CN104101341A - Method for positioning between mobile terminals and mobile terminal using the same - Google Patents

Abstract

The invention provides a method for positioning between mobile terminals and a mobile terminal using the same. The mobile terminal comprises an initialization unit for initially positioning the mobile terminal to obtain an initial position and an initial rate of the mobile terminal, a gyroscope for respectively measuring rotation angles of the mobile terminal around a X shaft, a Y shaft and a Z shaft, an accelerometer for acquiring a movement accelerated speed of the mobile terminal, a processor for determining the current position of the mobile terminal in real time by the rotation angles detected by the gyroscope and an accelerated speed detected by the accelerometer according to the initial position and the initial rate, and a communication module for communicating with other mobile terminals and acquiring position information of other mobile terminals in real time, wherein the position of the processor and position information of other mobile terminals are displayed by a display under the control of the processor.

Description

Positioning method between mobile terminals and mobile terminal adopting the method

technical field

The invention relates to a positioning method between mobile terminals and a mobile terminal adopting the method.

Background technique

In daily life, navigation technologies such as satellite navigation systems (for example, GPS (Global Positioning System), Beidou Navigation) are more and more widely used in daily life, ranging from self-driving tours to shopping, and travel for human life. Provides great convenience. With the improvement of living standards, mobile terminals such as mobile phones have become one of the necessary items that people carry with them, and satellite navigation systems have also become one of the necessary functions of the mobile terminals.

Taking the GPS navigation unit as an example, under certain environmental conditions (for example, indoors or in bad weather, on a mountain road or in a tunnel), the GPS signal will become weak or the GPS signal will not be received, causing the GPS function to fail. invalidated. On the other hand, even if the signal is good, it will take about 1 minute or even several minutes from turning on the ordinary GPS function for global positioning to the accurate positioning of the mobile terminal's GPS.

In addition, the navigation unit in the current mobile terminal only provides the position positioning of one mobile terminal (eg, mobile phone, PAD, etc.), and does not provide the function of mutual positioning of two or more mobile terminals. If many friends go to a strange city, each of them does not know where they are, so they cannot find each other through the navigation unit. Of course, you can know your location through positioning and then tell the other party your location information, so that the other party can find you through navigation, but this is not only very troublesome, but also one party must stay in a fixed place and wait for the other party to navigate.

Therefore, the positioning method relying on the satellite navigation system in the prior art needs to be improved.

Contents of the invention

In order to solve at least one of the above technical problems, the present invention provides a positioning method for a mobile terminal, a distance measurement method between mobile terminals, and a mobile terminal using the method.

According to one aspect of the present invention, a mobile terminal is provided, including: an initialization unit, used for initial positioning of the mobile terminal, to obtain the initial position and initial velocity of the mobile terminal; a gyroscope, used for measuring , the rotation angle of the Y axis and the Z axis; the accelerometer is used to obtain the acceleration of the mobile terminal movement; the processor, based on the initial position and initial velocity, uses the rotation angle measured by the gyroscope and the acceleration obtained by the accelerometer to determine in real time The current location of the mobile terminal; the communication module, used to communicate with other mobile terminals to obtain location information of other mobile terminals in real time, wherein the processor displays its own location and the location information of other mobile terminals on the display.

The mobile terminal may further include a satellite navigation system, and the initialization unit obtains an initial position and an initial velocity of the mobile terminal through the satellite navigation system.

Wherein, the initial positions and initial velocities of the multiple mobile terminals can also be obtained by positioning the multiple mobile terminals stationary at the same position.

The processor can display the current positions of the mobile terminal and the other mobile terminals on the display in real time in a two-dimensional or three-dimensional form by establishing a two-dimensional or three-dimensional coordinate system.

The processor can establish a two-dimensional or three-dimensional coordinate system by taking the current position of the mobile terminal itself as the coordinate origin.

The processor can use the gyroscope and the accelerometer to determine the attitude of the mobile terminal.

The gyroscope may be a three-axis gyroscope. There may be three accelerometers, and the installation directions correspond to the X, Y and Z axis directions of the three-axis gyroscope respectively.

The mobile terminal may further include a vibration motor whose vibration intensity varies with a distance from other mobile terminals.

The display displays the location information of the mobile terminal in real time in the form of a two-dimensional map or a three-dimensional map.

According to another aspect of the present invention, there is provided a positioning method using the above-mentioned mobile terminal, the method comprising: performing an initialization operation through an initialization unit to obtain the initial position and initial velocity of the mobile terminal; measuring the mobile terminal through a gyroscope The rotation angle around the X-axis, Y-axis and Z-axis; the accelerometer obtains the acceleration of the mobile terminal movement; the processor uses the rotation angle measured by the gyroscope and the acceleration obtained by the accelerometer based on the initial position and initial velocity to perform real-time Determine the current location of the mobile terminal; the communication module communicates with other mobile terminals to obtain location information of other mobile terminals in real time, wherein the processor displays its own location and the location information of other mobile terminals on the display.

The mobile terminal also includes a satellite navigation system, which can be used to obtain an initial position and an initial velocity of the mobile terminal during the initialization operation performed by the initialization unit.

In the initialization operation by the initialization unit, initial positions and initial velocities of the plurality of mobile terminals may be obtained by stationary positioning the plurality of mobile terminals at the same position.

By establishing a two-dimensional or three-dimensional coordinate system, the current positions of the mobile terminal and the other mobile terminals can be displayed on the display in real time in two-dimensional or three-dimensional form.

The processor can establish a two-dimensional or three-dimensional coordinate system by taking the current position of the mobile terminal itself as the coordinate origin.

The processor can use the gyroscope and the accelerometer to determine the attitude of the mobile terminal.

The gyroscope may be a three-axis gyroscope. There may be three accelerometers, and the installation directions correspond to the X, Y and Z axis directions of the three-axis gyroscope respectively.

The mobile terminal may further include a vibration motor whose vibration intensity varies with a distance from other mobile terminals.

The display can display the location information of the mobile terminal in real time in the form of a two-dimensional map or a three-dimensional map.

The present invention cooperates with a three-axis gyroscope and an accelerometer to measure the position in six directions, move the track, accelerate, and obtain displacement, and can obtain displacement in two-dimensional or even three-dimensional space, which can greatly improve the efficiency and accuracy of positioning and navigation.

Description of drawings

The above and other objects and features of the present invention will become clearer through the following detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein:

Fig. 1 shows a schematic block diagram of a mobile terminal according to an embodiment of the present invention;

2-3 are schematic diagrams showing the process of mutual positioning between two mobile terminals;

FIG. 4 is a schematic diagram of a non-GPS initial positioning method.

Detailed ways

Hereinafter, embodiments of the present invention are described in more detail by referring to the accompanying drawings. In the following description, the mobile terminal adopts the commonly used GPS navigation technology as an example. However, the present invention is not limited to adopting the GPS navigation technology, and other types of navigation technologies may also be used, for example, Beidou navigation.

According to the technical idea of the present invention, the positioning of the mobile terminal and the mutual positioning between the mobile terminals are realized by further including a gyroscope and an accelerometer in the mobile terminal including the GPS navigation unit.

The gyroscope in the mobile terminal of the present invention may adopt a three-axis gyroscope. The three-axis gyroscope can measure the angular velocity to judge the motion state of the mobile terminal, so as to judge the initial shape and the state after the rotation motion of the mobile terminal. In the three-axis gyroscope, there is a high-speed rotating rotor in the middle. Due to inertia, it will not change its attitude due to the influence of external forces, so the rotation axis can always maintain a vertical direction, which is the reference direction of the gyroscope. There are three rotation position judgments on the outside of the gyroscope rotor. It is connected to the mobile phone. This position judgment can be based on the constant state of the rotor as a reference to calculate the rotation direction of the mobile phone. The three-axis gyroscope can measure the position, movement trajectory and speed in 6 directions at the same time. The single-axis can only measure the amount in one direction, that is, a system needs three gyroscopes, and one of the three-axis can replace three single-axis. The three-axis is small in size, light in weight, simple in structure and good in reliability.

The accelerometer is one of the basic measurement elements of the inertial navigation and inertial guidance system. The accelerometer is essentially an oscillating system, which is installed inside the moving carrier and can be used to measure the moving acceleration of the carrier. Taking the MEMS (micro-electromechanical system) accelerometer as an example, the working principle of the accelerometer is that when the accelerometer is accelerated together with an external object (the acceleration of the object is the acceleration to be measured), the mass block is affected by the inertial force. Movement in the opposite direction. The displacement of the mass block is limited by the spring and the damper, and the external acceleration can be measured through the output voltage. That is, the principle of the acceleration sensor is not to directly measure the acceleration, but to measure the "specific force", and the acceleration can be calculated through the specific force equation. After integration, the speed can be calculated, and then the distance can be calculated after integration.

Embodiments of the present invention combine the above two sensors to form a new navigation mode. The gyroscope in this navigation mode is used to form a navigation coordinate system to stabilize the measurement axis of the accelerometer in this coordinate system and give the heading and attitude. Angle, can handle linear motion and rotary motion at the same time. The movement process of the mobile terminal determined by the three-axis gyroscope includes the direction change of turning and slope, and the speed and distance are calculated by the acceleration measured by the acceleration sensor. Combined with the initial speed provided by the GPS unit, the existing speed movement can be calculated distance. This distance is added to the initial positioning position of the GPS unit, so that the mobile terminal can be positioned in a three-dimensional movement equivalent to a 6-dimensional direction without a GPS signal.

Fig. 1 shows a schematic block diagram of a mobile terminal according to an embodiment of the present invention. 2-3 are schematic diagrams illustrating the process of mutual positioning between two mobile terminals. The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 , the mobile terminal according to the present invention includes an initialization unit 100 , a GPS unit 110 , a gyroscope 120 , an accelerometer 130 , a communication unit 140 , a display unit 150 and a processor 160 .

The initialization unit 100 is used to obtain the initial position and initial velocity of the mobile terminal.

The GPS unit 110 is used for initial positioning of the mobile terminal to confirm the initial position and initial speed. In more detail, the GPS unit 110 receives GPS data in real time, and obtains the latitude and longitude coordinates, altitude and current speed of the mobile terminal.

The gyroscope 120 is used to measure the rotation angle and angular velocity of the mobile terminal around the X-axis, Y-axis and Z-axis.

The accelerometer 130 is used to obtain the acceleration of the movement of the mobile terminal.

The communication unit 140 is used for communicating with other mobile terminals, so as to send the geographical location information of oneself to the counterparty and receive the geographic location information of the counterparty.

The processor 160 calculates the moving speed and displacement of the mobile terminal in three-dimensional space based on the initial speed determined by the GPS unit 110, the rotation angle measured by the gyroscope 120, and the acceleration measured by the accelerometer, thereby determining the mobile terminal based on the initial position. the current location of . In addition, in reality, the attitude of the mobile phone may change, so the embodiment further calculates the influence of the attitude of the mobile phone (such as vertical, tilt) on the accelerometer through the processor, and the processor 160 uses the gyroscope and the accelerometer to determine the attitude of the mobile terminal. The processor 160 also determines the current location of another mobile terminal or the relative locations of the two based on the geographic location information of the other mobile terminal received through the communication unit 140 .

The processor 160 displays the calculated current location of the mobile terminal and current locations of other mobile terminals on the display unit 150 in a three-dimensional form.

When multiple mobile terminals all adopt the technical solution of the present invention, mutual positioning among multiple mobile terminals can be performed. In the following, the mutual positioning between two mobile terminals is taken as an example to describe with reference to FIGS. 2-4 . However, the implementation of the present invention is not limited to between two mobile terminals, and mutual positioning can also be performed between multiple mobile terminals.

Before starting to locate each other, the user inputs a command to make the initialization unit 100 perform an initialization operation on the mobile terminal to be positioned. The initialization operation includes determination of the initial position and determination of the initial speed. These judgment methods are divided into the following two cases:

(a) GPS signal available:

When the GPS signal is available, the initialization unit 100 obtains the initial position and initial speed of the mobile terminal through the GPS unit 110 . At this time, all mobile terminals that need to be positioned turn on the GPS unit 110 to perform initial positioning, and confirm the initial position and initial speed. Here, this step is called "GPS mode initialization".

As shown in FIG. 2, three coordinate axes are respectively defined as x-axis, y-axis, and z-axis. It is assumed that the initial positions of the first mobile terminal a and the second mobile terminal b are the same, both being the coordinate origin O. When the mobile terminal performs an initialization operation in a stationary state, the initial velocity is zero. At the same time, each mobile terminal obtains initial positioning information of each other through mutual interaction between respective communication modules 150 . At this time, the processing unit 160 may use the spatial three-dimensional simulation map to display on the display of the mobile terminal.

After the initialization operation, each mobile terminal moves separately, and the data measured by the gyroscope 120 and the accelerometer 130 can be used to calculate their respective motion states. That is, the change in the moving direction and the change in the moving speed are obtained by the gyroscope 120 and the accelerometer. The processor 160 calculates the displacement of the mobile terminal relative to the initial position by combining the initial speed, and obtains the change of the coordinate value relative to the coordinate origin o. As shown in FIG. 2 , the coordinates of the first mobile terminal a after movement are a(X _a , _ya , za ₎ , and the coordinates of the second mobile terminal b are b(X _by y _b , z _b ).

The processor 160 of the mobile terminal performs data processing and recording, and ensures the communication of motion position information between mobile terminals through the communication module 150 . Specifically, the first mobile terminal a can obtain the coordinates b (X _{by b} , z _b ) of the second mobile terminal b through the communication unit 140, and the processor 160 can form a new space through the coordinates of three points o, a, and b Displacement relationship, the relative distance between a and b can be obtained by calculation as d, that is, d ² =(X _a- X _b ) ² +(y _a -y _b ) ² +(z _a -z _b ) ² . Similarly, the second mobile terminal b can also obtain the coordinates of the first mobile terminal a through the communication unit, and the processor 160 performs data processing.

At the same time, the user of one of the mobile terminals can use himself as a reference point to re-establish the spatial coordinates, as shown in Figure 3, using himself as the coordinate origin O', the coordinates of the other mobile terminal are in the new spatial coordinate system It is updated to c′(X _c , y _c , z _c ). At this time, through this coordinate, the user can easily obtain the position of the user holding another mobile terminal. The displacement distance d′ between itself and itself can also be obtained, that is, (d′) ² =X _c ² +y _c ² +y _c ² . The processor 160 can directly perform the processing in FIG. 3 without performing the operation of d ² =(X _{a -} X _b ) ² +(ya _{-y b} ) ² +(za _{-z b} ) ² .

The above positional relationship can be reflected in real time in a two-dimensional or three-dimensional simulation map (for example, a two-dimensional map or a three-dimensional map). Therefore, the user directly checks the motion status and location information of himself and other mobile terminals in a three-dimensional simulation map (for example, a three-dimensional map). When displaying in two dimensions, the z-axis information can be ignored.

In the above example, the initial positions of the first mobile terminal a and the second mobile terminal b are the same and it is assumed that the initial position is the coordinate origin. However, the initial positions of the first mobile terminal a and the second mobile terminal b may also be different. In the case of using the GPS unit 110 for initialization, the processor 160 can use itself as the coordinates based on its own latitude, longitude and altitude information obtained by the GPS unit 110 and the latitude, longitude and altitude information of other mobile terminals arriving through the communication unit 140. The origin is directly calculated to obtain the three-dimensional diagram shown in Figure 3. Therefore, the process shown in Fig. 2 is not necessary.

The above example may occur when multiple mobile terminal users first use the GPS unit 110 to obtain the initial position and initial speed before entering a specific environment with poor GPS signals (for example, tall buildings, mountains, tunnels, etc.), and then move into the specific environment In this way, even when the GPS signal is unavailable, it can still determine its own position and the positions of other mobile terminals.

(b) GPS signal unavailable:

When the GPS signal is unavailable, if it is necessary to enable the mutual three-dimensional positioning function of the mobile terminal, an initial positioning process is also required, and this step is called "non-GPS mode initialization" herein. Specifically, put the mobile terminals that need to be positioned vertically back to back, first keep the mobile terminals still (keep the mobile terminals still), and the user operates the initialization unit 100, so that the processor 160 starts to synchronize and record the initial position the process of. Since the mobile terminal is in a stationary state during initialization, the initial velocity is zero. This speed provides the initial speed for the above algorithm to calculate the current speed and displacement of the mobile terminal after it moves.

More specifically, the accelerometer is three-dimensional, that is, three-axis directions. When the mobile terminal maintains one direction (for example, when it is horizontal), the acceleration of the mobile terminal in the three-dimensional space can be judged at this time. case), the displacement can be calculated based on the real-time acceleration. At this time, the role of the three-axis gyroscope is: during the movement process, the mobile terminal will inevitably change its direction. At this time, the three-axis gyroscope can measure the difference between the real-time direction of the mobile terminal and the initial direction. Compensation, so that the three-axis gyroscope and accelerometer can realize the positioning function.

The set initial position is used as the origin O of the spatial coordinates set under the above-mentioned "GPS signal is available". Similarly, a spatial coordinate system can also be established to record the displacement of multiple users. Except for the difference in the initial positioning method, other calculation methods are the same as the above-mentioned "GPS signal is available", and will not be described again here. Through this method, the distance between mobile terminal users can be obtained and the relative displacement between mobile terminal users can be judged.

In the above-mentioned initial positioning process, when the user performs the initialization operation through the initialization unit 100, he can set the initial position on the map in combination with the map software, for example, select the initial position in combination with the two-dimensional or three-dimensional map, and in the subsequent movement process, place the two The two-dimensional coordinates or three-dimensional coordinates are established on a two-dimensional map or a three-dimensional map to more realistically and intuitively display the mobile state of the mobile terminal and the positional relationship between the mobile terminals.

In the above two cases, the positioning information interaction between multiple mobile terminals can be completed. The application scenario at this time can be used as a person-finding mode between friends in shopping malls, concerts, waiting for friends, etc. It can be used as a monitoring mode for parents to monitor the location of children. In addition, after the intercom function is added to the mobile terminal, the intercom function can be activated by judging that the two mobile terminals are within a certain identification range of the intercom, which can save mobile terminal communication charges.

Examples of application scenarios:

Multiple mobile terminal users enter the shopping mall together and each have their own itinerary. The mobile terminal users request to know the location of other mobile terminal users in real time. At this time, the solution proposed by the present invention can meet the needs of mobile terminal users.

Before multiple mobile terminal users enter the shopping mall, they can respectively perform initialization operations through one of the solutions in the two cases of "GPS signal available" and "GPS signal unavailable" mentioned above. After the initialization operation is completed, the relative displacement and distance between users can be obtained by establishing the mobile terminal user space coordinate system. At the same time, a linear relationship can be established between the vibration intensity motor of the mobile terminal and the distance between users: when the distance between users is close, the vibration intensity of the motor increases, and when the distance between users is long, the motor becomes weak. In this way, in addition to the method of viewing the spatial coordinate system established by the mobile terminal software, the distance between users can also be judged by the motor strength, and finally the purpose of tracing among multiple mobile terminal users can be achieved.

According to the technical solution of the present invention, in an environment where GPS signals are blocked or interfered and positioning cannot be performed, the three-axis gyroscope sensor inside the mobile terminal is used in conjunction with the acceleration sensor to provide precise positioning and two-way positioning for the mobile terminal. The distance measurement method breaks through the limitations of GPS due to weather factors and indoor signal failure;

In addition, even when the signal is good, it will take about 1 minute or even several minutes from turning on the ordinary GPS function for global positioning to the accurate positioning of the mobile terminal's GPS. However, after the mobile terminal of the present invention records the information of the last GPS positioning, the three-axis gyroscope sensor and the acceleration sensor are turned on in the background to calculate the displacement information. When the GPS function is turned on again, the GPS positioning speed can be increased. These two sensors are generally turned on, so it will not increase excessive power consumption. In addition, when the mobile terminal is positioned, the power consumption of turning on the three-axis gyroscope sensor and the acceleration sensor in the background of the mobile terminal is also much lower than the power consumption of turning on the GPS module.

The present invention can also bring several other additional functions to the mobile terminal: 1. Switch to walkie-talkie mode within a limited range, reducing power consumption and communication costs; 2. Distance measurement and positioning between two mobile terminals, used for people-finding mode; 3. . Three-dimensional handwriting input; 4. Mobile terminal wireless mouse; 5. Mobile terminal game operating handle.

Exemplary embodiments of the present invention have been described in detail with reference to the accompanying drawings, but those skilled in the art will understand that omissions, substitutions and changes in form and details may be made without departing from the scope of the present invention.

Claims (18)

1. A mobile terminal, comprising: The initialization unit is used to perform initial positioning of the mobile terminal, so as to obtain the initial position and initial velocity of the mobile terminal; The gyroscope is used to measure the rotation angle of the mobile terminal around the X-axis, Y-axis and Z-axis; an accelerometer, used to acquire the acceleration of the mobile terminal movement; The processor, based on the initial position and the initial velocity, uses the rotation angle measured by the gyroscope and the acceleration obtained by the accelerometer to determine the current position of the mobile terminal in real time; The communication module is used to communicate with other mobile terminals to obtain the location information of other mobile terminals in real time, Wherein, the processor displays its own location and location information of other mobile terminals on the display. 2. The mobile terminal according to claim 1, wherein the mobile terminal further comprises a satellite navigation system, and the initialization unit obtains an initial position and an initial velocity of the mobile terminal through the satellite navigation system. 3. The mobile terminal of claim 1, the initial positions and initial velocities of the plurality of mobile terminals are obtained by statically positioning the plurality of mobile terminals at the same location. 4. The mobile terminal as claimed in claim 2 or 3, wherein, by establishing a two-dimensional or three-dimensional coordinate system, the processor displays the current positions of the mobile terminal and the other mobile terminals in two-dimensional or three-dimensional form in real time displayed on the display. 5. The mobile terminal according to claim 4, wherein the processor establishes a two-dimensional or three-dimensional coordinate system by using the current location of the mobile terminal itself as a coordinate origin. 6. The mobile terminal according to claim 1, wherein the processor uses a gyroscope and an accelerometer to determine the attitude of the mobile phone of the mobile terminal. 7. The mobile terminal according to claim 1, wherein the gyroscope is a three-axis gyroscope, there are three accelerometers, and the installation directions correspond to the X, Y and Z-axis directions of the three-axis gyroscope respectively. 8. The mobile terminal according to any one of claims 1-3, wherein the mobile terminal further comprises a vibration motor, and the vibration intensity of the vibration motor varies with the distance from other mobile terminals And change. 9. The mobile terminal according to claim 1, wherein the location information of the mobile terminal is displayed in real time in the form of a two-dimensional map or a three-dimensional map. 10. A method for positioning using the mobile terminal according to claim 1, said method comprising: performing an initialization operation through an initialization unit to obtain an initial position and an initial velocity of the mobile terminal; Measure the rotation angle of the mobile terminal around the X-axis, Y-axis and Z-axis through the gyroscope; Obtain the acceleration of mobile terminal movement by accelerometer; determining the current position of the mobile terminal in real time by the processor based on the initial position and the initial velocity, using the rotation angle measured by the gyroscope and the acceleration obtained by the accelerometer; The communication module communicates with other mobile terminals to obtain location information of other mobile terminals in real time, Wherein, the processor displays its own location and location information of other mobile terminals on the display. 11. The method of claim 10, wherein the mobile terminal further comprises a satellite navigation system, and the initial position and the initial velocity of the mobile terminal are obtained using the satellite navigation system in the initialization operation performed by the initialization unit. 12. The method of claim 10, in the initialization operation by the initialization unit, the initial positions and initial velocities of the plurality of mobile terminals are obtained by stationary positioning the plurality of mobile terminals at the same position. 13. The method according to claim 11 or 12, wherein, by establishing a two-dimensional or three-dimensional coordinate system, the current positions of the mobile terminal and the other mobile terminals are displayed on the display in real time in two-dimensional or three-dimensional form superior. 14. The method according to claim 13, wherein the processor establishes a two-dimensional or three-dimensional coordinate system by using the current location of the mobile terminal itself as a coordinate origin. 15. The method as claimed in claim 11, wherein the processor uses a gyroscope and an accelerometer to determine the attitude of the mobile phone of the mobile terminal. 16. The method according to claim 15, wherein the gyroscope is a three-axis gyroscope, there are three accelerometers, and the installation directions correspond to the X, Y and Z-axis directions of the three-axis gyroscope respectively. 17. The method according to any one of claims 10-12, wherein the mobile terminal further comprises a vibration motor, and the vibration intensity of the vibration motor varies with the distance from other mobile terminals Variety. 18. The method according to claim 19, wherein the location information of the mobile terminal is displayed in real time in the form of a two-dimensional map or a three-dimensional map.