Indoor and outdoor positioning method, positioning system, and positioning foot rings
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An indoor and outdoor positioning and foot ring technology, applied in the field of positioning and navigation, can solve the problems of strong interference and dependence on fixed base stations, and achieve the effects of strong anti-interference ability, high versatility, and strong stability
Inactive Publication Date: 2016-07-20
李明科
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This method does not rely on fixed base stations and has no non-line-of-sight interference. It can realize indoor and outdoor independent positioning, and solves the existing problems of relying on fixed base stations, inertial drift and strong interference in indoor and outdoor seamless positioning.
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Embodiment 1
[0044] Please refer to Figures 1 to 8 , an indoor and outdoor positioning method based on TDOA and dual magnetic compass is implemented in the following steps:
[0045] (1) Wear the foot ring for positioning on the ankle; the foot ring for positioning is equipped with a radio transceiver module, an ultrasonic transceiver module and a dual magnetic compass;
[0046] In a specific implementation, the foot rings for positioning include left and right foot rings to be worn on the left and right ankles of the user respectively.
[0047] Such as figure 2 , 3 As shown, the left foot ring is used as a signal sending end, which includes: a first ring-shaped carrier 1, and a Zigbee transmitting module 11, an ultrasonic transmitting module 12, a first ring-shaped carrier 1 arranged on the first ring-shaped carrier 1 Magnetic compass 13, first main controller 14, first battery module 15; the first ring-shaped carrier 1 has an opening, which is C-shaped in a top view, but not limited ...
Embodiment 2
[0062] Such as Figure 9 As shown, an indoor and outdoor positioning system based on TDOA and dual magnetic compass, which includes a smart terminal and a positioning foot ring connected to the smart terminal to display the coordinates of the pedestrian's position in real time, thereby realizing the indoor and outdoor positioning of pedestrians. The positioning anklets include left and right anklets to be worn on the left and right ankles of the user, respectively.
[0063] Such as figure 2 , 3As shown, the left foot ring is used as a signal sending end, which includes: a first ring-shaped carrier 1, and a Zigbee transmitting module 11, an ultrasonic transmitting module 12, a first ring-shaped carrier 1 arranged on the first ring-shaped carrier 1 Magnetic compass 13, first main controller 14, first battery module 15; the first ring-shaped carrier 1 has an opening, which is C-shaped in a top view, but not limited thereto; worn on the left ankle through the opening On the op...
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Abstract
The invention discloses an indoor and outdoor positioning method, a positioning system and positioning foot rings. The method comprises the following steps: (1) separately putting on the foot rings on a left ankle and a right ankle, wherein radio receiving and transmitting modules, ultrasonic wave receiving and transmitting modules and double magnetic compasses are arranged on the foot rings; (2) performing TDOA distance measurement based on the ultrasonic wave receiving and transmitting modules and the radio receiving and transmitting modules, so as to obtain a real-time distance between two feet within a walking cycle; (3) performing course angle detection based on the double magnetic compasses; (4) acquiring the stride di and the course angle theta i of a track based on the step (2) and the step (3); (5) substituting the stride di and the course angle theta i obtained in the step (4) into a calculating formula for reckoning the pedestrian track, namely a north coordinate shown in the description, an east coordinate shown in the description, so as to obtain the current pedestrian position coordinate. According to the indoor and outdoor positioning method, the positioning system and the positioning foot rings disclosed by the invention, hardware is integrated on the foot rings, and the foot rings are convenient to disassemble, assemble and carry, high in capacity of resisting disturbance, reliability, stability and generality, and free from complicated mounting and connecting, and is directly disassembled and assembled, so that the foot rings are suitable for any people.
Description
technical field [0001] The invention relates to the field of positioning and navigation, in particular to an indoor and outdoor positioning method, a positioning system, and an ankle ring for positioning. Background technique [0002] How to realize the indoor and outdoor seamless positioning and navigation of the whole airspace has always been a hot research topic of major institutions. Outdoor positioning mainly relies on GPS / Beidou and other satellite navigation, with mature technology and high reliability. The mainstream indoor positioning relies on wireless positioning, such as WIFI positioning, Bluetooth positioning, Zigbee positioning, mobile communication network positioning, GPS / Beidou signal indoor transponder positioning, etc. However, the positions of all base stations for these indoor wireless positioning need to be set in advance. Once the environment changes or the network coverage changes, the final positioning results will have serious errors. In addition,...
Claims
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Application Information
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