CN107037394A - Direction location equipment and method - Google Patents
Direction location equipment and method Download PDFInfo
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- CN107037394A CN107037394A CN201610078209.9A CN201610078209A CN107037394A CN 107037394 A CN107037394 A CN 107037394A CN 201610078209 A CN201610078209 A CN 201610078209A CN 107037394 A CN107037394 A CN 107037394A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention provides a kind of direction location equipment and method, it includes antenna, wireless communication module, indicating member and angular transducer in multiple directions, angle between adjacent indicating member is equal, for being positioned to the slave unit travel direction for sending signal, wireless communication module receives the signal on those directions, judge the signal strength in all directions, control the indicating member on most strong direction to open；Angular transducer is used for angle value and the direction for detecting the level of direction location equipment in real time；Wireless communication module storage the last time receives the angle value being most recently received during signal；When wireless communication module does not receive signal within a period, deflection angle difference and yawing moment are calculated；The multiple value i of the deflection angle difference and the angle is calculated, and controls i-th of indicating member on using the indicating member opened recently as origin and the direction opposite with yawing moment to open, the present invention can navigate to the general direction of slave unit.
Description
Technical field
It is more particularly to a kind of to be based on Zigbee (ZigBee protocol) technology the present invention relates to communication technical field
Direction location equipment and method.
Background technology
ZigBee wireless communication technologys are a kind of low rate, low-power consumption, the two-way wireless communication net of low cost
Network technology, can be widely applied to industry-by-industry monitoring, security system, sensor transmissions network, intelligent family
Occupy the fields such as control.It is operated in tri- frequency ranges of 868MHz, 915MHz and 2.4GHz, is had
27 channels, communication distance is from the 75m of standard to hundreds of meter, even upper km.Wherein, work in
250kbps data transmission rate is provided during 2.4GHz frequency ranges, it is adaptable to high-throughput, low delay or low work
The occasion in industry cycle；20kbps, 40kbps data transfer are provided when working in 868/915MHz frequency ranges
Rate, it is adaptable to the occasion of low rate, high sensitivity and large area.
Zigbee protocol stack is measured seven layers of open system interconnection (OSI) model, but only right
Those layers for being related to ZigBee, which are given, to be defined.IEEE (Institute of Electrical and Electric Engineers) 802.15.4-203
Standard defines physical layer (PHY) and M AC sublayer (MAC)；ZigBee alliances carry
The design of Internet (NWK) and application layer (APL) framework is supplied.The framework of wherein application layer includes
Application support sublayer (APS), Zigbee device objects (ZDO) and the application pair formulated by manufacturer
As.Each layer of Zigbee protocol stack provides one group for its upper strata and specifically serviced：One data entity is carried
For data transport service, a management entity provides other and all serviced.Each service entities pass through one
Service Access Point (SAP) provides service structure for its upper strata, and each SAP is there is provided a series of
Elementary instruction completes corresponding function.
At present, in the closely location equipment technology based on ZigBee technology, wherein location equipment and from setting
It is standby be it is transportable, location equipment passes through day thereon according to its wireless telecommunications between slave unit
Line receives the signal in multiple directions, true according to RSSI (signal intensity of reception is indicated) value of signal
Signal strength in those fixed directions in all directions, each party due to location equipment in those directions is upward
To that should have a blinker, so Zigbee chips can be with the most strong corresponding direction of control signal
Blinker it is bright, to provide the direction of slave unit for user, thus reach positioning, follow the trail of mesh
's.
But, if the distance of slave unit to location equipment exceeds the maximum that Zigbee is communicated, positioning is set
The standby signal for just not receiving slave unit transmitting, if now user is carried out to the hand-held location equipment
Mobile or be only wrist, the rotation of arm, by causing, the last time before movement or rotation is wireless
The blinker for communicating the orientation determined loses correct guide effect, and leading for mistake is played on the contrary
To effect, so as to cause user can not be properly positioned, follow the trail of slave unit.
The content of the invention
The technical problem to be solved in the present invention be in order to overcome in the prior art location equipment do not receive from
The signal of equipment transmitting, and now user moves or rotational positioning equipment causes before mobile or rotation most
The orientation that a wireless telecommunications are determined afterwards loses the defect of correct guide effect, and there is provided a kind of direction
Location equipment and method.
The present invention is to solve above-mentioned technical problem by following technical proposals：
The present invention provides a kind of direction location equipment, for being positioned to a slave unit travel direction, should be from setting
It is ready for use on and constantly sends signal, direction location equipment includes the day of the signal in a reception multiple directions
The upward corresponding indicating member of each party of line, a wireless communication module and those directions, adjacent instruction list
Angle between member is equal, and the wireless communication module is used for the RSSI of those signals received according to the antenna
Value judges the finger in the signal strength in those directions in all directions, and the most strong corresponding direction of control signal
Show that unit is opened, its feature is, direction location equipment is stored with the angle, direction location equipment
Also include an angular transducer；
The angular transducer is used for horizontal angle angle value and the direction for detecting direction location equipment in real time, and will
The horizontal angle angle value and the direction are transmitted to the wireless communication module；
The wireless communication module receives the horizontal angle being most recently received during signal for storing the last time
Angle value and direction；
When the wireless communication module is additionally operable to not receive the signal within a period, angle biography is calculated
Between the present level angle value horizontal angle angle value corresponding with the signal being most recently received that sensor transmission comes
Deflection angle difference and direction corresponding with the signal being most recently received of working as front direction between deflection
Direction；
The wireless communication module is additionally operable to calculate the deflection angle difference and the multiple value i of the angle, and controls
Make i-th of finger using the indicating member opened recently as origin and on the direction opposite with the yawing moment
Show that unit is opened, i is positive integer.
It is preferred that multiple value i is using the value mode that rounds up.
A set angle angle value it is preferred that direction location equipment is stored with, the set angle angle value is less than the folder
Angle and the set angle angle value and the angle difference of the angle are less than 10 °, and the wireless communication module is additionally operable to
The multiple value i of the deflection angle difference and the set angle angle value is calculated, and controls the instruction to open recently
Unit is that i-th of indicating member on origin and the direction opposite with the yawing moment is opened.
In this programme, set angle angle value is set to be slightly less than angle, this setup is advantageous in that energy
Enough relatively accurately to the direction travel direction amendment pointed by the indicating member of the unlatching after movement, amendment
Afterwards so that the direction pointed by the indicating member opened in the location equipment of direction is received closer to the last
Corresponding locating and tracking direction during to signal.For example, setting angle as 45 °, set angle angle value is 40 °,
Deflection angle difference is 85 °, and wireless communication module calculates 85 ° of deflection angle difference and the set angle angle value
40 ° of multiple value i, i.e. i=2, now control using the indicating member opened recently as origin and with deflection
The 2nd indicating member unlatching work on the opposite direction of the corresponding yawing moment of angle difference, i.e., now
90 ° along the opposite adjustment in direction of yawing moment, and deflection angle difference is 85 °, it can be seen that, this
Scheme can relatively accurately orient the last time and receive corresponding locating and tracking direction during signal.
It is preferred that the wireless communication module is used to send a report when not receiving the signal within the period
Alert signal.
It is preferred that the angular transducer is a gyroscope chip.
It is preferred that the wireless communication module is a Zigbee chips.
It is preferred that the gyroscope chip is electrically connected by IIC (IC bus) with the Zigbee chips
Connect.IIC is two-way, two lines (serial clock SCL, serial data SDA), serial, many master controls
(multi-master) interface standard, with bus arbitration mechanism, is highly suitable for progress between component
Data communication closely.This programme make it that hardware annexation is simple, it is also simple to control using IIC,
And the function with highly versatile.
It is preferred that the indicating member is a LED (light emitting diode) indicator lamp.
The present invention also provides a kind of direction localization method, and its feature is, it is positioned using above-mentioned direction
Equipment realizes that direction localization method comprises the following steps：
The angular transducer detects horizontal angle angle value and the direction of direction location equipment in real time, and by the water
Straight angle angle value and the direction are transmitted to the wireless communication module；
Wireless communication module storage the last time receives the horizontal angle angle value being most recently received during signal
And direction；
When the wireless communication module does not receive the signal within a period, angular transducer biography is calculated
Deflection between defeated next present level angle value horizontal angle angle value corresponding with the signal being most recently received
Yawing moment between angle difference and direction corresponding with the signal being most recently received of working as front direction；
The wireless communication module calculates the multiple value i of the deflection angle difference and the angle, and controls with most
The indicating member closely opened is i-th of indicating member on origin and the direction opposite with the yawing moment
Open, i is positive integer.
A set angle angle value it is preferred that direction location equipment is stored with, the set angle angle value is less than the folder
The angle difference of angle and the set angle angle value and the angle is less than 10 °, and the wireless communication module is calculated should
The multiple value i of deflection angle difference and the set angle angle value, and control using the indicating member opened recently as
I-th of indicating member on origin and the direction opposite with the yawing moment is opened.
It is preferred that the wireless communication module sends an alarm signal when not receiving the signal within the period
Number.
Close on the basis of common sense in the field, above-mentioned each optimum condition can be combined, produce of the invention each
Preferred embodiments.
The positive effect of the present invention is：
By the present invention, exceed the maximum of wireless telecommunications in the distance of slave unit to direction location equipment,
I.e. direction location equipment does not receive the signal of slave unit transmitting, and by chance now user's moving direction is positioned
During equipment, the direction travel direction amendment pointed by the indicating member of the unlatching after movement can be corrected
Afterwards so that direction substantially the last time pointed by the indicating member opened in the location equipment of direction receives
Corresponding locating and tracking direction during to signal, so that user can be in time to the locating and tracking side
To being tracked, and then the distance between direction location equipment and slave unit is reduced, thus can set up two
The wireless telecommunications of person, and then slave unit is searched out again.
Brief description of the drawings
Fig. 1 is the structured flowchart of the direction location equipment of the embodiment of the present invention 1.
Fig. 2 in the direction location equipment of the embodiment of the present invention 1 Zigbee chips and gyroscope chip it is hard
Part circuit diagram.
Embodiment
The present invention is further illustrated below by the mode of embodiment, but is not therefore limited the present invention to
Among described scope of embodiments.
Embodiment 1
The present embodiment provides a kind of direction location equipment, and it includes an antenna, a wireless communication module, many
Indicating member and an angular transducer on individual direction.Direction location equipment is used to carry out a slave unit
Direction is positioned, and the slave unit is used to constantly send signal.
In the present embodiment, as shown in figure 1, wherein the antenna uses directional aerial 1, the radio communication
Module uses Zigbee chips 2, and the indicating member uses LED light 3, and the angular transducer is used
Gyroscope chip 4.Certainly, it will be recognized by those skilled in the art that the antenna, the wireless communication module,
The device of above-mentioned use is not limited in the selection of the indicating member and the angular transducer.
As shown in Fig. 2 being communicated between Zigbee chips 2 and gyroscope chip 4 by IIC.Specifically
Ground, the 6th pin of Zigbee chips 2 passes through the serial data line (SDA) in IIC and gyroscope core
The 24th pin electrical connection of piece 4, when the 7th pin of Zigbee chips 2 is by serial in IIC
Clock line (SCL) is electrically connected with the 23rd pin of gyroscope chip 4, this hardware annexation letter
It is single so that corresponding control planning is also simple, and the function with highly versatile.In addition, Zigbee cores
The circuit of other pins connection on piece 2 and gyroscope chip 4 is to coordinate Zigbee chips 2 and top
The auxiliary circuit that spiral shell instrument chip 4 works, is prior art, repeats no more here.
In addition, the angle between adjacent LED indicator lamp 3 is equal, correspondingly, direction location equipment is deposited
Contain the angle.
The part that direction location equipment includes is described above, lower mask body introduces direction location equipment
In each part function：
The Zigbee chips 2 are used to receive the signal on those directions by the directional aerial 1, according to this
The RSSI value of a little signals judges the signal strength in those directions in all directions, and signal is most corresponded to by force
Direction as most strong direction, and control the LED light 3 on the most strong direction to open；
The gyroscope chip 4 is used for horizontal angle angle value and the direction for detecting direction location equipment in real time, and
The horizontal angle angle value and the direction are transmitted to the Zigbee chips 2；
The Zigbee chips 2 are used to store the signal and away from the level being most recently received when receiving the signal
Angle value and the one-to-one relationship in direction；
When the Zigbee chips 2 are additionally operable to not receive the signal within a period, the gyroscope is calculated
Between the present level angle value horizontal angle angle value corresponding with the signal being most recently received that the transmission of chip 4 comes
Deflection angle difference and direction corresponding with the signal being most recently received of working as front direction between deflection
Direction, then the multiple value i of the deflection angle difference and the angle is calculated, and control the LED to open recently
Indicator lamp is that i-th of LED light 3 on origin and the direction opposite with the yawing moment is opened,
I is positive integer.
Moreover, the Zigbee chips 2 are additionally operable to send a report when not receiving the signal within the period
Alert signal so that user knows that direction location equipment does not receive signal this feelings within the period
Condition.
The present embodiment also provides a kind of direction localization method, and it is realized using above-mentioned direction location equipment,
Direction localization method comprises the following steps：
The Zigbee chips receive the signal on those directions by the directional aerial, according to those signals
RSSI value judges the signal strength in all directions in those directions, and the most strong corresponding direction of signal is made
For most strong direction, and the LED light on the most strong direction is controlled to open；
The gyroscope chip detects horizontal angle angle value and the direction of direction location equipment in real time, and by the water
Straight angle angle value and the direction are transmitted to the Zigbee chips；
The Zigbee chip-storeds signal with away from the level angle being most recently received when receiving the signal
Value and the one-to-one relationship in direction；
When the Zigbee chips do not receive the signal within a period, gyroscope chip transmission is calculated
Deflection angle between the present level angle value horizontal angle angle value corresponding with the signal being most recently received come
Yawing moment between degree difference and direction corresponding with the signal being most recently received of working as front direction, then
The multiple value i of the deflection angle difference and the angle is calculated, and controls the LED light to open recently
I-th of LED light 3 for origin and on the direction opposite with the yawing moment is opened, and i is just
Integer.
For a better understanding of the present invention, a specific example is named to illustrate the technical side of the present invention
Case：
If the directional aerial 1 in direction location equipment can receive easting, towards northeastward, court
The north to, towards direction northwest, the direction that is exposed to the west, towards southwestward, towards south to and towards southeastern direction this
Signal on eight directions, and direction location equipment respectively sets a LED to refer on eight directions herein
It is 45 ° to show the angle between lamp 3, each two LED light 3.
Zigbee chips 2 receive the signal on those above-mentioned directions by directional aerial 1, according to those letters
Number RSSI value judge signal strength in those directions in all directions, setting is judged on easting
Signal it is most strong, then using the most strong corresponding direction of signal as most strong direction, i.e., most strong direction is east
To at this moment the LED light 3 on control easting is bright, and thus user knows current slave unit
In easting, user can just be positioned with easting, follow the trail of slave unit.
Subsequent time, Zigbee chips 2 receive the signal on those above-mentioned directions by directional aerial 1,
And judge that the signal in a northerly direction is most strong according to the RSSI value of those signals, thus control towards the north
Upward LED light 3 is bright.
During above-mentioned Zigbee chips 2 are positioned, the detection direction positioning in real time of gyroscope chip 4
The horizontal angle angle value of equipment and direction, and the horizontal angle angle value and the direction are transmitted to the Zigbee chips
2, Zigbee chips 2 store the signal and away from the horizontal angle that the last time receives when receiving the signal
Angle value and the one-to-one relationship in direction.For example in current time Zigbee chips 2 it is stored with and connects for the first time
The signal that receives, 0 ° of horizontal angle angle value, direction towards east corresponding relation, and, receive for the second time
The corresponding relation that signal, 90 ° of horizontal angle angle value, direction are exposed to the north.
Hereafter, Zigbee chips 2 do not receive signal, computing gyroscope within a period (10 seconds)
The present level angle value (such as 170 °) that the transmission of chip 4 comes is corresponding with the signal being most recently received
80 ° of deflection angle difference between horizontal angle angle value (90 °), and when front direction (direction to the west) and most
(direction is inverse by north west for yawing moment between the corresponding direction of the signal (in a northerly direction) that proximity is received
Hour hands are deflected), the multiple value that 45 ° of 80 ° of the deflection angle difference and angle is then calculated again is 1, by
This is controlled using the LED light opened recently as origin and on the direction opposite with the yawing moment
1st LED light 3 is opened, i.e., the LED light 3 in current substantially direction northwest opens bright.
Now, 45 ° along the opposite adjustment in direction of yawing moment, and deflection angle difference is 80 °, thus may be used
See, the present embodiment can substantially orient the last time and receive corresponding locating and tracking direction during signal,
The direction pointed by the LED light 3 in substantially direction northwest opened is positioning side substantially
To user can be tracked towards this direction.
Embodiment 2
The present embodiment and the difference of embodiment 1 are using the set angle angle value of setting as being compared base
It is accurate.Specifically, direction location equipment is stored with a set angle angle value, and the set angle angle value is less than the folder
Angle and the set angle angle value and the angle difference of the angle are less than 10 °, and the wireless communication module is additionally operable to
The multiple value i of the deflection angle difference and the set angle angle value is calculated, and controls the instruction to open recently
Unit is that i-th of indicating member on origin and the direction opposite with the yawing moment is opened.
With reference to the example of embodiment 1, set set angle angle value to be slightly less than angle in this example, that is, set
Angle value is 40 °.
Zigbee chips 2 did not received signal in 10 seconds, and what the transmission of computing gyroscope chip 4 came works as
Preceding horizontal angle angle value (such as 170 °) horizontal angle angle value (90 °) corresponding with the signal being most recently received
Between 80 ° of deflection angle difference, and when front direction (direction to the west) and the signal being most recently received
Yawing moment (direction is deflected counterclockwise by north west) between corresponding direction (in a northerly direction), then
The multiple value for calculating 40 ° of 80 ° of the deflection angle difference and angle again is 2, thus controls to open recently
LED light be the 2nd LED light on origin and the direction opposite with the yawing moment
3 open, i.e., the current LED light 3 upward generally towards the north opens bright.Now, along deflection side
90 ° are have modified in the opposite direction, and deflection angle difference is 80 °, it can be seen that, the present embodiment can
Relatively accurately orienting the last time receives corresponding locating and tracking direction during signal, that is, that opens is big
The orientation in the direction pointed by the LED light 3 in a northerly direction is caused, user can be towards this side
To being tracked.
Although the foregoing describing the embodiment of the present invention, those skilled in the art should manage
Solution, these are merely illustrative of, and protection scope of the present invention is defined by the appended claims.This
The technical staff in field, can be to these embodiment party on the premise of the principle and essence without departing substantially from the present invention
Formula makes various changes or modifications, but these changes and modification each fall within protection scope of the present invention.
Claims (11)
1. a kind of direction location equipment, for being positioned to a slave unit travel direction, the slave unit is used for
Signal is constantly sent, direction location equipment includes the antenna of the signal in a reception multiple directions, one
Between the upward corresponding indicating member of each party in wireless communication module and those directions, adjacent indicating member
Angle is equal, and the RSSI value that the wireless communication module is used for those signals received according to the antenna is sentenced
Instruction list in signal strength in those disconnected directions in all directions, and the most strong corresponding direction of control signal
Member is opened, it is characterised in that direction location equipment is stored with the angle, and direction location equipment is also wrapped
Include an angular transducer；
The angular transducer is used for horizontal angle angle value and the direction for detecting direction location equipment in real time, and will
The horizontal angle angle value and the direction are transmitted to the wireless communication module；
The wireless communication module receives the horizontal angle being most recently received during signal for storing the last time
Angle value and direction；
When the wireless communication module is additionally operable to not receive the signal within a period, angle biography is calculated
Between the present level angle value horizontal angle angle value corresponding with the signal being most recently received that sensor transmission comes
Deflection angle difference and direction corresponding with the signal being most recently received of working as front direction between deflection
Direction；
The wireless communication module is additionally operable to calculate the deflection angle difference and the multiple value i of the angle, and controls
Make i-th of finger using the indicating member opened recently as origin and on the direction opposite with the yawing moment
Show that unit is opened, i is positive integer.
2. direction location equipment as claimed in claim 1, it is characterised in that multiple value i uses four
House five enters value mode.
3. direction location equipment as claimed in claim 1, it is characterised in that direction location equipment
Be stored with a set angle angle value, and the set angle angle value is less than the angle and the set angle angle value and the angle
Angle difference be less than 10 °, the wireless communication module is additionally operable to calculate the deflection angle difference and the setting
The multiple value i of angle value, and control using the indicating member opened recently as origin and with the yawing moment
I-th of indicating member on opposite direction is opened.
4. direction location equipment as claimed in claim 1, it is characterised in that the wireless communication module
An alarm signal is sent during for not receiving the signal within the period.
5. direction location equipment as claimed in claim 1, it is characterised in that the angular transducer is
One gyroscope chip.
6. direction location equipment as claimed in claim 5, it is characterised in that the wireless communication module
For a Zigbee chips.
7. direction location equipment as claimed in claim 6, it is characterised in that the gyroscope chip is led to
IIC is crossed to electrically connect with the Zigbee chips.
8. direction location equipment as claimed in claim 1, it is characterised in that the indicating member is one
LED light.
9. a kind of direction localization method, it is characterised in that it utilizes direction as claimed in claim 1
Location equipment realizes that direction localization method comprises the following steps：
The angular transducer detects horizontal angle angle value and the direction of direction location equipment in real time, and by the water
Straight angle angle value and the direction are transmitted to the wireless communication module；
Wireless communication module storage the last time receives the horizontal angle angle value being most recently received during signal
And direction；
When the wireless communication module does not receive the signal within a period, angular transducer biography is calculated
Deflection between defeated next present level angle value horizontal angle angle value corresponding with the signal being most recently received
Yawing moment between angle difference and direction corresponding with the signal being most recently received of working as front direction；
The wireless communication module calculates the multiple value i of the deflection angle difference and the angle, and controls with most
The indicating member closely opened is i-th of indicating member on origin and the direction opposite with the yawing moment
Open, i is positive integer.
10. direction localization method as claimed in claim 9, it is characterised in that direction location equipment
Be stored with a set angle angle value, and the set angle angle value is less than the angle and the set angle angle value and the angle
Angle difference be less than 10 °, the wireless communication module calculates the deflection angle difference and the set angle angle value
Multiple value i, and control as origin and opposite with the yawing moment using the indicating member opened recently
I-th of indicating member on direction is opened.
11. direction localization method as claimed in claim 9, it is characterised in that the wireless communication module
An alarm signal is sent when not receiving the signal within the period.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610078209.9A CN107037394B (en) | 2016-02-03 | 2016-02-03 | Direction positioning equipment and method |
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|---|---|---|---|
| CN201610078209.9A CN107037394B (en) | 2016-02-03 | 2016-02-03 | Direction positioning equipment and method |
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| CN109752746A (en) * | 2019-03-04 | 2019-05-14 | 黄河水利职业技术学院 | A kind of Destination Management tourist's positioning device |
| CN111355541A (en) * | 2020-04-02 | 2020-06-30 | Oppo广东移动通信有限公司 | Network device and method for searching network signal |
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| CN108169706B (en) * | 2017-12-29 | 2024-01-30 | 歌尔科技有限公司 | Remote control positioning system and remote control positioning device |
| CN109752746A (en) * | 2019-03-04 | 2019-05-14 | 黄河水利职业技术学院 | A kind of Destination Management tourist's positioning device |
| CN111355541A (en) * | 2020-04-02 | 2020-06-30 | Oppo广东移动通信有限公司 | Network device and method for searching network signal |
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