CN103475993A - Positioning system and its positioning method - Google Patents
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Abstract
The invention provides a positioning system. The positioning system comprises at least a logical node which comprises processor and an information acquisition module, a display module and an input module which are respectively connected with the processor through a signal connection mode. The invention provides a positioning system which can realize mutual positioning of various mobile physical nodes independent on present GPS networks, mobile wireless networks and wireless internet. According to the positioning system, the origin point is set arbitrarily, and communications between the logical nodes is realized through a wireless communication mode.
Description
Technical field
The present invention relates to the communications field, in particular, relate to a kind of navigation system and localization method thereof.
Background technology
Existing navigation system is to utilize the wireless network platforms such as GPS, GSM, GPRS, CDMA and global position system to realize wireless locating function.This navigation system takies satellite resource, and can only use at time of peace.
Also have some to utilize similar wireless Internet of things system, determine the distance of transfer point from fixing point by the signal power recorded between a plurality of stationary nodes and transfer point, determine the orientation of transfer point by the fixing point that signal is arranged between each stationary nodes and transfer point, thereby reach positioning function.Utilize similar wireless Internet of things system location need a plurality of permanent datums could determine the orientation of transfer point, for example, in much occasion inconvenience, tourist industry.
Especially, above existing navigation system and localization method can't position in the zone that does not have wireless network to cover.
Summary of the invention
One of purpose of the present invention is: for solve above-mentioned prior art described there is no satellite, do not have wireless network and cable network to cover, the defect that do not have permanent plant zone as a reference point to position provides a kind of navigation system; Two of purpose of the present invention is: the localization method that a kind of navigation system of the present invention is provided.
The present invention is for solving the defect of above-mentioned prior art, a kind of navigation system is provided, comprise at least one logical node, described logical node comprises processor and the mode that connects by signal respectively is connected with described processor information acquisition module and input module;
Information acquisition module: gather the direction of motion of at least one information in the displacement, speed, acceleration, range data of this logical node and this logical node and be real-time transmitted to processor;
Processor: according to the information of information acquisition module collection and calculate the concrete orientation of the default initial point of this logical node distance;
Input module: for user preset initial point, default safe range.
Preferably, described logical node also comprises the ID code: the identity code of each logical node or address code, so that processor is identified different logical nodes and is distinguished the information of Different Logic node;
Described logical node also comprises the radio receiving transmitting module that the mode that connects by signal is connected with described processor: receive the information that the radio receiving transmitting module of other logical node outwards sends the processor that is sent to this logical node; Outwards send the information of this logical node.
Preferably, described logical node also comprises the alarm module that the mode that connects by signal is connected with described processor, the distance that calculates the default initial point of this logical node distance when processor exceeds default safe range, and by alarm module, the user to this logical node sends warning message and/or outwards sends warning message by radio receiving transmitting module.
Preferably, described logical node also comprises the display module that the mode that connects by signal is connected with described processor, and described display module shows described processor feedack according to processor result of calculation.
Preferably, described information acquisition module 5 comprises at least one in displacement sensing module, speed perception module, perceived distance module and acceleration sensing module, and the mode be connected by signal with processor respectively connects;
Displacement sensing module and/or speed perception module and/or perceived distance module and/or acceleration sensing module: obtain at least one data in the displacement of this logical node, speed, distance and acceleration and be real-time transmitted to processor.
Preferably, described information acquisition module also comprises direction of motion sensing module and the compass module that the mode that is connected by signal with processor respectively connects;
Direction of motion sensing module: the direction of motion data of the relatively last time point of this logical node are real-time transmitted to processor;
The compass module: be used as the orientation reference standard, processor can obtain the real-time direction of motion of this logical node according to the feedback signal of direction of motion sensing module and compass module.
Preferably, described navigation system comprises an at least logical node, wherein at least one logical node is the logic host node, other logical node is that logic is from node, the display module of described logic host node shows the azimuth distribution figure of whole logical nodes, and described each logical node also comprises the voice module that the mode that connects by signal is connected with processor: for the voice call between each logical node user.
The present invention, for solving the defect of above-mentioned prior art, also provides a kind of localization method of above-mentioned navigation system, and its localization method comprises the following steps:
01) user is by the default initial point of described input module and safe range;
02), in motion process, the information acquisition module of described each logical node sends real time information to the processor of this logical node;
03) processor of described each logical node carries out according to the information of receiving the concrete orientation that the data processing obtains the relatively described default initial point of this logical node.
Preferably, described step 02) also comprise:
Be provided with the displacement sensing module in described information acquisition module, described displacement sensing module gathers the displacement information of this logical node and, to processor feedback live signal, described this logical node of processor for recording is with respect to the displacement data of initial point;
Be provided with the speed perception module in described information acquisition module, described speed perception module gathers the velocity information of this logical node and to processor feedback live signal, and described processor calculates the shift value of this logical node with respect to initial point according to the speed data received and in conjunction with the real time kinematics bearing data of this logical node of compass module and direction of motion sensing module feedback;
Be provided with the perceived distance module in described information acquisition module, described perceived distance module gathers the range information of the relatively last time point of this logical node and to processor feedback live signal, and described processor calculates the shift value of this logical node with respect to initial point according to the data that receive and in conjunction with the real time kinematics bearing data of compass module and direction of motion sensing module feedback;
Be provided with the acceleration sensing module in described information acquisition module, described acceleration sensing module gathers the acceleration information of this logical node and to processor feedback live signal, and described processor calculates the shift value of this logical node with respect to initial point according to the acceleration information received and in conjunction with the real time kinematics bearing data that compass module and direction of motion sensing module transmit.
The present invention, for solving the defect of above-mentioned prior art, also provides a kind of localization method of above-mentioned navigation system, and its localization method comprises the following steps:
01) user is by the default initial point of described input module and safe range;
02), in motion process, the information acquisition module of described each logical node sends real time information to the processor of this logical node;
03) azimuth information of continual outside this logical node of transmission of the radio receiving transmitting module of described each logical node accept the information that the radio receiving transmitting module of other logical node outwards sends;
The displacement of 04) when described processor, calculating this logical node of gained exceeds default safe range, and described alarm module sends a warning;
05) processor of described each logical node carries out according to the information of receiving the azimuth information that the data processing obtains the concrete orientation of the relatively described default initial point of this logical node and show this logical node on the display module of described each logical node.
Preferably, described step 02) also comprise:
Be provided with the displacement sensing module in described information acquisition module, described displacement sensing module gathers the displacement information of this logical node and, to processor feedback live signal, described this logical node of processor for recording is with respect to the displacement data of initial point;
Be provided with the speed perception module in described information acquisition module, described speed perception module gathers the velocity information of this logical node and to processor feedback live signal, and described processor calculates the shift value of this logical node with respect to initial point according to the speed data received and in conjunction with the real time kinematics bearing data of this logical node of compass module and direction of motion sensing module feedback;
Be provided with the perceived distance module in described information acquisition module, described perceived distance module gathers the range information of the relatively last time point of this logical node and to processor feedback live signal, and described processor calculates the shift value of this logical node with respect to initial point according to the data that receive and in conjunction with the real time kinematics bearing data of compass module and direction of motion sensing module feedback;
Be provided with the acceleration sensing module in described information acquisition module, described acceleration sensing module gathers the acceleration information of this logical node and to processor feedback live signal, and described processor calculates the shift value of this logical node with respect to initial point according to the acceleration information received and in conjunction with the real time kinematics bearing data that compass module and direction of motion sensing module transmit;
Described step 05) also comprise:
The processor of described logic host node carries out data according to the information of receiving to be processed the azimuth information of other each logical nodes that obtain the concrete orientation of the relatively described default initial point of this logical node and receive according to its radio receiving transmitting module show the azimuth information of whole logical nodes on the display module of described logic host node.
Navigation system of the present invention has following beneficial effect:
1) the invention provides and a kind ofly do not rely on existing GPS network, mobile wireless network, wireless internet network and can realize that each moves the navigation system that physical node is located mutually;
2), in navigation system of the present invention, any one physical node all can be done logic host node or logic from node;
3) in navigation system of the present invention, logic host node, the functional module comprised from node are identical, are convenient to manufacture;
4), in navigation system of the present invention, the logic host node is realized communicating by letter from the mode by radio communication between node with logic;
5) in navigation system of the present invention, the calculating about distance in displacement and/or speed and/or distance and/or acceleration sensing module is accomplished in several ways, and is not limited to direct range and measures;
6) in navigation system of the present invention, the user can preset safe distance, and when logical node exceeds safe range, the alarm module of logical node can send warning message;
7) in navigation system of the present invention, initial point can be set arbitrarily.
The accompanying drawing explanation
Figure 1 shows that the principle schematic of logical node first embodiment of navigation system of the present invention;
Figure 2 shows that the principle schematic of logical node second embodiment of navigation system of the present invention;
Figure 3 shows that the principle schematic of information acquisition module of the logical node of navigation system of the present invention;
Figure 4 shows that the principle schematic of communicating by letter between the logical node of navigation system of the present invention.
Embodiment
The invention provides and a kind ofly do not rely on existing GPS network, mobile wireless network, wireless internet network and can realize that each moves the navigation system that physical node is located mutually.Any one physical node of navigation system all can be done logic host node or logic from node, and logic host node, the functional module comprised from node are identical.The initial point of navigation system is set arbitrarily, need to not position by any other equipment, and the logic host node is realized communicating by letter from the mode by radio communication between node with logic.Introduce in detail navigation system of the present invention below in conjunction with Figure of description:
Navigation system of the present invention comprises at least one logical node 1, and the logical node of indication of the present invention is the physical node in actual use, i.e. certain positioner in concrete navigation system.As shown in Figure 1, logical node 1 comprises processor 4 and the mode that connects by signal respectively is connected with processor 4 information acquisition module 5 and input module 2.
1, at least one information of the data such as the displacement that gathers this logical node 1, speed, acceleration, distance and be real-time transmitted to processor 4;
2, for the direction of motion that gathers this logical node 1 and be real-time transmitted to processor 4.
As shown in Figure 3, preferably, information acquisition module 5 comprises at least one in displacement sensing module 501-1, speed perception module 501-2, perceived distance module 501-3 and acceleration sensing module 501-4, and the mode be connected by signal with processor 4 respectively connects.
Displacement sensing module and/or speed perception module and/or perceived distance module and/or acceleration sensing module (501) obtain at least one data in 1 displacement of this logical node, speed, distance and acceleration and are real-time transmitted to processor 4.
Preferably, information acquisition module 5 also comprises direction of motion sensing module 502 and the compass module 503 that the mode that is connected by signal with processor 4 respectively connects.
Direction of motion sensing module 502 is real-time transmitted to processor 4 to the direction of motion data of the relatively last time point of this logical node 1.
The information that processor 4 gathers according to information acquisition module 5 calculates the concrete orientation of the default initial point of this logical node 1 distance.
As shown in Figure 2, preferably, logical node 1 also comprises the ID code, and the identity code that the ID code is each logical node or address code, so that the different logical node 1 of processor 4 identification distinguish the information of Different Logic node 1.
Preferably, logical node 1 also comprises the radio receiving transmitting module 7 that the mode that connects by signal is connected with processor 4, the information that radio receiving transmitting module 7 outwards sends for the radio receiving transmitting module 7 that receives other logical node 1 processor 4 that is sent to this logical node 1; Outwards send the information of this logical node 1.
When comprising the logical node more than 2 or 2, navigation system just need to use wireless starting module.Can not use radio receiving transmitting module when navigation system has and a logical node is only arranged.
Each logical node is all the azimuth-range of minute book node with respect to initial point, and each logical node can be undertaken obtaining the distance and bearing of this node with respect to another node after transfer of data by wireless transport module 7.
The transceiving range of radio receiving transmitting module 7 can be selected the radio receiving transmitting module of different power according to concrete user demand.In the time of outside certain logical node moves to apart from the transceiving range of the radio receiving transmitting module 7 of presetting initial point, can the azimuth information of this logical node be sent to other logical node in its transceiving range by radio receiving transmitting module 7, other logical node outwards sends these information again.So just can keep the intercommunication mutually between all logical nodes.
Preferably, logical node 1 also comprises the alarm module 6 that the mode that connects by signal is connected with processor 4, the distance of calculating the default initial point of this logical node 1 distance when processor meter 4 exceeds default safe range, and by alarm module 6, the user to this logical node 1 sends warning message and/or outwards sends warning message by radio receiving transmitting module 7.
Preferably, logical node 1 also comprises the display module 3 that the mode that connects by signal is connected with processor 4, and display module 3 is according to processor 4 result of calculation video-stream processor 4 feedacks.
As shown in Figure 4, when navigation system comprises at least 2 logical nodes, between logical node, by radio receiving transmitting module, carry out transfer of data.
Preferably, wherein at least one logical node is the logic host node, other logical node be logic from node, the display module of logic host node also shows the azimuth distribution figure of whole logical nodes.Each logical node 1 also comprises the voice module that the mode that connects by signal is connected with processor 4: for the voice call between each logical node user.
The localization method of above-mentioned navigation system comprises the following steps:
Step 01): the user presets initial point and the safe range of each logical nodes as the case may be by input module 2 with user demand;
Step 02): in the moving process of each logical node, the continual processor to this logical node 14 of the information acquisition module 5 of each logical node sends real time information;
Particularly, step 02) comprising:
Be provided with displacement sensing module 501-1 in information acquisition module 5, displacement sensing module 501-1 gathers the displacement information of this logical node 1 and, to processor 4 feedback live signals, processor 4 minute book logical nodes 1 are with respect to the displacement data of initial point.
Be provided with speed perception module 501-2 in information acquisition module 5, speed perception module 501-2 gathers the velocity information of this logical node 1 and to processor 4 feedback live signals, and processor 4 calculates the shift value of this logical node 1 with respect to initial point according to the speed data received and in conjunction with the real time kinematics bearing data of this logical nodes 1 of compass module 503 and direction of motion sensing module 502 feedbacks.
Be provided with perceived distance module 501-3 in information acquisition module 5, perceived distance module 501-3 gathers the range information of the relatively last time point of this logical node 1 and to processor 4 feedback live signals, and processor 4 calculates the shift value of this logical node 1 with respect to initial point according to the data that receive and in conjunction with the real time kinematics bearing data of compass module 503 and direction of motion sensing module 502 feedbacks.
Be provided with acceleration sensing module 501-4 in information acquisition module 5, acceleration sensing module 501-4 gathers the acceleration information of this logical node 1 and to processor 4 feedback live signals, and processor 4 calculates the shift value of this logical node 1 with respect to initial point according to the acceleration information received and in conjunction with the real time kinematics bearing data that compass module 503 and direction of motion sensing module 502 transmit.
Preferably, also comprise step 03) azimuth information of continual outside this logical node of transmission 1 of radio receiving transmitting module 7 of each logical node 1 accept the information that the radio receiving transmitting module 7 of other logical node 1 outwards sends.
Preferably, also comprising step 04) displacement of when processor 4, calculating this logical node 1 of gained exceeds default safe range, and alarm module 6 sends a warning.
Step 05): the processor 4 of each logical node 1 carries out the data processing according to the information of receiving and obtains the concrete orientation of this logical node 1 absolute presupposition initial point and show that on the display module 3 of each logical node 1 processor 4 of this logical node 1 feeds back to the information of the display module 3 of this logical node 1.
Preferably, step 05) comprising:
The information that the display module of logic host node 1 is collected according to processor 4 result of calculations and the radio receiving transmitting module 7 of this logical node 1 shows the azimuth distribution figure of whole logical nodes.
Navigation system of the present invention, for aspects such as tourism, military, vehicle-mounted, student-directed, monitoring, is located in real time and monitors the object of required location, monitoring.
Above navigation system provided by the present invention and using method thereof are described in detail.Applied specific case herein principle of the present invention and execution mode are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection range of the claims in the present invention.
Claims (11)
1. a navigation system, it is characterized in that, comprise at least one logical node (1), described logical node (1) comprises processor (4) and the mode that connects by signal respectively is connected with described processor (4) information acquisition module (5) and input module (2);
Information acquisition module (5): gather the direction of motion of at least one information in the displacement, speed, acceleration, range data of this logical node (1) and this logical node (1) and be real-time transmitted to processor (4);
Processor (4): the information gathered according to information acquisition module (5) also calculates the concrete orientation that this logical node (1) distance is preset initial point;
Input module (2): for user preset initial point, default safe range.
2. navigation system according to claim 1, it is characterized in that, described logical node (1) also comprises ID code (9): identity code or the address code of each logical node (1), so that processor (4) is identified different logical node (1) and is distinguished the information of Different Logic node (1);
Described logical node (1) also comprises the radio receiving transmitting module (7) that the mode that connects by signal is connected with described processor (4): receive the information that the radio receiving transmitting module (7) of other logical node (1) outwards sends the processor (4) that is sent to this logical node (1); Outwards send the information of this logical node (1).
3. navigation system according to claim 2, it is characterized in that, described logical node (1) also comprises the alarm module (6) that the mode that connects by signal is connected with described processor (4), the distance that calculates the default initial point of this logical node (1) distance when processor (4) exceeds default safe range, and by alarm module (6), the user to this logical node (1) sends warning message and/or outwards sends warning message by radio receiving transmitting module (7).
4. according to the described navigation system of claim 1-3 any one, it is characterized in that, described logical node (1) also comprises the display module (3) that the mode that connects by signal is connected with described processor (4), and described display module (3) shows described processor (4) feedack according to processor (4) result of calculation.
5. navigation system according to claim 4, it is characterized in that, described information acquisition module 5 comprises at least one in displacement sensing module (501-1), speed perception module (501-2), perceived distance module (501-3) and acceleration sensing module (501-4), and the mode be connected by signal with processor (4) respectively connects;
Displacement sensing module and/or speed perception module and/or perceived distance module and/or acceleration sensing module (501): obtain at least one data in this logical node (1) displacement, speed, distance and acceleration and be real-time transmitted to processor (4).
6. navigation system according to claim 5, it is characterized in that, described information acquisition module (5) also comprises direction of motion sensing module (502) and the compass module (503) that the mode that is connected by signal with processor (4) respectively connects;
Direction of motion sensing module (502): the direction of motion data of the relatively last time point of this logical node (1) are real-time transmitted to processor (4);
Compass module (503): be used as the orientation reference standard, processor (4) can obtain the real-time direction of motion of this logical node (1) according to the feedback signal of direction of motion sensing module (502) and compass module (503).
7. according to the described navigation system of claim 1-6 any one, it is characterized in that, described navigation system comprises at least (2) individual logical node (1), wherein at least one logical node (1) is the logic host node, other logical node (1) is that logic is from node, the display module of described logic host node (3) shows the azimuth distribution figure of whole logical nodes, and described each logical node (1) also comprises the voice module (8) that the mode that connects by signal is connected with processor (4): for the voice call between each logical node (1) user.
8. the localization method of a navigation system, is characterized in that, described navigation system is the described navigation system of claim 1-7 any one, and its localization method comprises the following steps:
01) user is by the default initial point of described input module (2) and safe range;
02), in motion process, the information acquisition module (5) of described each logical node (1) sends real time information to the processor (4) of this logical node (1);
03) processor (4) of described each logical node (1) carries out according to the information of receiving the concrete orientation that the data processing obtains the relatively described default initial point of this logical node (1).
9. the localization method of navigation system according to claim 8, is characterized in that,
Described step 02) also comprise:
Be provided with displacement sensing module (501-1) in described information acquisition module (5), described displacement sensing module (501-1) gathers the displacement information of this logical node (1) and, to processor (4) feedback live signal, described processor (4) minute book logical node (1) is with respect to the displacement data of initial point;
Be provided with speed perception module (501-2) in described information acquisition module (5), described speed perception module (501-2) gathers the velocity information of this logical node (1) and to processor (4) feedback live signal, and described processor (4) calculates the shift value of this logical node (1) with respect to initial point according to the real time kinematics bearing data of the speed data received this logical node (1) of feeding back in conjunction with compass module (503) and direction of motion sensing module (502);
Be provided with perceived distance module (501-3) in described information acquisition module (5), described perceived distance module (501-3) gathers the range information of the relatively last time point of this logical node (1) and to processor (4) feedback live signal, and described processor (4) calculates the shift value of this logical node (1) with respect to initial point according to the data that receive and in conjunction with the real time kinematics bearing data that compass module (503) and direction of motion sensing module (502) feed back;
Be provided with acceleration sensing module (501-4) in described information acquisition module (5), described acceleration sensing module (501-4) gathers the acceleration information of this logical node (1) and to processor (4) feedback live signal, and described processor (4) calculates the shift value of this logical node (1) with respect to initial point according to the acceleration information received and in conjunction with the real time kinematics bearing data that compass module (503) and direction of motion sensing module (502) transmit.
10. the localization method of a navigation system, is characterized in that, described navigation system is navigation system claimed in claim 7, and its localization method comprises the following steps:
01) user is by the default initial point of described input module (2) and safe range;
02), in motion process, the information acquisition module (5) of described each logical node (1) sends real time information to the processor (4) of this logical node (1);
03) azimuth information of continual outside this logical node of transmission of radio receiving transmitting module (7) (1) of described each logical node (1) accept the information that the radio receiving transmitting module (7) of other logical node (1) outwards sends;
The displacement of 04) when described processor (4), calculating this logical node (1) of gained exceeds default safe range, and described alarm module (6) sends a warning;
05) processor (4) of described each logical node (1) carries out according to the information of receiving the azimuth information that the data processing obtains the concrete orientation of the relatively described default initial point of this logical node (1) and show this logical node (1) on the display module (3) of described each logical node (1).
11. the localization method of navigation system according to claim 10, is characterized in that,
Described step 02) also comprise:
Be provided with displacement sensing module (501-1) in described information acquisition module (5), described displacement sensing module (501-1) gathers the displacement information of this logical node (1) and, to processor (4) feedback live signal, described processor (4) minute book logical node (1) is with respect to the displacement data of initial point;
Be provided with speed perception module (501-2) in described information acquisition module (5), described speed perception module (501-2) gathers the velocity information of this logical node (1) and to processor (4) feedback live signal, and described processor (4) calculates the shift value of this logical node (1) with respect to initial point according to the real time kinematics bearing data of the speed data received this logical node (1) of feeding back in conjunction with compass module (503) and direction of motion sensing module (502);
Be provided with perceived distance module (501-3) in described information acquisition module (5), described perceived distance module (501-3) gathers the range information of the relatively last time point of this logical node (1) and to processor (4) feedback live signal, and described processor (4) calculates the shift value of this logical node (1) with respect to initial point according to the data that receive and in conjunction with the real time kinematics bearing data that compass module (503) and direction of motion sensing module (502) feed back;
Be provided with acceleration sensing module (501-4) in described information acquisition module (5), described acceleration sensing module (501-4) gathers the acceleration information of this logical node (1) and to processor (4) feedback live signal, and described processor (4) calculates the shift value of this logical node (1) with respect to initial point according to the acceleration information received and in conjunction with the real time kinematics bearing data that compass module (503) and direction of motion sensing module (502) transmit;
Described step 05) also comprise:
The processor of described logic host node (4) carries out data according to the information of receiving and processes the azimuth information of other each logical nodes that obtain the concrete orientation of the relatively described default initial point of this logical node (1) and receive according to its radio receiving transmitting module () in the upper azimuth information that shows whole logical nodes (1) of the display module (3) of described logic host node.
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| CN105246040A (en) * | 2015-10-21 | 2016-01-13 | 宁波大学 | Wireless Internet of Things positioning system |
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| CN201142111Y (en) * | 2007-12-24 | 2008-10-29 | 联想(北京)有限公司 | Bluetooth anti-theft device and Bluetooth earphone |
| CN201805551U (en) * | 2010-05-12 | 2011-04-20 | 苏州位置科技有限公司 | Indoor accurate positioning system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105246040A (en) * | 2015-10-21 | 2016-01-13 | 宁波大学 | Wireless Internet of Things positioning system |
| CN105246040B (en) * | 2015-10-21 | 2018-11-20 | 宁波大学 | Wireless vehicle joins Internet of Things network positioning system |
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