CN208579770U - A kind of indoor locating system - Google Patents
A kind of indoor locating system Download PDFInfo
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- CN208579770U CN208579770U CN201820565935.8U CN201820565935U CN208579770U CN 208579770 U CN208579770 U CN 208579770U CN 201820565935 U CN201820565935 U CN 201820565935U CN 208579770 U CN208579770 U CN 208579770U
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- locating system
- indoor locating
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- 238000004891 communication Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 6
- 230000004927 fusion Effects 0.000 abstract description 5
- 238000009825 accumulation Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 5
- 238000001914 filtration Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The utility model discloses a kind of indoor locating systems, it is characterized in that, including running fix device and positioning compiler two parts, the running fix device includes wireless signal receiver, IMU inertial measuring unit, ultrasonic wind meter, signal receiving module, communication module and display module.Advantage: the utility model indoor moving reckoning positioning system passes through fusion IMU inertia follow-up mechanism and ultrasonic wind meter, in conjunction with TOA distance-measuring and positioning method, reduce speed accumulation error by using the method that relative velocity calculates positioning, achieve the purpose that reduce moving process position error, effectively improves the precision of indoor positioning.
Description
Technical field
The utility model relates to a kind of indoor locating systems, and in particular to one kind is based on indoor distance-measuring and positioning method fusion
The indoor locating system of IMU (Inertial measurement unit, inertial measuring unit) and ultrasonic wind meter.
Background technique
Currently, outdoor positioning technology generally use global position system GPS (Global Position System) and
Beidou satellite navigation system BDS(BeiDou Navigation Satellite System), by from multiple satellite receptions to
Data carry out position calculating, but be not available satellite positioning since signal is weaker indoors.And as people are to indoor location
The demand of service is growing day by day, and the precision for how developing indoor positioning technologies raising indoor positioning becomes more more and more urgent, commonly uses
Indoor distance measuring method TOA(time of arrival, arrival time) because measurement process in multipath effect and noise influence
Cause error larger, algorithm robustness is poor, and there is researcher to propose the indoor moving localization method based on inertial sensor, but
Bring position error due to sensor drift is not can avoid.
Summary of the invention
Technical problem to be solved in the utility model is to overcome the deficiencies of existing technologies, and provides a kind of multi-technical fusion
Indoor locating system, by fusion IMU inertial measuring unit and ultrasonic wind meter, reduce in IMU measurement process at any time and
Position increases and the speed and location error of accumulation, carries out indoor moving mistake to reach in the case that GPS can not be positioned indoors
The purpose of positioning in journey can be efficiently applied to the public places such as megastore, supermarket, parking lot.
In order to solve the above technical problems, the utility model provides a kind of indoor locating system, characterized in that including mobile fixed
Position device and positioning compiler two parts, the running fix device include wireless signal receiver, IMU inertial measuring unit,
Ultrasonic wind meter, signal receiving module, communication module and display module；
The communication module is separately connected positioning compiler, signal receiving module and display module, and the signal receives
Module is separately connected wireless signal receiver, IMU inertial measuring unit, ultrasonic wind meter；
The positioning compiler by communication module receive respectively signal receiving module transmission from reception of wireless signals
The signal data of device, IMU follow-up mechanism and ultrasonic wind meter.
Further, the positioning compiler is the processing module with Kalman filtering function.
Further, the display module uses LED liquid crystal display.
It further, further include for the power supply to system power supply.
Further, the communication module uses wireless communication module.
Further, the wireless signal receiver includes interconnecting for difference AP wireless signal in receiving chamber
Wifi chip and the timer for reaching the time of wifi chip for recording different AP wireless signals.The utility model is achieved
The utility model has the advantages that
The utility model indoor locating system is by fusion IMU inertia follow-up mechanism and ultrasonic wind meter, in TOA ranging
On the basis of method, real-time wind speed and direction is measured by using ultrasonic wind meter, by combine sensor data and
The data of ultrasonic wind meter reduce speed accumulation error, achieve the purpose that reduce moving process position error, be effectively improved
The precision of indoor positioning.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model indoor locating system；
Fig. 2 is the data transmission stream journey figure of the utility model indoor locating system；
Fig. 3 is the working principle frame diagram that compiler is positioned in the utility model indoor locating system；
Fig. 4 is the positioning principle schematic diagram of the utility model indoor locating system.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.Following embodiment is only used for clearly illustrating this
The technical solution of utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
As shown in Figure 1, a kind of indoor locating system, characterized in that including wireless signal receiver, timer, IMU inertia
Measuring device, ultrasonic wind meter, signal receiving module, communication module, LED display module, power supply and positioning compiler；
The positioning compiler by communication module receive respectively signal receiving module transmission from reception of wireless signals
The signal data of device, IMU inertial measuring unit and ultrasonic wind meter；
The IMU inertial measuring unit is used to measure the acceleration and angular speed in moving process；
The ultrasonic wind meter is used to measure the wind speed and direction of moving process current location；
The signal receiving module is used to receive the time of arrival (toa) of timer preservation, the measurement of IMU inertial measuring unit
Acceleration and angular speed information and ultrasonic wind meter measurement wind speed, wind direction information.
The positioning compiler receives the information from signal receiving module, and is converted into location information.
In the present embodiment, the wireless signal receiver is made of wireless wifi chip, and chip uses WH-C120 chip,
The chip height is integrated with duplexer and power management module, and wireless signal receiver only just starts work when powering on
Make, when the power is turned on, wireless signal receiver starts to receive the wireless signal from indoor different directions.
In the present embodiment, the timer uses high precision clock chip ds3231.When wireless signal receiver connects electricity
When source is started to work, timer synchronization records the time that different AP point signals reach wireless signal receiver.
In the present embodiment, the IMU inertial measuring unit uses IMUADIS16445 sensor, includes three axis accelerometer
And three-axis gyroscope, by measurement 3-axis acceleration and three axis angular rates come DR position.
In the present embodiment, the ultrasonic wind meter uses A60F-2D2 type ultrasonic aerovane, super comprising four
Sonic probe, measures wind speed and wind direction using the aerial propagation time difference of ultrasonic wave, and measuring wind speed range is 0 ~
60m/s, precision are≤10m/s, and the measurement range of wind direction is that 0 ~ 360 ° of precision is 1 °, and the way of output of wind speed and direction is 4-
The output of 20mA electric current.
In the present embodiment, the communication module uses a wirelessly transferred chip nrf24l01.
In the present embodiment, the signal receiving module is a single-chip microcontroller, and specially C8051F020 single-chip microcontroller, signal connects
Module is received to be communicated by serial ports and timer, ultrasonic wind meter, IMU sensing device.
In the present embodiment, the positioning compiler has the function of Kalman filtering, specially CJMCU-316 AHRS6DOF
Module, Master control chip select STM32F103T8, ARM32-bit Cortex-M3 kernel, the module can realize high-precision and
The Kalman filtering of high stability directly carries out processing to data and computing speed is very fast.Positioning compiler receives respectively
IMU, ultrasonic wind meter, the data of timer.As shown in figure 3, Kalman filtering is formed by predicting and correcting two parts, the former
Predict prior state, posteriority state is updated estimated value according to measurement data, predict pedestrian position coordinate and
Speed.
In the present embodiment, the display unit uses LCD12864 liquid crystal display, for showing positioning position information.
As shown in Fig. 2 Fig. 3 Fig. 4, working principle of the utility model is:
Step 1: indoor occupant obtains running fix device, and IMU inertial measuring unit starts to carry out initial position acceleration
With the measurement of angular speed, ultrasonic wind meter starts to carry out the wind speed and direction measurement of original state, and is received respectively by signal
Module uploads measured data；
Step 2: indoor occupant issues real-time location requirement, and wireless signal receiver power supply is connected, wireless signal receiver
Start to receive the wireless wifi signal of the AP from three different directions, at the same time, timer synchronization records three difference AP
The time required to signal reaches wireless signal receiver and it is uploaded to signal receiving module；IMU inertial measuring unit carries out real-time position
Acceleration and angular speed is set to measure and be uploaded to signal receiving module；Ultrasonic wind meter carries out the measurement of real time position wind speed and direction
And it is uploaded to signal receiving module；
Step 3: signal receiving module sends data to positioning compiler by wireless communication module；
Step 4: positioning compiler obtains final positioning result.
Step 5: positioning result is sent to the display mould of running fix device by wireless communication module by positioning compiler
Block is shown.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change
It also should be regarded as the protection scope of the utility model into deformation.
Claims (6)
1. a kind of indoor locating system, characterized in that including running fix device and positioning compiler two parts, the movement is fixed
Position device include wireless signal receiver, IMU inertial measuring unit, ultrasonic wind meter, signal receiving module, communication module with
And display module；
The communication module is separately connected positioning compiler, signal receiving module and display module, the signal receiving module
It is separately connected wireless signal receiver, IMU inertial measuring unit, ultrasonic wind meter；
It is described positioning compiler by communication module receive respectively signal receiving module transmission from wireless signal receiver,
The signal data of IMU follow-up mechanism and ultrasonic wind meter.
2. a kind of indoor locating system according to claim 1, characterized in that the positioning compiler is with Kalman
The processing module of filter function.
3. a kind of indoor locating system according to claim 1, characterized in that the display module uses LED liquid crystal
Display screen.
4. a kind of indoor locating system according to claim 1, characterized in that further include for the electricity to system power supply
Source.
5. a kind of indoor locating system according to claim 1, characterized in that the communication module uses wireless telecommunications mould
Block.
6. a kind of indoor locating system according to claim 1, characterized in that the wireless signal receiver includes mutual
Connection reaches wifi core for the wifi chip of difference AP wireless signal in receiving chamber and for recording different AP wireless signals
The timer of the time of piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820565935.8U CN208579770U (en) | 2018-04-19 | 2018-04-19 | A kind of indoor locating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820565935.8U CN208579770U (en) | 2018-04-19 | 2018-04-19 | A kind of indoor locating system |
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| Publication Number | Publication Date |
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| CN208579770U true CN208579770U (en) | 2019-03-05 |
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| CN201820565935.8U Expired - Fee Related CN208579770U (en) | 2018-04-19 | 2018-04-19 | A kind of indoor locating system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672087A (en) * | 2019-09-02 | 2020-01-10 | 深圳市众采堂艺术空间设计有限公司 | Human body tracking method and system |
-
2018
- 2018-04-19 CN CN201820565935.8U patent/CN208579770U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672087A (en) * | 2019-09-02 | 2020-01-10 | 深圳市众采堂艺术空间设计有限公司 | Human body tracking method and system |
| CN110672087B (en) * | 2019-09-02 | 2023-08-11 | 湖南凌傲科技有限公司 | Human body tracking method and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210119 Address after: 410000 712, building 13, 282 Deya Road, Kaifu District, Changsha City, Hunan Province Patentee after: Zhang Mingliang Address before: 210044, No. 219, Ning six road, Pukou District, Jiangsu, Nanjing Patentee before: NANJING University OF INFORMATION SCIENCE & TECHNOLOGY |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190305 Termination date: 20210419 |
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| CF01 | Termination of patent right due to non-payment of annual fee |