle Φ (roll), and the like.

The storage module 109 is connected to the sensor module 102, the positioning module 103, and the baseband processing and application processing module 101, respectively, for storing motion parameters, specific position information, azimuth, displacement, and baseband processing and application processing module 101 in the operation process. Intermediate data. The storage module 109 includes EMMC (Embedded) Multi Media Card) and T card support for high speed memory systems.

The power management module 106 is connected to the sensor module 102, the positioning module 103, the baseband processing and application processing module 101, and the storage module 109, respectively, for providing power and controlling the on/off of the device.

The definition of the coordinate system and the relationship between the various coordinate systems are as follows:

Animal carrier coordinate system, defined as the origin of the animal's center of mass, OX _b axis and OY _b axis in the local horizontal plane, OX _b axis pointing to the right side of the carrier, OY _b axis along the longitudinal axis of the carrier and pointing forward, OZ _b perpendicular to The carrier is upright. The OX _b Y _b Z _b coordinate system constitutes a right-handed rectangular coordinate system. When the carrier is not pitched or tilted, OX _b Y _{b is} the horizontal plane, and the OZ _b axis is perpendicular to the horizontal plane formed by OX _b Y _b and points to the zenith.

The geographic coordinate system is defined as the origin of the earth surface where the carrier is located. The origin O of the geographic coordinate system is selected at the center of mass of the carrier, the X _n axis points to the north, the Y _n axis points to the sky, and the Z _n axis points to the east. The attitude angle of the animal carrier coordinate system rotating around the X coordinate of the geographic coordinate system is called the roll angle Φ (roll ); the attitude angle of the animal carrier coordinate system rotating around the Y coordinate of the geographic coordinate system is called the pitch angle θ ( pitch ); The attitude angle of the carrier coordinate system around the Z coordinate of the geographic coordinate system is called the yaw angle yaw. See Figure 7 for the relationship between the animal carrier coordinate system and the geographic coordinate system.

Please refer to FIG. 8. FIG. 8 is a schematic diagram of a navigation coordinate system according to an embodiment of the present invention. The navigation coordinate system and the origin O of the world geodetic coordinate system are both at the center of the earth, and OZ _w points to the protocol ground defined by the International Time Bureau (BIH) 1984.0. In the (CTP) direction, the OX _w axis points to the intersection of the protocol meridian plane of BIH1984.0 and the CTP equator, and the OY _w axis and OX _w and OZ _w form the right-handed coordinate system. The WGS-84 coordinate system is a protocol earth coordinate system that is consistent with the Earth coordinate system. The coordinate system used by GPS is the coordinate system. See Figure 9 for the relationship between the geographic coordinate system and the navigational coordinate system.

In combination with the above embodiment, the positioning module 103 includes GPS (Global Positioning) System, Global Positioning System), WiFi (WIreless-Fidelity, Wireless Fidelity), BT (Bit Torrent, bitstream), Beidou II and FM (frequency Modulation, FM module, etc. The positioning module 103 is responsible for handling the positioning functions of the GPS/WiFi/BT/FM/Beidou II and the like together with the antenna 107.

In combination with the various embodiments described above, the apparatus also includes a barometer 104. The barometer 104 is connected to the baseband processing and application processing module 101, the storage module 109 and the power management module 106, respectively, for measuring the air pressure value of the animal in real time, and comparing the air pressure value with the height and the height to obtain the height of the animal. value. The barometer 104 enables extremely high resolution pressure and height measurements with an accuracy of up to centimeter.

After the barometer 104 acquires the height value, the baseband processing and application processing module 101 converts the height value to a height value in the geographic coordinate system.

In combination with the various embodiments described above, the apparatus may further include: a radio frequency module 105, an audio module 110, and a camera 111.

The radio frequency module 105 is connected to the baseband processing and application processing module 101 and the power management module 106, and wirelessly transmits azimuth, displacement, specific location information or altitude values.

The radio frequency module 105 supports various communication forms such as WIFI/2G/3G/4G, and completes reception and transmission of radio frequency signals with the antenna 108.

The audio module 110 is coupled to the baseband processing and application processing module 101 for emitting an alarm audio signal. When the animal is in a dangerous zone or its motion data exceeds a preset threshold, an alarm signal is generated for prompting the animal or monitoring the animal's motion status in real time.

The camera 111 is coupled to the baseband processing and application processing module 101 for capturing the motion of the animal. The captured video can be transmitted by the radio frequency module 105 to a device that presents an animal's motion trajectory to facilitate real-time understanding of the animal's condition.

The sensor module 102 can be a MEMS (Micro electro Mechanical) Systems, MEMS) 9-axis sensor, 9-axis sensor including three-axis accelerometer, three-axis gyroscope and three-axis magnetic field meter. The three-axis accelerometer is mainly used to measure the acceleration of the animal, the three-axis gyroscope is used to measure the angular velocity under the animal carrier coordinate system X-Y-Z, and the three-axis magnetometer is used to measure the magnetic field strength under the animal carrier coordinate system X-Y-Z.

When the baseband processing and application processing module 101 calculates the heading angle information of the animal, the measurement error of the sensor module 102 is mainly due to the integral error of the three-axis gyroscope and the accelerometer error caused by the vibration, so that the obtained motion parameter is not accurate. Therefore, a long-term fusion algorithm can be used to correct the parameters derived from the gyroscope integration. Long-term integration is divided into two phases. The first phase is to obtain direct parameters. The quantities directly measured include acceleration and magnetic field strength. The second stage is to correct the current parameters with the parameters obtained by direct measurement. Because the gravity and magnetic fields in the geographic coordinate system are constant, the gravity vector and the magnetic field vector in the geographic coordinate system are converted into the animal carrier coordinate system. At this time, the gravity vector and magnetic field vector of the animal carrier coordinate system are converted to the animal carrier coordinates. There is an error between the gravity vector and the magnetic field vector measured in the system. As long as the error is eliminated, the animal carrier coordinate system can be corrected, and the accurate heading angle information of the animal carrier coordinate system can be obtained. Methods for eliminating errors include Kalman filtering, complementary filtering, and attitude interpolation. After the motion parameter information is calculated, the motion trajectory and the real-time position can be displayed by transmitting to the device that presents the animal motion trajectory through the wireless network.

The schematic diagram of the process of the long-term fusion algorithm is shown in FIG. 10, specifically:

Perform various initializations.

Determine if the initialization is complete.

If the initialization is not completed, then various initializations are continued; if the initialization is completed, the timer is used to trigger the measurement, and the quantities to be measured are acceleration, angular velocity, magnetic field strength, and barometric pressure. All measurement processes are completed in a timed interrupt.

After the measurement is completed, the measurement results are saved and the status is transferred to the ready measurement state.

Quick fusion with angular velocity.

Determine whether long-term fusion is needed. If long-term fusion is required, use acceleration and magnetic field strength for long-term fusion; otherwise, return to the step of judging whether initialization is complete.

The fast fusion algorithm uses the formula: angle (angle) Tn = angle (angle) Tn-1 + ∫ ^Tn _Tn-1 wdt is calculated, where angle (angle) _Tn is the angle of time Tn, angle (angle) _Tn-1 is The angle of Tn-1 moment, w is the angular velocity of the gyroscope.

The long-term fusion algorithm for eliminating errors, the value obtained by the three-axis gyroscope in the short-term measurement is relatively accurate, but due to the temperature drift, after the integration, the value obtained in the long period of time will have a large error, resulting in being unusable. Therefore, the angle is corrected by the three-axis accelerometer and the three-axis magnetic field meter. However, the parameters measured by the three-axis accelerometer in a short period of time are inaccurate, the noise is relatively large, and the three-axis magnetic field meter is susceptible to external interference, so three Axis gyroscope Qualcomm, three-axis accelerometer and three-axis magnetic field meter are low-pass and then a certain proportion of fusion, in order to more accurately change the reaction angle.

In the case of long-term fusion, use the formula angle (angle) = α × gyroscope angle value + ( 1- α) × acceleration / angular velocity calculation, wherein the acceleration and angular velocity are the parameters obtained by the three-axis accelerometer and the three-axis gyroscope in the same animal carrier coordinate system. The coefficient α can be obtained by an experimental sampling test.

Whether the judgment of the long-term fusion algorithm is required is mainly empirical value, which can generally be obtained through field experiments.

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of an apparatus for presenting an animal motion track according to an embodiment of the present invention. For convenience of description, only some modules related to the present invention are shown. The device for presenting the motion track of the animal may be implemented by software, may be implemented by hardware, or may be implemented by a combination of software and hardware. For example, it can be implemented by an APP application running on a mobile terminal, which can support both Android and IOS systems.

The device for presenting an animal motion track mainly includes: a receiving module 201, an origin confirmation module 202, a calculation module 204, and a presentation module 205. The detailed description of each function module is as follows:

The receiving module 201 is configured to receive azimuth, displacement and altitude values in a geographic coordinate system, or receive in a Global Navigation Satellite System (GNSS, Global Navigation) Satellite System) The specific location information of the animal within the area of the signal.

The origin confirmation module 202 is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears. In the geographic coordinate system, the direction of the X/Y/Z axis is the direction of the geographic coordinate system. The corresponding relationship is that the displayed X axis represents the east-west direction of the horizontal plane, the Y axis represents the north-south direction of the horizontal plane, and the Z axis represents the height.

The calculation module 204 is configured to calculate coordinate points of the animals moving in the geographic coordinate system at various moments according to the azimuth, displacement and height values.

The calculation module 204 can perform the fusion calculation on the attitude information combined with the heading angle information and the height value by using the dead reckoning method to obtain the three-dimensional coordinates of the animal in the X-Y-Z axis of the geographic coordinate system.

Dead reckoning is a technique that uses the current position and velocity of an object to estimate future position and direction. By reading the height difference of the barometers for successive time intervals, when the height difference is less than a threshold, the animal moves in the horizontal plane, and the coordinates of the animal are calculated using the calculation method of the trajectory of the horizontal plane. When the height difference is greater than a threshold, the animal moves in three dimensions, and the coordinates of the animal are calculated using a calculation method of the motion trajectory in three dimensions.

The presentation module 205 connects the coordinate points of the respective moments of movement to the motion trajectory starting from the origin, or the motion trajectory of the animal drawn in the navigation coordinate system according to the specific position information. That is to say, using the geographic coordinate system to draw points, each point is connected in time series by line segments to form a motion track.

That is to say, in the region where the global navigation satellite system signal is present, the animal is presented in a moving coordinate system in the navigation coordinate system. In areas where there is no GNSS signal, the animal's trajectory is presented in a geographic coordinate system.

Referring to FIG. 3, FIG. 3 is a schematic structural diagram of an apparatus for presenting an animal motion trajectory according to another embodiment of the present invention. Compared with the foregoing embodiment, the main difference lies in the calculation module 204 and the conversion module 203. The calculation module 204 is described. For the content of other parts, refer to the above embodiments, and details are not described herein again.

The calculation module 204 includes a first calculation subunit 2041 and a second calculation subunit 2042.

The first calculating sub-unit 2041 calculates the difference in height value of the continuous time interval. If the difference in the height value is less than the preset height, the coordinate point of the moving trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment.

The second calculating sub-unit 2042 calculates the height value difference of the continuous time interval. If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space motion trajectory is used to calculate the coordinate points of the animal at each moment.

The conversion module 203 is configured to convert the heading angle information in the animal carrier coordinate system into an azimuth and a displacement in a geographic coordinate system.

Specifically, the conversion matrix of the animal carrier coordinate system and the navigation coordinate system may be used to obtain the heading angle information of the geographic coordinate system from the heading angle information of the animal carrier coordinate system. The attitude information includes a pitch angle θ (pitch), a yaw angle yaw (yaw), a roll angle Φ (roll), and the like.

The transformation module 203 converts the motion parameters of the motion carrier coordinate system into azimuths and displacements of the geographic coordinate system. The implementation of this function can be implemented in a device that presents an animal's trajectory, either at the APP end or in a device that records the animal's trajectory, ie, on an animal's wearable device.

Specifically, the calculation method of the trajectory of the animal in the horizontal plane is:

Please refer to Figure 11, which is a schematic diagram of the movement of animals in the horizontal plane of the geographic coordinate system. Take the same unit time, at the time T ₀ at A, the coordinates are (X ₀ , Y ₀ ), and the displacement L ₀ to B along the azimuth α ₁ , the coordinate of point B is (X ₁ , Y ₁ ), The azimuth angle α ₁ is the angle between the walking direction and the X axis. At the time T ₁ at B, the displacement L ₁ to C is along the azimuth angle α ₂ , and the coordinate of the C point is (X ₂ , Y ₂ ), where the orientation The angle α ₂ is the angle between the walking direction and the X axis. At the time T ₂ at C, the displacement L ₂ to D is along the azimuth angle α ₃ , and the coordinates of the D point are ( X ₃ , Y ₃ ), where the azimuth angle α ₃ is the angle between the walking direction and the X-axis. At the moment T ₃ at D, the displacement L ₃ to E is along the azimuth angle α ₄ , and the coordinates of the E point are ( X ₄ , Y ₄ ), wherein the azimuth angle α ₄ is The angle between the walking direction and the X axis, at time T ₄ at E, travels along the azimuth angle α ₅ to the displacement L ₄ to F, the coordinate of the F point is (X ₅ , Y ₅ ), where the azimuth angle α ₅ is the walking direction The angle with the X axis, the displacement L _i = the step length * the number of steps, this is the absolute displacement of the animal carrier coordinate system obtained from the accelerometer. From Fig. 11, the position coordinates at the time T _i can be Obtained from the position coordinates, azimuth and displacement at time T _i-1 , the formula is: X _i =X _i-1 +L _i-1 cosα _i-1 ,Y _i =Y _i-1 +L _i-1 Sinα _i-1 , wherein the azimuth α is calculated by the fusion of the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetic field meter, so that the coordinate points X and Y of the animal at the time of Ti are obtained by calculation.

According to the calculated coordinate points, in the geographic coordinate system, the points are sequentially connected in time series by line segments, and the motion track of the animal can be obtained.

The trajectory calculation method for animals moving in three-dimensional space is:

Please refer to FIG. 12 , which is a schematic diagram of the movement trajectory of the animal in the three-dimensional space of the geographic coordinate system. Take the same unit time, at the time T ₀ at A, the coordinates are (X ₀ , Y ₀ , Z ₀ ), and the displacement LL ₀ to B is along the azimuth angle α ₁ , and the coordinates of point B are ( X ₁ , Y ₁ , Z ₁ ), where the azimuth angle α ₁ is the angle between the walking direction and the X axis. At the time T ₁ at B, the displacement LL ₁ to C is along the azimuth angle α ₂ , and the coordinates of the C point are ( X ₂ , Y ₂ , Z ₂ ), wherein the azimuth angle α ₂ is the angle between the walking direction and the X axis. At the time T ₂ at C, the displacement LL ₂ to D is along the azimuth angle α ₃ , and the coordinates of the D point are ( X ₃ , Y ₃ , Z ₃ ), wherein the azimuth angle α ₃ is the angle between the walking direction and the X axis, and at time T ₃ at D, the displacement LL ₃ to E is along the azimuth angle α ₄ , and the coordinate of the E point is (X ₄ , Y ₄ , Z ₄ ), wherein the azimuth angle α ₄ is the angle between the walking direction and the X axis, and at the time T ₄ at E, the displacement LL ₄ to F is along the azimuth angle α ₅ , and the coordinates of the F point are (X ₅ , Y ₅ , Z ₅ ), where the azimuth angle α ₅ is the angle between the walking direction and the X axis, and the displacement LL _i = the step length * the number of steps, which is the absolute value of the animal carrier coordinate system obtained from the triaxial accelerometer Bit , Seen from FIG. 12, the position coordinates of the time T _i may, azimuth, obtained from the displacements at the previous time T _i-1 position coordinates, the calculation process is:

(1) obtained from the barometer height H _{_i} T _i is the time, in terms of the height coordinate Z _i, before a time T _i-1 of the height H _i-1, the height of the displacement components is: ΔH = H _i -H _I-1 .

(2) The horizontal displacement component is: L _i = √ LL _i ^{2 -} ΔH ² .

(3) The horizontal displacements X _i and Y _i are calculated as: X _i =X _i-1 +L _i-1 cosα _i-1 ,Y _i =Y _i-1 +L _i-1 sinα _i-1 , The azimuth angle α is obtained by the fusion calculation of the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetic field meter, and the coordinates X, Y and Z of the animal in the three-dimensional space at the time T _i are obtained by calculation.

In the embodiment of the present invention, the azimuth, displacement, height value and specific position information obtained by the receiving module 201 in the device for recording the motion track of the animal are received, and then the motion coordinate points in the geographic coordinate system are calculated, thereby realizing the GNSS. Both the signal and the GNSS blind zone can display the animal's motion trajectory, thus achieving the function of recording and playback.

Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of a system for recording and presenting an animal's motion trajectory according to an embodiment of the present invention. The system for recording and displaying an animal's motion trajectory includes a device 41 for recording an animal's motion trajectory and a motion trajectory for presenting an animal. Device 42.

A means 41 for recording the trajectory of the animal is coupled to means 42 for presenting the trajectory of the animal for recording specific location information of the animal in the area where the GNSS signal is present, or for recording in the absence of GNSS signals. Within the region, the azimuth, displacement, and altitude values of the animal in the geographic coordinate system are sent to the device 42 that presents the animal's motion trajectory.

The means 41 for recording the trajectory of the animal and the means 42 for presenting the trajectory of the animal can be connected by wireless or by wire. In this embodiment, the device 41 for recording the motion track of the animal can be connected to the device 42 for presenting the motion track of the animal through hardware such as WIFI/2G/3G/4G, thereby realizing data transmission.

The device 42 for presenting the trajectory of the animal draws the motion trajectory of the animal in the navigation coordinate system according to the specific position information, or calculates the coordinate point of the movement of the animal at each moment according to the azimuth, displacement and height values, and according to each moment The coordinate points are connected to the animal's trajectory.

In combination with the above embodiment, the means 41 for recording the trajectory of the animal includes:

The sensor module 102 is configured to collect motion parameters of the animal in the animal carrier coordinate system.

The barometer 104 is respectively connected to the baseband processing and application processing module 101, the storage module 109 and the power management module 106, and is used for real-time measurement of the air pressure value of the animal, and the relationship between the air pressure value and the altitude is obtained by the animal. Height value.

The positioning module 103 is configured to locate specific location information of the animal in real time in an area with a global navigation satellite system signal.

The baseband processing and application processing module 101 is respectively connected to the sensor module 102, the barometer 104, and the positioning module 103, and is configured to receive motion parameters, altitude values, and specific location information, and calculate the coordinates in the animal carrier according to the motion parameters. The heading angle information is used to calculate the azimuth and displacement of the animal in the geographic coordinate system based on the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information.

The storage module 109 is respectively connected to the sensor module 102, the barometer 104, the positioning module 103, and the baseband processing and application processing module 101 for storing acceleration, angular velocity, magnetic field strength, height value, specific position information, and baseband processing and application processing. The intermediate data of the module in the operation process.

The device 42 for presenting the motion track of the animal specifically includes:

The receiving module 201 is configured to receive azimuth, displacement, and altitude values in a geographic coordinate system, or to receive specific location information of the animal in an area having a global navigation satellite system signal.

The conversion module 203 is configured to convert the heading angle information in the animal carrier coordinate system into the posture information in the geographic coordinate system. The conversion module 203 may not be needed when the motion parameters in the animal carrier coordinate system have been converted to azimuth and displacement in the geographic coordinate system in a device for recording animal motion trajectories.

Specifically, the conversion matrix of the animal carrier coordinate system and the navigation coordinate system may be used to obtain the heading angle information of the geographic coordinate system from the heading angle information of the animal carrier coordinate system. The attitude information includes a pitch angle θ (pitch), a yaw angle yaw (yaw), a roll angle Φ (roll), a displacement, and the like.

The calculation module 204 is configured to calculate a coordinate point of the animal moving at each moment in the geographic coordinate system according to the posture information and the height value. The calculation module 204 can perform the fusion calculation on the attitude information combined with the heading angle information and the height value by using the dead reckoning method to obtain the three-dimensional coordinates of the animal in the X-Y-Z axis of the geographic coordinate system.

For the process of calculating the motion trajectory of the animal 41 and the process of calculating the motion trajectory of the animal 42 and the description of some modules or devices, please refer to the specific description of each of the above embodiments.

In an embodiment of the invention, in GNSS The blind zone can also obtain the trajectory information of the animal in real time. In the place where there is no electronic map, the trajectory of the animal is directly represented by the geographic coordinate system in the device for presenting the trajectory of the animal. This makes it easier for people to track the animals and further understand the animal's state of motion, and to facilitate the playback of the movement.

Please refer to FIG. 5. FIG. 5 is a schematic flowchart diagram of a method for presenting an animal motion track according to an embodiment of the present invention. The method of presenting an animal's motion trajectory includes the following steps:

S501. Receive real-time location information of an animal in a region with a global navigation satellite system signal, or receive an azimuth, displacement, and altitude value of the animal in a geographic coordinate system in an area without a global navigation satellite system signal in real time.

S502. When the global navigation satellite system signal disappears, the latitude and longitude information of the vanishing point is used as the origin of the geographic coordinate system, and the coordinate points of the animal moving at each moment in the geographic coordinate system are calculated according to the azimuth, displacement and height values.

S503: The coordinate points of the motions at each moment are connected into a motion trajectory starting from the origin, or the motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.

In combination with the above embodiment, step S502 specifically includes:

Calculate the difference in height values for successive time intervals and compare the difference in height value to the preset height.

If the difference in height value is less than the preset height, the calculation method of the motion trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment. The preset height is set according to actual needs.

If the height difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.

Please refer to FIG. 6. FIG. 6 is a schematic flowchart diagram of a method for recording and presenting an animal's motion trajectory according to an embodiment of the present invention. The method of recording and presenting an animal's motion trajectory includes the following steps:

S601: Recording, in real time, specific location information of animals in a region with a global navigation satellite system signal, or real-time recording of azimuth, displacement, and altitude values of the animal in a geographic coordinate system in an area without a global navigation satellite system signal.

S602. When the global navigation satellite system signal disappears, the latitude and longitude information of the vanishing point is used as the origin of the geographic coordinate system, and the coordinate points of the animal moving at each moment in the geographic coordinate system are calculated according to the azimuth, displacement and height values.

S603: The coordinate points of the motions at each moment are connected into a motion trajectory starting from the origin, or the motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.

In combination with the above embodiment, step S602 specifically includes:

If the difference in height value is less than the preset height, the calculation method of the motion trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment.

Real-time recording of the heading angle information and height values of the animal in the animal carrier coordinate system in the region without the GNSS signal includes:

The animal's motion parameters and barometric pressure values were collected in real time in the animal carrier coordinate system.

The air pressure value is converted to the height value at which the animal is located, based on the relationship between air pressure and altitude. The air pressure changes with height. According to the measured air pressure value, the real-time height value of the animal can be obtained by comparing the relationship between air pressure and altitude.

The heading angle information in the animal carrier coordinate system is calculated based on the motion parameters.

Then the azimuth and displacement of the animal in the geographic coordinate system are calculated according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information.

In the present invention, in a GNSS or GPS blind zone, such as an indoor and a basement, the motion parameters of the animal can be collected by the sensor module 102, and the approximate position and trajectory of the animal can be known by combining dead reckoning and inertial navigation. At the same time, in the place where there is no electronic map, the collected motion parameters are calculated by the baseband processing and application processing module 101 and then transmitted to the device that presents the animal's motion track, and the device that presents the animal's motion track calculates the animal by using the dead reckoning. The position coordinates are used to present the motion trajectory on the geographic coordinate system to facilitate the recording, analysis and playback of the animal's trajectory, so that people can better understand the animal's movement.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

A device for recording an animal's trajectory, the device being fixed to an animal, comprising:

a sensor module for collecting motion parameters of an animal in an animal carrier coordinate system;

a positioning module for locating specific location information of an animal in real time in an area having a global navigation satellite system signal;

a baseband processing and application processing module, respectively connected to the sensor module and the positioning module, configured to receive the motion parameter and the specific location information, and calculate the coordinate in the animal carrier coordinate system according to the motion parameter The heading angle information, and then calculating the azimuth and displacement of the animal in the geographic coordinate system according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information;

a storage module, respectively connected to the sensor module, the positioning module, and the baseband processing and application processing module, configured to store the motion parameter, the specific location information, and the baseband processing and application processing module in operation Intermediate data in the process;

The power management module is respectively connected to the sensor module, the positioning module, the baseband processing and application processing module and the storage module, for providing power and controlling the switch of the device.
The apparatus for recording an animal's motion trajectory according to claim 1, wherein the apparatus further comprises:

a barometer, respectively connected to the baseband processing and application processing module, the storage module and the power management module, for measuring the air pressure value of the animal in real time, and comparing the air pressure value with the relationship between the air pressure and the height The height value at which the animal is located;

The baseband processing and application processing module is further configured to convert the height value into a height value in the geographic coordinate system;

The radio frequency module is respectively connected to the baseband processing and application processing module and the power management module, and wirelessly transmits the azimuth and displacement or the height value.
A device for presenting an animal's motion trajectory, comprising:

a receiving module, configured to receive azimuth, displacement, and altitude values in the geographic coordinate system, or to receive the specific location information of an animal in an area having a global navigation satellite system signal;

The origin confirmation module is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears;

a calculation module, configured to calculate, according to the azimuth angle, the displacement, and the height value, a coordinate point of the animal moving at each moment in a geographic coordinate system;

And a rendering module, which uses the origin as a starting point to connect the coordinate points of the movements at each moment into a motion trajectory, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.
The apparatus for presenting an animal's motion trajectory according to claim 3, wherein the calculation module comprises:

a first calculating sub-unit, calculating a height value difference of consecutive time intervals, and if the height value difference is less than a preset height, calculating a coordinate point of each moment of the animal by using a calculation method of a motion trajectory of the horizontal plane;

The second calculating subunit calculates a height value difference of the continuous time interval. If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.
A system for recording and presenting a motion trajectory of an animal, comprising: means for recording an animal's motion trajectory and means for presenting an animal's motion trajectory;

The means for recording the trajectory of the animal is coupled to the means for presenting the trajectory of the animal for recording specific location information of the animal in the area having the GNSS signal, or for recording in the absence of a global navigation satellite system The azimuth, displacement, and height values of the animal in the geographic coordinate system within the region of the signal and sent to the device that presents the animal's motion trajectory;

The device for presenting an animal's motion trajectory draws an animal's motion trajectory in a navigation coordinate system according to the specific location information, or calculates an animal's motion at various moments according to the azimuth angle, the displacement, and the height value. The coordinate points are connected to the animal's motion trajectory according to the coordinate points at each moment.
A system for recording and presenting an animal's motion trajectory according to claim 5, wherein said means for recording an animal's motion trajectory comprises:

a sensor module for collecting motion parameters of an animal in an animal carrier coordinate system;

a barometer, respectively connected to the baseband processing and application processing module, the storage module and the power management module, for measuring the air pressure value of the animal in real time, and comparing the air pressure value with the relationship between the air pressure and the height The height value at which the animal is located;

a positioning module for locating specific location information of an animal in real time in an area having a global navigation satellite system signal;

a baseband processing and application processing module, respectively connected to the sensor module, the barometer, the positioning module, for receiving the motion parameter, the height value, and the specific location information, and according to the motion Calculating the heading angle information in the animal carrier coordinate system, and calculating the azimuth and displacement of the animal in the geographic coordinate system according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information;

The radio frequency module is respectively connected to the baseband processing and application processing module and the power management module, and wirelessly transmits the azimuth, the displacement, the specific location information or the height value;

a storage module, respectively connected to the sensor module, the barometer, the positioning module, and the baseband processing and application processing module, configured to store the motion parameter, the height value, the specific location information, and The baseband processing and application processing module intermediate data in the operation process;

The power management module is respectively connected to the sensor module, the positioning module, the baseband processing and application processing module and the storage module, for providing power and controlling the switch of the device.
The system for recording and presenting an animal's motion trajectory according to claim 5 or 6, wherein the means for presenting an animal's motion trajectory comprises:

a receiving module, configured to receive azimuth, displacement, and altitude values in the geographic coordinate system, or to receive the specific location information of an animal in an area having a global navigation satellite system signal;

The origin confirmation module is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears;

a calculation module, configured to calculate, according to the azimuth angle, the displacement, and the height value, a coordinate point of the animal moving at each moment in a geographic coordinate system;

And a rendering module, which uses the origin as a starting point to connect the coordinate points of the movements at each moment into a motion trajectory, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.
A method of recording and presenting an animal's motion trajectory, comprising the steps of:

Record the specific location information of animals in the area with GNSS signals in real time, or record the azimuth, displacement and altitude values of the animals in the geographic coordinate system in real time in areas without GNSS signals;

When the global navigation satellite system signal disappears, the latitude and longitude information of the vanishing point is taken as the origin of the geographic coordinate system, and the coordinate points of the animal moving at various moments in the geographic coordinate system are calculated according to the azimuth angle, the displacement and the height value;

The coordinate points of the movements at the respective moments are connected into a motion trajectory starting from the origin, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific position information.
The method for recording and presenting an animal's motion trajectory according to claim 8, wherein the calculating a coordinate point of the animal moving at each moment in the geographic coordinate system according to the azimuth angle, the displacement, and the height value include:

Calculating a difference in height values of consecutive time intervals, comparing the difference in height values with a preset height;

If the height difference is less than the preset height, the calculation method of the motion trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment;

If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.
A method of recording and presenting an animal's motion trajectory according to claim 8 or 9, wherein said real-time recording of an azimuth, displacement and altitude value of the animal in a geographic coordinate system in an area without a global navigation satellite system signal Specifically include:

Real-time collection of animal parameters and barometric pressure values in the animal carrier coordinate system;

Converting the pressure value to a height value at which the animal is located, based on the relationship between air pressure and altitude;

Calculating heading angle information in an animal carrier coordinate system according to the motion parameter;

The azimuth and displacement of the animal in the geographic coordinate system are calculated according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information.