CN110018480A - A kind of the biped ultrasound device for dynamically measuring distance and method synchronous based on wireless signal - Google Patents
A kind of the biped ultrasound device for dynamically measuring distance and method synchronous based on wireless signal Download PDFInfo
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- CN110018480A CN110018480A CN201910357287.6A CN201910357287A CN110018480A CN 110018480 A CN110018480 A CN 110018480A CN 201910357287 A CN201910357287 A CN 201910357287A CN 110018480 A CN110018480 A CN 110018480A
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- ultrasonic wave
- foot
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- biped
- ultrasound
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to biped range unit and methods, it in particular is a kind of biped ultrasound device for dynamically measuring distance and method based on wireless signal synchronization, including foot ultrasound measurement module I, foot ultrasound measurement module II and host computer, it can use III broadcast transmission distance measuring instruction of wireless communication module, trigger the transmission ultrasonic pulse signal synchronous with foot ultrasound measurement module II of foot ultrasound measurement module I, and then the distance between biped is calculated, it avoids split type probe setting and needs the drawbacks of passing through trouser legs connection with cable；Foot ultrasound measurement module I and foot ultrasound measurement module II are separately mounted on biped, guarantee which kind of state be in regardless of biped in this way, have one group of probe that can measure distance, and then realize range measurement between the biped of entire traveling process；Probe I occurs for ultrasonic wave and ultrasonic wave receiving transducer II is configured to that probe II and I different frequency type of ultrasonic wave receiving transducer occurs with ultrasonic wave.
Description
Technical field
The present invention relates to biped range unit and methods, are in particular that a kind of biped synchronous based on wireless signal is super
Sound device for dynamically measuring distance and method.
Background technique
In the wearable positioning system of indoor occupant based on inertia measurement, measuring distance between biped can be greatly improved
The positioning accuracy of system, for the distance between biped in precise measurement personnel's walking process, there are two types of existing distance measuring methods:
One is using the ultrasound measurement module of transceiver to realize, module is mounted on a foot, is surveyed using ultrasonic reflections
The distance between biped is measured, but the shortcomings that this measurement means is: being easy to be returned by the various objects on personnel's walking path
Wave interference；Distance between the foot in the ultrasonic probe direction of the launch can only be measured；Another is by ultrasound emission and receiving transducer point
Opening is placed in biped, since battle-sight range is most short, in this way it is possible to prevente effectively from the echo interference of surrounding objects, but such side
Case needs for the cable of transmitting probe to be imbedded in trouser legs, leads to that structure is complicated, and the practicability is poor.
Summary of the invention
The object of the present invention is to provide a kind of the biped ultrasound device for dynamically measuring distance and method synchronous based on wireless signal, can
Lead to the inconvenient disadvantages such as low with the practicability is poor, range accuracy of wearing to solve that structure is complicated in the prior art.
The purpose of the present invention is achieved through the following technical solutions:
A kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal, including foot ultrasound measurement module I, foot
Ultrasound measurement module II and host computer, the foot ultrasound measurement module I and foot ultrasound measurement module II are separately mounted to double
On foot, host computer by wireless communication controls foot ultrasound measurement module I and foot ultrasound measurement module II.
As advanced optimizing for the technical program, a kind of biped ultrasound dynamic synchronous based on wireless signal of the present invention is surveyed
Away from device, it is provided with ultrasonic wave on the foot ultrasound measurement module I, probe I and ultrasonic wave receiving transducer I, the foot occurs
It is provided with ultrasonic wave on ultrasound measurement module II, probe II and ultrasonic wave receiving transducer II occurs, ultrasonic wave receiving transducer I receives
The ultrasonic wave of II transmitting of probe occurs for ultrasonic wave, and ultrasonic wave receiving transducer II receives the ultrasonic wave that I transmitting of probe occurs for ultrasonic wave.
As advanced optimizing for the technical program, a kind of biped ultrasound dynamic synchronous based on wireless signal of the present invention is surveyed
Away from device, the angle being provided between probe I and ultrasonic wave receiving transducer I occurs for the ultrasonic wave, and I He of probe occurs for ultrasonic wave
Angle adjustable between ultrasonic wave receiving transducer I, ultrasonic wave occur to be provided between probe II and ultrasonic wave receiving transducer II
Angle, ultrasonic wave occur probe II and ultrasonic wave receiving transducer II between angle adjustable.
As advanced optimizing for the technical program, a kind of biped ultrasound dynamic synchronous based on wireless signal of the present invention is surveyed
Away from device, probe I occurs for the ultrasonic wave and ultrasonic wave receiving transducer II is configured to that probe II and ultrasonic wave occurs with ultrasonic wave
I different frequency type of receiving transducer.
As advanced optimizing for the technical program, a kind of biped ultrasound dynamic synchronous based on wireless signal of the present invention is surveyed
Away from device, processor I, wireless communication module I and serial ports I, I He of processor are additionally provided on the foot ultrasound measurement module I
It is electrically connected between wireless communication module I, is electrically connected between processor I and serial ports I, processor I and ultrasonic wave occur between probe I
Electrical connection, is electrically connected between processor I and ultrasonic wave receiving transducer I.
As advanced optimizing for the technical program, a kind of biped ultrasound dynamic synchronous based on wireless signal of the present invention is surveyed
Away from device, processor II, wireless communication module II and serial ports II, processor are additionally provided on the foot ultrasound measurement module II
It is electrically connected between II and wireless communication module II, is electrically connected between processor II and serial ports II, processor II and ultrasonic wave occur
It is electrically connected, processor II and is electrically connected between ultrasonic wave receiving transducer II between probe II.
As advanced optimizing for the technical program, a kind of biped ultrasound dynamic synchronous based on wireless signal of the present invention is surveyed
Away from device, processor III, USB serial ports and wireless communication module III, processor III and wireless telecommunications are provided on the host computer
It is electrically connected between module III, is electrically connected between processor III and USB serial ports, wireless communication module I and wireless communication module II are equal
It is connect with wireless communication module III by signal.
A kind of method of the biped ultrasound dynamic distance synchronous based on wireless signal the following steps are included:
Step 1: host computer sends ultrasound according to external trigger input or timer internal to control wireless communication module III
Distance measuring instruction；
Step 2: respectively by super after foot ultrasound measurement module I and the acquisition distance measuring instruction of foot ultrasound measurement module II
Probe I occurs for sound wave and ultrasonic wave occurs probe II and sends ultrasonic signal；
Step 3: foot ultrasound measurement module I and foot ultrasound measurement module II are respectively started in Fixed Time Interval
Ultrasonic wave receiving transducer I and ultrasonic wave receiving transducer II receive ultrasonic signal；
Step 4: foot ultrasound measurement module I and foot ultrasound measurement module II pass through wireless communication module I and nothing respectively
Distance measurement result is sent to host computer by line communication module II.
A kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal of the present invention has the beneficial effect that
The present invention a kind of the biped ultrasound device for dynamically measuring distance and method synchronous based on wireless signal, can use channel radio
Believe III broadcast transmission distance measuring instruction of module, send synchronous with foot ultrasound measurement module II of triggering foot ultrasound measurement module I surpasses
Sound wave pulse signal, and then the distance between biped is calculated, it avoids split type probe setting and needs to be connected with cable across trouser legs
The drawbacks of connecing；Foot ultrasound measurement module I and foot ultrasound measurement module II are separately mounted on biped, are guaranteed in this way regardless of double
Which kind of state foot is in, and has one group of probe that can measure distance, and then realizes distance survey between the biped of entire traveling process
Amount.
A kind of method of the biped ultrasound dynamic distance synchronous based on wireless signal of the present invention has the beneficial effect that
Probe I occurs for ultrasonic wave and ultrasonic wave receiving transducer II is configured to that probe II occurs with ultrasonic wave and ultrasonic wave receives
It pops one's head in I different frequency type, can be reflected to avoid peripheral obstacle and probe I occurs for ultrasonic wave and probe II occurs for ultrasonic wave
It is interfered with each other between the ultrasonic wave of transmitting.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is the biped ultrasound dynamic distance method left foot synchronous based on wireless signal of the invention in rear structural representation
Figure；
Fig. 2 is the biped ultrasound dynamic distance method right crus of diaphragm synchronous based on wireless signal of the invention in rear structural representation
Figure；
Fig. 3 is the biped ultrasound dynamic distance method control block diagram structural representation synchronous based on wireless signal of the invention
Figure；
Fig. 4 is foot ultrasound measurement module structural schematic diagram of the invention；
Fig. 5 is host computer structural schematic diagram of the invention.
In figure: I A of foot ultrasound measurement module；I A1 of probe occurs for ultrasonic wave；I A2 of ultrasonic wave receiving transducer；Foot ultrasound
II B of range finder module；II B1 of probe occurs for ultrasonic wave；II B2 of ultrasonic wave receiving transducer.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment, a kind of biped ultrasound dynamic distance dress synchronous based on wireless signal below with reference to Fig. 1-5
It sets, including I A of foot ultrasound measurement module, II B of foot ultrasound measurement module and host computer, I A of foot ultrasound measurement module
It is separately mounted on biped with II B of foot ultrasound measurement module, host computer is by wireless communication to I A of foot ultrasound measurement module
It is controlled with II B of foot ultrasound measurement module；Utilize III broadcast transmission distance measuring instruction of host computer wireless communication module, triggering foot
I A of portion's ultrasound measurement module transmission ultrasonic pulse signal synchronous with II B of foot ultrasound measurement module, such foot supersonic sounding
Module I A and II B of foot ultrasound measurement module can by the launch time of respective module as the launch time of other side's module, from
And it easily calculates ultrasonic pulse and is transmitted to another node time experienced from a node, and then calculate double
Distance between foot.It avoids split type probe setting and needs the drawbacks of passing through trouser legs connection with cable.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-5, the foot
It is provided with ultrasonic wave on I A of portion's ultrasound measurement module, probe I A1 and I A2 of ultrasonic wave receiving transducer, the foot supersonic sounding occurs
It is provided with ultrasonic wave on II B of module, probe II B1 and II B2 of ultrasonic wave receiving transducer occurs, I A2 of ultrasonic wave receiving transducer receives super
The ultrasonic wave of probe II B1 transmitting occurs for sound wave, and II B2 of ultrasonic wave receiving transducer receives ultrasonic wave and the super of probe I A1 transmitting occurs
Sound wave；I A1 of probe occurs for ultrasonic wave as depicted in figs. 1 and 2 and ultrasonic wave occurs II B1 of probe and is individually positioned on biped, ultrasound
Wave occurs probe II B1 and II B2 of ultrasonic wave receiving transducer and is individually positioned on biped, guarantees which kind of shape be in regardless of biped in this way
State has one group of probe that can measure distance, and then realizes range measurement between the biped of entire traveling process.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment two below with reference to Fig. 1-5, it is described super
The angle being provided between probe I A1 and I A2 of ultrasonic wave receiving transducer occurs for sound wave, and I A1 of probe and ultrasonic wave occur for ultrasonic wave
Angle adjustable between I A2 of receiving transducer, ultrasonic wave occur to be provided between probe II B1 and II B2 of ultrasonic wave receiving transducer
Angle, ultrasonic wave occur probe II B1 and II B2 of ultrasonic wave receiving transducer between angle adjustable；It can be according to user
Step distance adjustment, step pitch wide-angle is big, step pitch low-angle is small.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment are described further embodiment two below with reference to Fig. 1-5, it is described super
Sound wave occurs probe I A1 and II B2 of ultrasonic wave receiving transducer and is configured to that II B1 of probe and ultrasonic wave receiving transducer occurs with ultrasonic wave
I A2 different frequency type；It can be reflected to avoid peripheral obstacle and I A1 of probe occurs for ultrasonic wave and probe II occurs for ultrasonic wave
It is interfered with each other between the ultrasonic wave of B1 transmitting.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment are described further embodiment two below with reference to Fig. 1-5, the foot
Processor I, wireless communication module I and serial ports I, processor I and wireless communication module I are additionally provided on I A of portion's ultrasound measurement module
Between be electrically connected, be electrically connected between processor I and serial ports I, processor I and ultrasonic wave occur to be electrically connected between I A1 of probe, handle
It is electrically connected between I A2 of device I and ultrasonic wave receiving transducer；Battery is powered wireless communication module I and processor I.
Specific embodiment 6:
Illustrate that present embodiment, present embodiment are described further embodiment five below with reference to Fig. 1-5, the foot
Processor II, wireless communication module II and serial ports II, processor II and wireless telecommunications are additionally provided on II B of portion's ultrasound measurement module
It is electrically connected between module II, is electrically connected between processor II and serial ports II, processor II and ultrasonic wave occur between II B1 of probe
Electrical connection, processor II and is electrically connected between II B2 of ultrasonic wave receiving transducer；Battery is to wireless communication module II and processor
II is powered.
Specific embodiment 7:
Illustrate that present embodiment, present embodiment are described further embodiment six below with reference to Fig. 1-5, it is described on
It is provided with processor III, USB serial ports and wireless communication module III on the machine of position, is electrically connected between processor III and wireless communication module III
It connects, is electrically connected between processor III and USB serial ports, wireless communication module I and wireless communication module II are and wireless communication module
III is connected by signal；Battery is powered wireless communication module III and processor III.
A kind of method of the biped ultrasound dynamic distance synchronous based on wireless signal the following steps are included:
Step 1: host computer sends ultrasound according to external trigger input or timer internal to control wireless communication module III
Distance measuring instruction；
Step 2: I A of foot ultrasound measurement module and II B of foot ultrasound measurement module passes through respectively after obtaining distance measuring instruction
I A1 of probe occurs for ultrasonic wave and ultrasonic wave occurs II B1 of probe and sends ultrasonic signal；
Step 3: I A of foot ultrasound measurement module and II B of foot ultrasound measurement module are opened respectively in Fixed Time Interval
Dynamic I A2 of ultrasonic wave receiving transducer and II B2 of ultrasonic wave receiving transducer receives ultrasonic signal；
Step 4: I A of foot ultrasound measurement module and II B of foot ultrasound measurement module pass through I He of wireless communication module respectively
Distance measurement result is sent to host computer by wireless communication module II.
A kind of the biped ultrasound device for dynamically measuring distance and method synchronous based on wireless signal of the invention, working principle
Are as follows:
Host computer is inputted according to external trigger or timer internal refers to control the transmission supersonic sounding of wireless communication module III
It enables；Trigger I A of foot ultrasound measurement module transmission ultrasonic pulse signal synchronous with II B of foot ultrasound measurement module, such foot
I A of ultrasound measurement module and II B of foot ultrasound measurement module can be by the launch time of respective module as the transmitting of other side's module
Time is transmitted to another node time experienced from a node to easily calculate ultrasonic pulse, in turn
Calculate the distance between biped.It avoids split type probe setting and needs the drawbacks of passing through trouser legs connection with cable；Foot ultrasound
By ultrasonic wave I A1 of probe and ultrasound occur for I A of range finder module and II B of foot ultrasound measurement module respectively after obtaining distance measuring instruction
Wave occurs II B1 of probe and sends ultrasonic signal；I A of foot ultrasound measurement module and II B of foot ultrasound measurement module is when fixed
Between I A2 of ultrasonic wave receiving transducer is respectively started and II B2 of ultrasonic wave receiving transducer receives ultrasonic signal in interval；Such as
I A1 of probe occurs for ultrasonic wave shown in Fig. 1 and Fig. 2 and ultrasonic wave occurs II B1 of probe and is individually positioned on biped, and ultrasonic wave occurs
II B1 and II B2 of ultrasonic wave receiving transducer that pops one's head in is individually positioned on biped, guarantees to be in which kind of state has regardless of biped in this way
One group of probe can measure distance, and then realize range measurement between the biped of entire traveling process；I A1 of probe occurs for ultrasonic wave
It is configured to that II B1 of probe and I A2 different frequency class of ultrasonic wave receiving transducer occurs with ultrasonic wave with II B2 of ultrasonic wave receiving transducer
Type；It can be reflected to avoid peripheral obstacle and I A1 of probe occurs for ultrasonic wave and the ultrasound of probe II B1 transmitting occurs for ultrasonic wave
It is interfered with each other between wave；I A of foot ultrasound measurement module and II B of foot ultrasound measurement module pass through I He of wireless communication module respectively
Distance measurement result is sent to host computer by wireless communication module II.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (8)
1. a kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal, including foot ultrasound measurement module I (A), foot
Portion's ultrasound measurement module II (B) and host computer, it is characterised in that: the foot ultrasound measurement module I (A) and foot supersonic sounding
Module II (B) is separately mounted on biped, and host computer is by wireless communication to foot ultrasound measurement module I (A) and foot ultrasound
Range finder module II (B) is controlled.
2. a kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal according to claim 1, feature exist
In: it is provided with ultrasonic wave on the foot ultrasound measurement module I (A), I (A1) of probe and ultrasonic wave receiving transducer I (A2) occurs,
It is provided with ultrasonic wave on the foot ultrasound measurement module II (B), II (B1) of probe and ultrasonic wave receiving transducer II (B2) occurs,
Ultrasonic wave receiving transducer I (A2) receives the ultrasonic wave that probe II (B1) transmitting occurs for ultrasonic wave, ultrasonic wave receiving transducer II (B2)
Receive the ultrasonic wave that probe I (A1) transmitting occurs for ultrasonic wave.
3. a kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal according to claim 2, feature exist
In: the angle being provided between I (A1) of probe and ultrasonic wave receiving transducer I (A2) occurs for the ultrasonic wave, and ultrasonic wave is visited
Angle adjustable between first I (A1) and ultrasonic wave receiving transducer I (A2), II (B1) of probe occurs for ultrasonic wave and ultrasonic wave receives
Angle between II (B1) of probe and ultrasonic wave receiving transducer II (B2) occurs for the angle being provided between II (B2) of probe, ultrasonic wave
Degree is adjustable.
4. a kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal according to claim 2, feature exist
In: I (A1) of probe occurs for the ultrasonic wave and ultrasonic wave receiving transducer II (B2) is configured to that II (B1) of probe occurs with ultrasonic wave
With ultrasonic wave receiving transducer I (A2) different frequency type.
5. a kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal according to claim 2, feature exist
In: processor I, wireless communication module I and serial ports I, processor I and nothing are additionally provided on the foot ultrasound measurement module I (A)
Be electrically connected between line communication module I, be electrically connected between processor I and serial ports I, processor I and ultrasonic wave occur I (A1) of probe it
Between be electrically connected, be electrically connected between processor I and ultrasonic wave receiving transducer I (A2).
6. a kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal according to claim 5, feature exist
In: processor II, wireless communication module II and serial ports II, processor are additionally provided on the foot ultrasound measurement module II (B)
It is electrically connected between II and wireless communication module II, is electrically connected between processor II and serial ports II, processor II and ultrasonic wave occur
It is electrically connected, processor II and is electrically connected between ultrasonic wave receiving transducer II (B2) between II (B1) of probe.
7. a kind of biped ultrasound device for dynamically measuring distance synchronous based on wireless signal according to claim 6, feature exist
In: processor III, USB serial ports and wireless communication module III, processor III and wireless communication module are provided on the host computer
Be electrically connected between III, be electrically connected between processor III and USB serial ports, wireless communication module I and wireless communication module II with nothing
Line communication module III is connected by signal.
8. a kind of method of the biped ultrasound dynamic distance synchronous based on wireless signal, it is characterised in that: this method includes following
Step:
Step 1: host computer sends supersonic sounding according to external trigger input or timer internal to control wireless communication module III
Instruction；
Step 2: pass through respectively after foot ultrasound measurement module I (A) and foot ultrasound measurement module II (B) acquisition distance measuring instruction
I (A1) of probe occurs for ultrasonic wave and ultrasonic wave occurs II (B1) of probe and sends ultrasonic signal；
Step 3: foot ultrasound measurement module I (A) and foot ultrasound measurement module II (B) open respectively in Fixed Time Interval
Dynamic ultrasonic wave receiving transducer I (A2) and ultrasonic wave receiving transducer II (B2) receive ultrasonic signal；
Step 4: foot ultrasound measurement module I (A) and foot ultrasound measurement module II (B) pass through I He of wireless communication module respectively
Distance measurement result is sent to host computer by wireless communication module II.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910357287.6A CN110018480A (en) | 2019-04-29 | 2019-04-29 | A kind of the biped ultrasound device for dynamically measuring distance and method synchronous based on wireless signal |
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| CN201910357287.6A CN110018480A (en) | 2019-04-29 | 2019-04-29 | A kind of the biped ultrasound device for dynamically measuring distance and method synchronous based on wireless signal |
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| CN116380056A (en) * | 2023-06-02 | 2023-07-04 | 中国船舶集团有限公司第七〇七研究所 | Inertial positioning method, inertial positioning device, electronic equipment and storage medium |
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Application publication date: 20190716 |