CN102083203A - Positioning device and method for mobile device - Google Patents

Abstract

The invention relates to a positioning device and a positioning method for a mobile device. The mobile device has an initial speed, and the positioning device includes a sensing unit, a computing unit and a processing unit. The sensing unit is used for sensing acceleration information and height displacement information. The calculation unit calculates an angle information according to the initial speed of the mobile device, acceleration information, height displacement information and a preset time period, then calculates an acceleration adjustment information according to the acceleration information and the angle information, and calculates an acceleration adjustment information according to the initial speed information, acceleration adjustment information and the preset time period. Set a time period to calculate a comprehensive displacement information. The processing unit can generate relatively accurate position information according to the comprehensive displacement information and the height displacement information.

Description

Positioning device and positioning method for a mobile device

technical field

The present invention relates to a positioning device and a positioning method for a mobile device; more specifically, the present invention relates to a method for obtaining the position of a mobile device without the assistance of a Global Positioning System (GPS). Information positioning device and positioning method.

Background technique

The Global Positioning System (GPS) is a medium-distance circular orbit satellite system that provides accurate positioning for most of the Earth's surface. Due to its successful development, GPS, which was originally only used for military purposes, has already been opened for civilian use, so some revolutionary changes have taken place in the application of daily life. For example, the vehicle driver can locate and know his current location or further complete the navigation function through the signal provided by the GPS and the electronic map provided by the positioning/navigation device.

However, since the vehicle is a mobile device at any time, the signal provided by the GPS may be attenuated or isolated due to the shelter of buildings, tunnels or terrain that the vehicle passes through. If the positioning/navigation device on the vehicle cannot receive the signal provided by the GPS, it will not be able to locate and provide the current location of the vehicle, which will cause the positioning/navigation device to be unable to continue navigation.

However, when the vehicle is driving in an area where the positioning/navigation device cannot receive the signals provided by the GPS, in order to enable the positioning/navigation device on the vehicle to continuously provide the current position of the vehicle, the prior art utilizes a sensing unit to further sense Measure multiple parameters to solve this problem. Specifically, the positioning/navigation device on the vehicle will use the parameters sensed by the sensing unit (such as the accelerometer and/or gyroscope) to locate the location before the signal provided by the GPS cannot be received by the positioning/navigation device. Position, the current position of the vehicle is estimated by Dead Reckoning (DR). Accordingly, the positioning/navigation device can continuously provide the current location of the vehicle when the signal provided by the GPS cannot be received.

However, the parameters sensed by the aforementioned sensing unit will still reduce the positioning accuracy of the positioning/navigation device due to various factors. For example, when the car is running on an uphill road or a downhill road, the sensing unit will sense parameters with errors due to the influence of gravity. In addition, since the positioning/navigation device can only estimate the current position of the vehicle on the plane by means of dead reckoning, it will also The positioning accuracy of the positioning/navigation device is greatly reduced.

In view of this, when the signal provided by GPS cannot be received, how to provide a more accurate positioning method so that the user can know its current location, this is the current situation for manufacturers of positioning/navigation devices. Difficulties that need to be worked hard to solve are also thoughtful intelligent designs that the majority of consumers are eagerly looking forward to.

Contents of the invention

An object of the present invention is to provide a positioning device for a mobile device. The mobile device has an initial velocity. The positioning device includes a storage unit, a sensing unit, a computing unit and a processing unit. The storage unit is used for storing the initial speed as an initial speed information. The sensing unit is used for sensing acceleration information and height displacement information. The calculation unit calculates an angle information according to the initial velocity information, the acceleration information, the height displacement information and a preset time period, then calculates an acceleration adjustment information according to the acceleration information and the angle information, and calculates an acceleration adjustment information according to the initial velocity information, The acceleration adjustment information and the preset time period calculate a comprehensive displacement information. The processing unit generates position information according to the comprehensive displacement information and the height displacement information.

Another object of the present invention is to provide a positioning method for a mobile device. The mobile device has an initial velocity. The positioning method comprises the following steps: making a storage unit store the initial speed as an initial speed information; making a sensing unit sense an acceleration information and a height displacement information; making a calculation unit according to the initial speed information, the acceleration Information, the altitude displacement information and a preset time period to calculate an angle information; make the calculation unit calculate an acceleration adjustment information according to the acceleration information and the angle information; make the calculation unit calculate an acceleration adjustment information based on the initial speed information, the acceleration adjustment information and Computing integrated displacement information for the preset time period; and enabling a processing unit to generate position information according to the integrated displacement information and the altitude displacement information.

In addition, in order to achieve the object mentioned in the preceding paragraph, the present invention also provides a computer program product, which stores a program for a positioning method of a mobile device. When the program is loaded into the positioning device through the computer, it can be executed and can complete the positioning method for a mobile device described in the preceding paragraph.

In summary, the positioning device and positioning method of the present invention can calculate the angle information according to the initial speed information, acceleration information, height displacement information and preset time period sensed by the sensing unit, and adjust the acceleration information according to the angle information. Accordingly, in the case where the signal provided by the GPS cannot be received, the present invention can not only provide positioning in a three-dimensional environment, but also improve the accuracy of positioning.

Description of drawings

After referring to the accompanying drawings and the implementation methods described later, those skilled in the art can understand other purposes, advantages, technical means and implementation aspects of the present invention, wherein:

1A to 1D are schematic diagrams of a first embodiment of the present invention; and

2A to 2B are flowcharts of a positioning method according to a second embodiment of the present invention.

Detailed ways

The content of the present invention will be explained through the following embodiments. The present invention relates to a positioning device, a positioning method and a computer program product thereof for a mobile device. The positioning device can be a smart mobile phone, a personal digital assistant (PDA) or a small network computer (netbook) and other devices capable of receiving signals provided by GPS. The mobile device may be a mobile device such as a vehicle, a ship, or an aircraft. It should be noted that the descriptions of the embodiments are only for the purpose of explaining the present invention, and are not intended to limit the present invention. Meanwhile, in the following embodiments and drawings, elements not directly related to the present invention have been omitted and not shown; In addition, the dimensional relationship among the components in the drawings is only for easy understanding, and is not intended to limit the actual ratio.

The first embodiment of the present invention will be described below through the schematic diagrams shown in FIG. 1A to FIG. 1D , which is a positioning device 11 for a mobile device 10, and the positioning device 11 is used to calculate the position k of the mobile device 10. A location information, the positioning device 11 is set in the mobile device 10 .

Specifically, FIG. 1A to FIG. 1C illustrate schematic diagrams of the mobile device 10 moving from position k−1 to position k within a preset time period (not shown). Wherein, the three-dimensional position coordinates of position k-1 are (x _k-1 , y _k-1 , z _k-1 ); the three-dimensional position coordinates of position k are (x _k , y _k , z _k ). θ _k shown in FIG. 1A represents an angle that the mobile device 10 moves from the coordinate (z _k-1 ) to (z _k ) in the Z direction during the aforementioned preset time period; g represents the acceleration of gravity; gsinθ _k represents the acceleration of gravity Ax _k represents an acceleration of the mobile device 10 moving from position k-1 to position k, ΔS _k represents a comprehensive displacement of the mobile device 10 moving from position k-1 to position k, ΔD _k and ΔH _k represent The mobile device 10 moves from position k−1 to position k by a horizontal displacement and a height displacement. Wherein, when the mobile device 10 is at the position k−1, it has an initial velocity (not shown in the figure).

On the other hand, α _k shown in FIG. 1B represents the turning (turning from the X direction to the Y direction) of the mobile device 10 in the aforementioned preset time period from the coordinates (x _k-1 , y _k-1 ). The way moves to a turn angle of (x _k , y _k ). FIG. 1C is a three-dimensional coordinate diagram illustrating the movement of the mobile device 10 from the position k−1 to the position k.

As shown in FIG. 1D , the positioning device 11 of the first embodiment of the present invention includes a sensing unit 11 a , a storage unit 11 b , a computing unit 11 c and a processing unit 11 d . The sensing unit 11 a further includes an accelerometer 111 , a gyroscope 112 , an altimeter 113 and a low-pass filter (LPF) 114 . The storage unit 11b is used for storing a piece of map information 126 . At the same time, in this embodiment, when the mobile device 10 is located at position k-1, its initial velocity and three-dimensional position coordinates (x _k-1 , y _k-1 , z _k-1 ) will still be calculated through the signal provided by GPS , the storage unit 11b will store the aforementioned initial velocity and three-dimensional position coordinates (x _k-1 , y _k-1 , z _k-1 ) of the mobile device 10 at position k-1 in real time as the initial velocity information 127 and the initial position Information 128.

Subsequently, when the mobile device 10 moves to the position k, the accelerometer 111 will sense the acceleration of the mobile device 10 and generate acceleration information 123 . The gyroscope 112 is used for sensing the turning angular velocity of the mobile device 10 and generating a turning angular velocity information 124 . The altimeter 113 is used to sense the height displacement of the mobile device 10 and generate height displacement information 125 .

It should be noted that the altimeter 113 in this embodiment senses the altitude displacement of the mobile device 10 according to the change of air pressure, and thereby generates the altitude displacement information 125 . If the air pressure changes sharply in a short period of time, it will affect the accuracy of the altitude displacement information 125, the low-pass filter 114 will receive the altitude displacement information 125, and generate an adjusted altitude displacement information 125', and then improve the altimeter 113 to generate The accuracy of the altitude displacement information 125 . What needs to be explained here is that the present invention is not limited to only using the low-pass filter 114 to improve the accuracy of the height displacement information 125, and those skilled in the art can achieve the improvement of the height displacement information 125 in other ways according to requirements. For the purpose of accuracy, it will not be repeated here.

At the same time, the present invention is not limited to using the accelerometer 111, the gyroscope 112, and the altimeter 113 to sense the acceleration, the turning angular velocity, and the height displacement of the mobile device 10 respectively, and those skilled in the art can use other measuring instruments according to requirements. The purpose of sensing the acceleration, the turning angular velocity, and the height displacement of the mobile device 10 is achieved, so details will not be repeated here.

Subsequently, the calculation unit 11c will calculate a temporary displacement information according to the equation (1) according to the initial speed information 127, the acceleration information 123 and the aforementioned preset time period:

$\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; \&Delta;s</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; \&Delta;T</span>}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Ax</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; \&Delta;T</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

代表暂存位移信息。Among them, V _k-1 represents the initial velocity information 127 (i.e. the initial velocity of the mobile device 10 at position k-1); ΔT represents the preset time period; Ax _k represents the acceleration information 123 (i.e. Acceleration to move to position k);

Represents temporary storage displacement information.

After the calculating unit 11c calculates and generates the temporarily stored displacement information according to the initial velocity information 127, the acceleration information 123 and the aforementioned preset time period, an angle information is calculated according to equation (2):

${\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; sin</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;H</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; /</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; \&Delta;s</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

代表暂存位移信息；ΔH_k代表高度位移信息125’(即移动设备10自位置k-1移动至位置k的高度位移)；θ_k代表角度信息(即移动设备10于预设时间周期，由坐标(z_k-1)以Z方向移动至(z_k)的角度)。in,

Represents temporary displacement information; ΔH _k represents height displacement information 125' (that is, the height displacement of mobile device 10 from position k-1 to position k); θ _k represents angle information (that is, mobile device 10 in a preset time period, by The coordinate (z _k-1 ) moves in the Z direction to the angle of (z _k )).

Subsequently, the calculation unit 11c will calculate an acceleration adjustment information according to the acceleration information 123 and the angle information described in the preceding paragraph with equation (3):

ax _k ＝Ax _k -gsinθ _k (3)

Among them, Ax _k represents the acceleration information 123 (that is, the acceleration of the mobile device 10 moving from position k-1 to position k); _g represents the acceleration of gravity; z _k-1 ) moves to an angle of (z _k ) in the Z direction); ax _k represents acceleration adjustment information.

Similarly, the calculation unit 11c will calculate a turning angular velocity adjustment information according to the above-mentioned turning angular velocity information 124 and angle information according to equation (4):

ω′ _k ＝ω _k /cosθ _k (4)

Among them, ω _k represents the turning angular _velocity information 124 (that is, the turning angular velocity of the mobile device 10 sensed by the gyroscope ₁₁₂ ); Move to the angle of (z _k ) in the Z direction); ω′ _k represents the turning angular velocity adjustment information.

Next, the calculation unit 11c calculates a comprehensive displacement information according to the aforementioned initial speed information 127, the acceleration adjustment information calculated by the equation (3) and the preset time period by the equation (5):

ΔS _k ＝V _k-1 ΔT+ax _k ΔT ² /2 (5)

Among them, V _k-1 represents the initial speed information 127 (i.e. the initial speed of the mobile device 10 at position k-1); ΔT represents the preset time period; ax _k represents the acceleration adjustment information; ΔS _k represents the comprehensive displacement information (i.e. The combined displacement of the device 10 moving from position k-1 to position k).

The calculation unit 11c calculates a horizontal displacement information 129 according to the aforementioned angle information and comprehensive displacement information using equation (6):

ΔD _k = ΔS _k cos θ _k (6)

Among them, ΔS _k represents comprehensive displacement information (i.e., a comprehensive _displacement of mobile device 10 moving from position k _- 1 to position k); ₁ ) move to (z _k ) in the Z direction); ΔD _k represents the horizontal displacement information 129 (ie, the horizontal displacement of the mobile device 10 moving from position k−1 to position k).

The calculation unit 11c will calculate a turning angle information 130 according to the above-mentioned turning angular velocity adjustment information and the preset time period according to equation (7):

α _k = ω′ _k ΔT (7)

Wherein, ω′ _k represents the adjustment information of the turning angular velocity; ΔT represents the preset time period; α _k represents the turning angle information 130 .

The processing unit 11d receives the altitude displacement information 125, the map information 126, the initial position information 128 (that is, the three-dimensional position coordinates (x _k-1 , y _k-1 , z _k-1 ) of the mobile device 10 at the position k-1), Horizontal displacement information 129 and turning angle information 130 . Subsequently, the processing unit 11d will calculate a two-dimensional coordinate information according to the initial position information 128, the horizontal displacement information 129 and the turning angle information 130 according to equation (8):

(x _k , y _k ) = (x _k-1 + ΔD _k cosα _k , y _k-1 + ΔD _k sinα _k ) 8)

Among them, (x _k-1 , y _k-1 ) represents the two-dimensional position coordinates of the mobile device 10 at position k-1; ΔD _k represents the horizontal displacement information 129 (that is, the mobile device 10 moves from position k-1 to horizontal displacement); α _k represents the turning angle information 130; (x _k , y _k ) represents the two-dimensional position coordinates of the mobile device 10 at position k.

Subsequently, the processing unit 11d will generate position information (not shown) according to the two-dimensional coordinate information and the height displacement information 125', and mark a horizontal position and a position of the mobile device 10 at position k on the map information 126 according to the position information. Height position (ie three-dimensional position coordinates (x _k , y _k , z _k )).

The second embodiment of the present invention, as shown in FIG. 2A to FIG. 2B , is a positioning method for a mobile device, such as the mobile device 10 described in the first embodiment. The positioning method of the present invention can be used in a positioning device, such as the positioning device 11 described in the first embodiment. The mobile device has an initial speed, and the positioning device includes a sensing unit, a storage unit, a computing unit and a processing unit. Wherein, the storage unit of the positioning device stores map information.

Specifically, the positioning method described in the second embodiment can be executed by a computer program product. When the positioning device is loaded with the computer program product by a computer and executes a plurality of instructions contained in the computer program product, the second The positioning method described in the embodiment. The aforementioned computer program product can be stored in a computer-readable recording medium, such as a read-only memory (read only memory; ROM), a flash memory, a floppy disk, a hard disk, an optical disk, a flash drive, a magnetic tape, a database that can be accessed by a network, or Any other storage media familiar to those skilled in the art and having the same function.

Firstly, step 201 is executed, the storage unit stores the initial velocity as an initial velocity information, and the sensing unit senses an acceleration information and a height displacement information through the step 202 . In step 203, the sensing unit further adjusts the height displacement information.

Next, through step 204, the calculation unit calculates an angle information according to the initial speed information, acceleration information, preset time period and height displacement information. Specifically, the calculating unit calculates temporary displacement information according to the initial velocity information, acceleration information and a preset time period, and calculates angle information according to the temporarily stored displacement information and height displacement information.

In step 205, the processing unit will determine whether the angle information exceeds a critical value; if not, it means that the mobile device is driving on a flat road, and the acceleration information does not need to be adjusted, and then step 206 is executed, and the calculation unit calculates according to the initial velocity information, acceleration The information and the preset time period generate a comprehensive displacement information. Through step 207, the processing unit generates position information according to the comprehensive displacement information and the height displacement information. Finally, in step 208, the processing unit marks a horizontal position and a height position on the map information according to the position information.

In step 207, if the processing unit judges that the angle information exceeds the critical value, it means that the mobile device is driving on a non-level road, so the acceleration information must be adjusted, and then step 209 is executed, and the calculation unit calculates according to the initial speed information, acceleration information and angle information Calculate acceleration adjustment information. Through step 210, the calculation unit calculates comprehensive displacement information according to the initial velocity information, acceleration adjustment information and a preset time period. Next, in step 211, the calculation unit calculates a horizontal displacement information according to the comprehensive displacement information and the angle information. Through step 212, the processing unit generates position information according to the horizontal displacement information and the height displacement information. Finally, step 208 is executed, and the processing unit marks the horizontal position and the height position on the map information according to the position information.

In addition to the above-mentioned steps, the positioning method of the present invention can also perform all the operations and functions described in the first embodiment, and those skilled in the art can directly understand how the positioning method of the present invention is based on the above-mentioned first embodiment. The operation and functions are not repeated here.

In summary, the positioning device, positioning method and computer program product thereof of the present invention can calculate angle information according to the initial speed information, acceleration information, height displacement information and preset time period sensed by the sensing unit, and calculate the angle information according to the angle info to adjust acceleration info. Accordingly, through the positioning device, positioning method and computer program product of the present invention, accurate and timely three-dimensional environment positioning can be provided when the signal provided by GPS cannot be received.

The above-mentioned embodiments are only used to illustrate the implementation of the present invention and explain the technical features of the present invention, and are not intended to limit the scope of protection of the present invention. Any changes or equivalence arrangements that can be easily accomplished by those skilled in the art fall within the scope of the present invention, and the protection scope of the present invention should be based on the scope of the patent application.

Claims (12)

1. A positioning method for a mobile device having an initial velocity, the positioning method comprising:

enabling a storage unit to store the initial speed as initial speed information;

enabling a sensing unit to sense acceleration information and height displacement information;

enabling a computing unit to compute angle information according to the initial speed information, the acceleration information, the height displacement information and a preset time period;

enabling the calculation unit to calculate acceleration adjustment information according to the acceleration information and the angle information;

enabling the calculation unit to calculate comprehensive displacement information according to the initial speed information, the acceleration adjustment information and the preset time period; and

and enabling a processing unit to generate position information according to the comprehensive displacement information and the height displacement information.

2. The positioning method of claim 1, further comprising the steps of:

enabling the calculating unit to calculate speed adjusting information according to the initial speed information, the acceleration adjusting information and the preset time period; and

and the processing unit updates the initial speed information stored in the storage unit into the speed adjustment information.

3. The positioning method of claim 1, wherein the step of calculating an angle information further comprises the steps of:

enabling the calculation unit to calculate temporary storage displacement information according to the initial speed information, the acceleration information and the preset time period;

wherein the angle information is calculated according to the temporary displacement information and the height displacement information.

4. The method of claim 1, wherein the step of generating a location information further comprises the steps of:

enabling the calculation unit to calculate horizontal displacement information according to the comprehensive displacement information and the angle information;

wherein the position information is generated according to the horizontal displacement information and the height displacement information.

5. The positioning method of claim 4, further comprising the steps of:

making the storage unit provide map information; and

and marking a horizontal position and a height position on the map information by the processing unit according to the position information.

6. The method of claim 1, wherein the step of sensing an acceleration information and a height displacement information further comprises the steps of:

a low pass filter adjusts the height displacement information.

7. A positioning device for a mobile device, the mobile device having an initial velocity, the positioning device comprising:

a storage unit for storing the initial speed as an initial speed information;

a sensing unit for sensing acceleration information and height displacement information;

a calculating unit, for calculating an angle information according to the initial velocity information, the acceleration information, the height displacement information and a preset time period, then calculating an acceleration adjusting information according to the acceleration information and the angle information, and calculating a comprehensive displacement information according to the initial velocity information, the acceleration adjusting information and the preset time period; and

and the processing unit generates position information according to the comprehensive displacement information and the height displacement information.

8. The positioning apparatus as claimed in claim 7, wherein the calculating unit calculates a velocity adjustment information according to the initial velocity information, the acceleration adjustment information and the predetermined time period, and the processing unit updates the initial velocity information stored in the storage unit to the velocity adjustment information.

9. The positioning apparatus as claimed in claim 7, wherein the calculating unit calculates a temporary displacement information according to the initial velocity information, the acceleration information and the predetermined time period, and calculates the angle information according to the temporary displacement information and the height displacement information.

10. The positioning apparatus as claimed in claim 7, wherein the calculating unit calculates a horizontal displacement information according to the integrated displacement information and the angle information, and the processing unit generates the position information according to the horizontal displacement information and the height displacement information.

11. The positioning device of claim 10, wherein the storage unit further stores a map information, and the processing unit marks a horizontal position and a height position on the map information according to the position information.

12. The positioning device as recited in claim 7 wherein said sensing unit further comprises a low pass filter for adjusting said height displacement information.

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