CN102252675A - Indoor geomagnetic positioning and navigation device - Google Patents
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Abstract
The invention discloses a novel indoor geomagnetic positioning and navigation device. Depending on a novel micro-electromechanical system (MEMS) resonance micro-magnetic sensor, the system is carried on an automatic remote control robot and used for 3-component (X, Y, Z) relative measurement of an indoor geomagnetic field, a curved SPLINE model established according to the actual measurement data and a local geomagnetic base map are superposed to form a comprehensive base map, the comprehensive base map is matched, positioned and navigated in modes of single-point matching, image matching (Homography Algorithm, Imaging Mosaic Algorithm) and the like, and finally the matched result is output through video.
Description
Technical field
The present invention relates to indoor video location, technical fields such as resonant mode micro-magnetic sensor and geomagnetic model.
Background technology
The modern society mankind are more and more at the indoor comings and goings that carries out.Owing to reasons such as safety, anti-terrorisms, often need position tracking in public places such as meeting room, hospital, markets to some special objective personages or object.Based on this, the precision height responds fast indoor positioning guider and arises at the historic moment, and more and more shows its importance along with the development of society.Because the singularity of indoor scenarios,, signal many such as interference source are subject to shield, human activity is frequent etc., therefore having relatively high expectations for hardware and location technology.Indoor positioning means commonly used at present have means such as GPS indoor positioning, wireless indoor location, WiFi location, optical alignment.In recent years, the technology of relevant indoor positioning navigation all is the focus of research in countries in the world, although wherein comparatively the GPS technology bearing accuracy of main flow is higher, still has signal shielding, easily the influence of problem such as is blocked.Baranowski equals to have applied in July, 2009 a kind of patent of utilizing optical principle to carry out indoor positioning, and it is to utilize optical sensor that mobile module is pasted to tag, thereby realizes the wireless location and the tracking (patent No.: US7564357).The advantage of this technology is accurate positioning, and shortcoming is that the scope of application is less, and price is more expensive; Stankiewicz equals to have proposed in November, 2009 patent (the patent No.: US7620493) based on human body moves, ambient data and angle information carry out assisting navigation.It, utilizes environmental data and current location to determine next position, thereby carries out indoor positioning for the determining of the distance of one or more objects by physiognomy.The calculating of all positions and angle can be finished by an embedded program.The advantage of this patent is a simplicity of design, easy to use, and shortcoming is that the location is had relatively high expectations, is not very accurate for the unconspicuous object localization of motion change environmental heterogeneity; Smith equals to have applied in Dec, 2009 patent (the patent No.: US7626545) of accurately locating and following the tracks of for a series of equipment in changing environment, the a series of sensors of this patent utilization carry out indoor measurement, utilize a processor to position by the metrical information that receives.This system relies on high-frequency processor and carries out compute location, and precision is higher, but needs high-precision sensor and location instrument, causes cost higher.
Summary of the invention
Be subject to problems such as interference, cost of products height, coverage of survey area be limited at signal, we consider to utilize the terrestrial magnetic field to position navigation.Because the terrestrial magnetic field is the intrinsic physical field of the earth, a bit all have otherness and uniqueness arbitrarily, therefore can by it is measured, modeling, and position, navigate by single-point coupling, images match.The present invention mainly provides a kind of device that positions navigation based on indoor terrestrial magnetic field.Utilize this natural source, terrestrial magnetic field to navigate, belong to the passive type navigation.Owing to be to operate, and indoor environment exists a lot of ferromagnetic interference and electromagnetic interference (EMI), therefore must after disturbing around the elimination or the inhibition of trying one's best, can carry out earth magnetism location navigation comparatively accurately and reliably indoor.Its technical scheme is achieved in that by a kind of resonant mode giant magnetic impedance amorphous wire sensor and is fixed on the geomagnetic field measuring of surveying the district on the indoor remote control small scale robot, this sensor measurement is surveyed the north component X of terrestrial magnetic field, district, east component Y and vertical component Z, other components can calculate by conversion formula, if carry out images match, then utilize the array-type sensor group of 4 sensors formations 2 * 2 to survey region measurement, also loaded the wireless data transmission device in the robot, owing to consider and to produce ferromagnetic interference to Magnetic Sensor, therefore most material all is to have used copper, nonferromugnetic materials such as aluminium, and between sensor and expelling plate, use aluminum spacer plate to carry out the lattice retaining.On terminal PC, settled the wireless data receiving trap, when robot ambulation, survey, receive in advance the geomagnetic data of measuring at PC after, set up and survey district curved surface Spline model, it is superimposed with the actual distribution of surveying the district, formed the comprehensive base map of surveying the district.The actual survey when distinguishing the location can be divided into single-point coupling and two kinds of methods of images match, and the single-point coupling is also referred to as optimum point coupling or minimum distance match, chooses only measuring point by the tolerance of setting certain value in the area grid model, mates with this; Images match is to utilize two kinds existing comparatively commonly used matching process--Homography algorithm and Imaging Mosaic algorithm are finished, and these two kinds of methods respectively have characteristics, and uses that combine can improve the accuracy that topography mates.Through after the algorithmic match, immediately draw out the movement locus of dolly on comprehensive base map by the VC++ program at host computer, and navigate by the magnetic field intensity of robot being imported next impact point, at last locating information is utilized the Labview technology to carry out real-time video output.
Described elimination or to suppress indoor ferromagnetic, electromagnetic interference (EMI) be in order to reduce the influence to the magnetic survey data as far as possible, and these disturb and mainly come from artificial source and natural source two parts.Artificial source mainly is ferromagnetic material and ferromagnetic equipment on every side such as the entrained mobile phone of human body, key, reaches employed electric equipment and current in wire under the upstairs house around also having; Natural source mainly comes from the interference of ionosphere, magnetosphere and inductive layer thereof in the daytime.For artificial source, in experimentation, we remove entrained ferromagnetic material own, do not have ferromagnetic material and electronic equipment substantially in 20 meters around the measurement place; For the interference of natural source, we are by experimentizing before 6 of mornings or after at 6 in evening, and the solar energetic particles activity intensity is minimum during this period of time, the external disturbance minimum.Like this all external disturbance are dropped to minimumly, can significantly improve the real effectiveness of sensor measurement data, thereby the precision of location navigation is increased.
Described resonant mode giant magnetic impedance amorphous wire sensor is the critical component of this patent, its employed amorphous wire magnetic-sensitive material be by the Co base or/and the Ni base or/and materials such as Fe base are main, add the amorphous wire that other one or more elements process through special process, its diameter can be 1～200 micron, and its sensitivity coefficient is up to 4000.Described amorphous wire magnetic-sensitive material adopts PDMS casting glue or epoxy resin embedding adhesive or rubber or other analog material to carry out solid envelope before becoming the Wheatstone bridge arm, forms a kind of damascene structures.This material can seal into different shapes such as film, rectangular parallelepiped, cube, spheroid admittedly according to the different measuring requirement.This amorphous wire magnetic-sensitive material can be designed to multiple versions such as individual thread, crossing mariages, netted planar structure, netted two-dimensional structure, netted spatial structure.By the combination of various ways, this amorphous wire material can detect tensile, compressive, bending, shear, reverses the equal stress distortion.
Described small scale robot is a kind of intelligent remote control clean robot, can carry out timing, long-distance remote control operation, and can carry out straight line, circular arc walking, can also seek charging base automatically and charge, utilize above characteristics, as the carrier of surveying district's location navigation.The robot monolithic case all is made of plastics, and the magnetic field of itself can be eliminated by difference by measuring its intensity in advance.
Described curved surface Spline model, be characterized in that it is based on method modeling of crossing point interpolation and drawing, it can express all internal field parts of terrestrial magnetic field, the abnormal information that has comprised many shallow surfaces, so its isoline of figure of drawing is comparatively crooked, some positive negative anomalys can occur at regional area, another reason that causes this phenomenon is the number and the distribution situation of eyeball, different measuring point number and distribution thereof can produce different distribution plans by the Spline model.Therefore measure by evenly, accurately survey being distinguished, the Spline model of being set up can reflect comparatively truly surveys district's magnetic field space distribution situation.
The expression formula of curved surface Spline model is as follows:
Wherein, W is a magnetic component at random; X is a latitude, and y is a longitude; r
i 2=(x
i-x)
2+ (y
i-y)
2N is the measuring point number; a
0, a
1, a
2And F
iIt is service demand factor; ε is a small amount of of control surface curved transition, is 1 * 10
-7, total N+3 coefficient.The volume unit of terrestrial magnetic field: nanotesla (nT), angular unit: angle (°).
Described single-point coupling, be otherness and fault-tolerance according to measuring point 5 earth magnetism component measurements value and terrestrial magnetic field 7 components, carry out the identification of measuring point coupling according to the order of Z component, F component, H component, Y component and X component respectively, in some measured zone not, adopt the Spline method to carry out linear interpolation in the hope of going out model value.Can set a fault-tolerant zone at last, choose point nearest from eyeball and that numerical value is the most approaching in every background eyeball that satisfies this fault-tolerant zone and mate, Here it is, and minimum distance is judged and the optimum point matching process, locatees by this method, through test of many times, accuracy rate is higher.The prerequisite of this method is that the data point in fault-tolerant territory is the least possible, facilitates like this to judge and selection.When data point more for a long time, this method is just made mistakes easily.
Described Homography algorithm and Imaging Mosaic algorithm, Homography algorithm (HomographyAlgorithm) wherein, it is to calibrate coupling with the geometric transformation relation of image; Another kind is images match (Imaging MosaicAlgorithm), its to the contrast of the same area of front and back two width of cloth images after, realize location navigation according to the coupling of unique point in the image.The suitable ground magnetic orientation coupling that is applied to.To the dependence of scene, the conversion of linear geometry can make the operand that greatly reduces images match when the employing of Homography algorithm had reduced images match, laid a good foundation for mating in real time.This seminar proposes the algorithm of image mosaic can simplify the constraint condition of drawing reference picture.The employing of this algorithm can so that detector in a short period of time at search coverage auto-mapping reference diagram.To provide very large help for us in war or the automatic earth magnetism reference diagram of drawing of unusual time.Images match at first by measuring array data and its partial model of curved surface Spline modelling figure, compares it with surveying the comprehensive base map in district, utilize two kinds of methods of homography and images match to position coupling respectively, last output area positional information.
The present invention compared with prior art has following distinguishing feature and good effect:
1. the present invention has used resonant mode giant magnetic impedance amorphous wire sensor to carry out indoor measurement, have highly sensitive, reaction is fast, precision is high, the characteristics of good stability, strong shock resistance;
2. curved surface Spline model is applied to the room area modeling, this method can reflect the true distribution situation in terrestrial magnetic field of surveying the district comparatively truly, for locating exactly and navigating and established important basis;
3. utilize single-point coupling and images match dual mode to position, locating accuracy is higher;
4. realize real-time video output result in conjunction with the Labview technology.
Description of drawings
Fig. 1 is the one-piece construction synoptic diagram of indoor earth magnetism positioning navigation device;
Fig. 2 is the data acquisition of indoor positioning navigation and the structural representation of emission;
Fig. 3 is the host circuit board theory diagram;
Fig. 4 is the upper computer analyzing software functional block diagram.
Embodiment
This patent mainly is divided into three parts: data acquisition, modelling and Matching Location navigation.Shown in accompanying drawing 1, accompanying drawing 2 and the accompanying drawing 3, indoor earth magnetism positioning navigation device is by the small-sized machine 1 of indoor remote control, and location navigation main frame 2 two parts are formed.Host machine integral is made with aluminum alloy materials, be fixed on the small machine people by brass screws,, main frame be fixed at a distance of the about 5cm of robot upper surface place in order to reduce the ferromagnetic influence that the small machine people itself brings, 3 is the data transmission antenna of main frame, and effective radiation radius of this antenna is about 50m.In order to prevent extraneous interference, the thick about 3mm of aluminium sheet around the main frame can add upper cover plate at the top, to guarantee the steady operation of instrument in actual motion.
Fig. 2 is the main frame of indoor positioning navigation, wherein 5 is the battery of wireless data transmission plate, be the rechargeable type ferric phosphate lithium cell, 220mAh, 9.6V, 4 for fixing the aluminium sheet partition of this battery, thick about 3mm, 6 is the resonant mode micro-magnetic sensor, is used to measure terrestrial magnetic field 3 components, fixed by the aluminium sheet of same thickness too, another effect that cuts off is to prevent battery, the data transmission board produces ferromagnetic and electromagnetic interference (EMI) to sensor, and 8 is the interface section of sensor, employing be 485 interfaces, 10 is the wireless data transmission circuit board, 9 is its interface, couples together 5 and 6 by data line, and is connected with 10,6 geomagnetic datas that record are transmitted by wireless antenna 3, and 5 provide electric power supply for it, cuts off 7 this circuit board separated specially, so that with monitoring with change.
Fig. 3 is a wireless digital transmission circuit plate theory diagram, wherein 11 is the RS485 interface, in order to realize long-distance transmissions, also can realize simultaneously data communication with PC, 12 is the GPS interface, gather compensation and the rectification of gps data realization to magnetic field data and course angle, 13 is the interface of SD card, is used in real time institute's geodetic magnetic field data being stored, Figure 14 is the micro-magnetic sensor interface, be used to connect the resonant mode micro-magnetic sensor, and transmit 3 component datas, 15 is the wireless transmission interface, be used to realize the wireless transmission of data, 16 is the power circuit part, realizes the power management of total system, and 17 is internal clocking, for system provides timely accurately, timing function, work such as auxiliary SD storage file, 18 is USB interface, in order to realize the high-speed transfer of terrestrial magnetic field data.Behind system's 1 overall startup, 16 start working, at first carry out parameter initialization, then utilize 6 to carry out the geomagnetic data collection, utilize 14 image data, also can utilize 12 to carry out auxiliary positioning simultaneously, after interface 15 receives data, by data line data are passed to and to carry out data pre-service (screening etc.) in the arm processor, 17 start working simultaneously, and the data after will handling are stored by 13, be wirelessly transmitted to PC by 3 again, simultaneously also can utilize 11 to carry out the data long-distance transmissions, or directly utilize 18 to carry out fast data store, for next step coupling work is prepared.
Fig. 4 is the upper computer analyzing software functional block diagram, mainly will survey geomagnetic data 19 passes among the PC, carry out Data Detection 20, the data that some of them are unusual such as reject at operation, there is PC hard disk interior 21 in data after then will detecting, survey data based on several and set up the curved surface Spline model 22 of surveying the district, and draw out and survey the high-resolution earth magnetism base map in district, utilizing upper computer software to carry out image co-registration 23, earth magnetism base map and survey district practical photograph are carried out image overlay, form comprehensive base map, relate to the work of coupling and navigation with that.Arbitrfary point 3 component datas that utilize the small machine people to be surveyed in actual walking process are transferred among the PC, carry out single-point coupling or images match 24 based on comprehensive base map, to realize Matching Location preferably, good image at last is complementary, and utilize identification software at host computer video output positioning track Figure 25, owing to set up comprehensive base map, navigate 26 to survey the district simultaneously by 3 component information of default next target location.
The above; it only is better embodiment of the present invention; should not be regarded as limitation of the scope of the invention; and the claim scope that the present invention advocated is not limited thereto; all personages who is familiar with this field skill; according to the disclosed technology contents of the present invention, can think easily and equivalence change, all should fall within the scope of protection of the present invention.
Claims (7)
1. indoor ground magnetic orientation and guider, this device is made of indoor remote control small scale robot, resonant mode micro-magnetic sensor, wireless data sending circuit board, host computer, slave computer software.It is characterized in that: system relies on novel MEMS resonance micro-magnetic sensor, be equipped in the automatic remote control robot, 3 components (X, Y, Z) relative quantity is carried out in indoor terrestrial magnetic field to be measured, curved surface Spline model and the local earth magnetism base map set up based on measured data, form comprehensive base map through the stack back, utilize single-point coupling, images match modes such as (Homography Algorithm, Imaging Mosaic Algorithm) to mate, locate again, export by video at last.At some problems of current indoor positioning technology, we utilize the terrestrial magnetic field to position navigation.Because the terrestrial magnetic field is the intrinsic physical field of the earth, a bit all have otherness and uniqueness arbitrarily, therefore fully can by it is measured, modeling, and position, navigate by single-point coupling, images match.The present invention mainly provides a kind of device that positions navigation based on indoor terrestrial magnetic field.Utilize this natural source, terrestrial magnetic field to navigate, belong to the passive type navigation.Owing to be to operate, and indoor environment exists a lot of ferromagnetic interference and electromagnetic interference (EMI), therefore must after disturbing around the elimination or the inhibition of trying one's best, can carry out earth magnetism location navigation comparatively accurately and reliably indoor.Its technical scheme is achieved in that by a kind of resonant mode giant magnetic impedance amorphous wire sensor and is fixed on the geomagnetic field measuring of surveying the district on the indoor remote control small scale robot, this sensor measurement is surveyed the north component X of terrestrial magnetic field, district, east component Y and vertical component Z, other components can calculate by conversion formula, if carry out images match, then utilize the array-type sensor group of 4 sensors formations 2 * 2 to survey region measurement, also loaded the wireless data transmission device in the robot, owing to consider and to produce ferromagnetic interference to Magnetic Sensor, therefore most material all is to have used copper, nonferromugnetic materials such as aluminium, and between sensor and expelling plate, use aluminum spacer plate to carry out the lattice retaining.On terminal PC, settled the wireless data receiving trap, when robot ambulation, survey, receive in advance the geomagnetic data of measuring at PC after, set up and survey district curved surface Spline model, it is superimposed with the actual distribution of surveying the district, formed the comprehensive base map of surveying the district.The actual survey when distinguishing the location can be divided into single-point coupling and two kinds of methods of images match, and the single-point coupling is also referred to as optimum point coupling or minimum distance match, chooses only measuring point by the tolerance of setting certain value in the area grid model, mates with this; Images match is to utilize two kinds existing comparatively commonly used matching process--Homography algorithm and Imaging Mosaic algorithm are finished, and these two kinds of methods respectively have characteristics, and uses that combine can improve the accuracy that topography mates.Through after the algorithmic match, in robot, paste and add a coloured mark sheet, immediately draw out the movement locus of dolly on comprehensive base map by the C++ program at host computer, and navigate by the magnetic field intensity of robot being imported next impact point, at last locating information is carried out real-time video output.
2. claim 1 described indoor ground magnetic orientation and guider instrument is characterized in that: for eliminate or suppress indoor ferromagnetic, electromagnetic interference (EMI) as far as possible is in order to reduce the influence to the magnetic survey data, and these disturb and mainly come from artificial source and natural source two parts.Artificial source mainly is ferromagnetic material and ferromagnetic equipment on every side such as the entrained mobile phone of human body, key, reaches employed electric equipment and current in wire under the upstairs house around also having; Natural source mainly comes from the interference of ionosphere, magnetosphere and inductive layer thereof in the daytime.For artificial source, in experimentation, we remove entrained ferromagnetic material own, do not have ferromagnetic material and electronic equipment substantially in 20 meters around the measurement place; For the interference of natural source, we are by experimentizing before 6 of mornings or after at 6 in evening, and the solar energetic particles activity intensity is minimum during this period of time, the external disturbance minimum.Like this all external disturbance are dropped to minimumly, can significantly improve the real effectiveness of sensor measurement data, thereby the precision of location navigation is increased.
3. claim 1 described indoor ground magnetic orientation and guider, it is characterized in that: resonant mode giant magnetic impedance amorphous wire sensor is the critical component of this patent, its employed amorphous wire magnetic-sensitive material is by the Co base or/and the Ni base adds the amorphous wire that other one or more elements process through special process or/and materials such as Fe base are the master, its diameter can be 1～200 micron, and its sensitivity coefficient is up to 4000.Described amorphous wire magnetic-sensitive material adopts PDMS casting glue or epoxy resin embedding adhesive or rubber or other analog material to carry out solid envelope before becoming the Wheatstone bridge arm, forms a kind of damascene structures.This material can seal into different shapes such as film, rectangular parallelepiped, cube, spheroid admittedly according to the different measuring requirement.This amorphous wire magnetic-sensitive material can be designed to multiple versions such as individual thread, crossing mariages, netted planar structure, netted two-dimensional structure, netted spatial structure.By the combination of various ways, this amorphous wire material can detect tensile, compressive, bending, shear, reverses the equal stress distortion.
4. claim 1 described indoor ground magnetic orientation and guider, it is characterized in that: small scale robot is a kind of intelligent remote control clean robot, can carry out timing, long-distance remote control operation, and can carry out straight line, circular arc walking, can also seek charging base automatically charges, utilize above characteristics, as the carrier of surveying district's location navigation.The robot monolithic case all is made of plastics, and the magnetic field of itself can be eliminated by difference by measuring its intensity in advance.
5. claim 1 described indoor ground magnetic orientation and guider, it is characterized in that: curved surface Spline model, be characterized in that it is based on method modeling of crossing point interpolation and drawing, it can express all internal field parts of terrestrial magnetic field, the abnormal information that has comprised many shallow surfaces, so its isoline of figure of drawing is comparatively crooked, some positive negative anomalys can appear at regional area, another reason that causes this phenomenon is the number and the distribution situation of eyeball, different measuring point number and distribution thereof can produce different distribution plans by the Spline model.Therefore measure by evenly, accurately survey being distinguished, the Spline model of being set up can reflect comparatively truly surveys district's magnetic field space distribution situation.At first need set up the Spline model and draw the whole earth magnetism base map of surveying the district.By real-time measurement geomagnetic data, utilize the sensor spot measurement respectively, also utilize and measure based on array-type sensor, sensor is 2 * 2 matrix distribution, therefore every survey once just has 4 groups of data, then by model real-time rendering local figure,, utilize single-point coupling or images match to position navigation more respectively based on after surveying district's actual distribution and forming comprehensive base map.
6. claim 1 described indoor ground magnetic orientation and guider, it is characterized in that: the single-point coupling, be otherness and fault-tolerance according to measuring point 5 earth magnetism component measurements value and terrestrial magnetic field 7 components, carry out the identification of measuring point coupling according to the order of Z component, F component, H component, Y component and X component respectively, in some zones that never measures, adopt the Spline method to carry out extrapolation as measured value.Have the fault-tolerant zone of an absolute value ± 10nT at last, choosing point nearest from eyeball and that numerical value is the most approaching in every background eyeball that satisfies this fault-tolerant zone mates, Here it is, and minimum distance is judged and the optimum point matching process, by this method location, through test of many times, accuracy rate is higher.The prerequisite of this method is that the data point in fault-tolerant territory is the least possible, facilitates like this to judge and selection.When data point more for a long time, this method is just made mistakes easily.
7. claim 1 described indoor ground magnetic orientation and guider is characterized in that: Homography algorithm and ImagingMosaic algorithm, and wherein the Homography algorithm is to calibrate coupling with the geometric transformation relation of image; The ImagingMosaic algorithm is to after the contrast of the same area of front and back two width of cloth images, realizes location navigation according to the coupling of unique point in the image.The suitable ground magnetic orientation coupling that is applied to.To the dependence of scene, the conversion of linear geometry can make the operand that greatly reduces images match when the employing of Homography algorithm had reduced images match, laid a good foundation for mating in real time.This seminar proposes the algorithm of image mosaic can simplify the constraint condition of drawing reference picture.The employing of this algorithm can so that detector in a short period of time at search coverage auto-mapping reference diagram.To provide very large help for us in war or the automatic earth magnetism reference diagram of drawing of unusual time.Images match is at first by measuring array data and its partial model of curved surface Spline modelling figure, itself and the comprehensive base map in survey district are compared, utilize two kinds of methods of homography and Imaging Mosaic coupling to position coupling, last output area positional information respectively.
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| CN2010101763488A CN102252675A (en) | 2010-05-19 | 2010-05-19 | Indoor geomagnetic positioning and navigation device |
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