CN111954157A - Driving device and method and device for acquiring driving track thereof - Google Patents
Driving device and method and device for acquiring driving track thereof Download PDFInfo
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- CN111954157A CN111954157A CN201910361247.9A CN201910361247A CN111954157A CN 111954157 A CN111954157 A CN 111954157A CN 201910361247 A CN201910361247 A CN 201910361247A CN 111954157 A CN111954157 A CN 111954157A
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- 238000012937 correction Methods 0.000 claims abstract description 35
- 238000005265 energy consumption Methods 0.000 claims description 4
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- 238000010586 diagram Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application provides a driving device and a method and a device for acquiring a driving track of the driving device. Wherein the running gear comprises a positioning system and at least one low consumption sensor which is less energy consuming, the method comprising: a step of obtaining a starting position, which obtains the starting position through the positioning system; an intermediate position acquisition step of obtaining a plurality of intermediate positions by calculation from information obtained by the low consumption sensor; a correction step of correcting the number of intermediate positions by the positioning system acquiring correction point positions. Compared with the prior art, the technical scheme of the application can accurately acquire the running track of the running equipment in a low-power-consumption mode.
Description
Technical Field
The invention relates to a technology for acquiring a running track, in particular to a running device and a method and a device for acquiring the running track.
Background
The position, speed and trajectory of the vehicle can be determined in the vehicle by means of a Global Navigation Satellite System (GNSS). However, when the global navigation satellite system is used, the satellite signal receiver of the traveling apparatus consumes a large amount of electric power. Since the bicycle does not have a large-capacity power supply, it is difficult to apply the gnss to a traveling apparatus such as a bicycle with limited electric power.
Therefore, there is a need to overcome the technical problems in the prior art and to provide a technical solution that can accurately determine the travel trajectory of the travel device using measurements from the sensor device.
Disclosure of Invention
The specific implementation mode of the application solves the problem that energy consumption is too high when the running track is obtained in the prior art.
In some embodiments, the present application provides a method for obtaining a driving trajectory of a driving device, the driving device including a positioning system and at least one low-consumption sensor with lower energy consumption than the positioning system, the method including:
a step of obtaining a starting position, which obtains the starting position through the positioning system;
an intermediate position acquisition step of obtaining a plurality of intermediate positions by calculation from the travel information obtained by the low consumption sensor;
a correction step of correcting the number of intermediate positions by the positioning system acquiring correction point positions.
In some embodiments, an apparatus for the aforementioned method is provided, which includes the positioning system, the low consumption sensor, and a computing unit, the computing unit is electrically connected to the positioning system and the low consumption sensor, and the computing unit obtains the driving track of the driving device by the method.
In some embodiments, a machine-readable non-transitory storage medium is provided having stored thereon executable instructions that, when executed, cause a machine to perform the foregoing method.
In some embodiments, a driving device is provided, which includes the positioning system, the low consumption sensor, and a calculation unit electrically connected to the positioning system and the low consumption sensor, and the calculation unit obtains a driving trajectory of the driving device by the method.
As can be seen from the above, the technical solution of the present application corrects the plurality of intermediate positions acquired by the low consumption sensor by the start position of the running device acquired by the positioning system and the correction point position acquired by the positioning system, and thereby obtains the running locus of the running device. Compared with the prior art, the technical scheme can accurately acquire the running track of the running equipment in a low-power consumption mode because a positioning system is not required to be used all the time in the running process.
Drawings
The features, characteristics, advantages and benefits of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.
Fig. 1 shows a schematic view of a travel device according to an embodiment;
FIG. 2 is a schematic diagram of an apparatus for obtaining a driving trajectory according to an embodiment;
FIG. 3 shows a schematic flow diagram of a method for obtaining a travel trajectory according to one embodiment;
FIG. 4 is a schematic diagram showing the variation of magnetic field intensity when the magnetometer detects the traveling of the traveling apparatus;
FIG. 5 shows a schematic view of the direction of travel in the sensor coordinate system and the positioning system; and
FIG. 6 shows a schematic diagram of the calculation of the neutral position;
fig. 7 shows a schematic diagram of the calculation principle of the method for obtaining a travel path according to an embodiment.
Detailed Description
Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows a running device 100 of one embodiment including a wheeled vehicle, such as a bicycle, tricycle, or unicycle, that drives running wheels by pedaling. The present embodiment will be described with reference to a bicycle as an example. The travel device 100 includes a travel wheel, a magnet 101 is mounted on a hub of the travel wheel, and a device 102 for acquiring a travel track is mounted on a frame of the travel device 100.
As shown in fig. 2, an apparatus 102 for acquiring a driving track according to an embodiment includes a positioning system 12, a low consumption sensor 11, a calculation unit 13, and a communication unit 14. The calculation unit 13 is electrically connected to the positioning system 12, the low consumption sensor 11, and the communication unit 14. The low-consumption sensor 11 and the positioning system 12 can each be used to obtain a driving trajectory of the driving device 100, the operating principle of which will be explained in detail below. For example, the Positioning System is a GPS (Global Positioning System) signal receiver for receiving GPS signals to acquire position information of the running device 100 in the Global Positioning System. The low-loss sensor 11 includes a tilt sensor and a stroke sensor. For example, the low consumption sensor 11 includes a 9-axis IMU (Inertial measurement unit) based on MEMS (Micro-Electro-Mechanical Systems). The 9-axis IMU includes a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetic sensor. In this case, a 3-axis accelerometer and a 3-axis gyroscope may be used to collectively function as an inclination sensor, that is, the inclination angle, that is, the rotation angle of the traveling apparatus 100 in the sensor coordinate is obtained through measurement, so that the current traveling direction of the traveling apparatus 100 is obtained. Meanwhile, a 3-axis magnetic sensor may be used as the rotation number sensor, and thus the stroke may be obtained by a method which will be described in detail below. Therefore, a 3-axis magnetic sensor can be used as the stroke sensor. For example, when the running apparatus 100 runs, the magnet 101 periodically approaches and departs from the IMU with the rotation of the running wheel, and the magnetic sensor continuously measures the varying magnetic field strength and obtains the running period of the running wheel. The distance is obtained by multiplying the circumference of the running wheel by the number of running revolutions of the running wheel. The communication unit 14 is used for data exchange with an external device (e.g., a mobile terminal or a server). For example, the trajectory of the running device 100 is transmitted to an external device, or an instruction from an external device is received and transmitted to the calculation unit 13.
Fig. 4 is a schematic diagram showing the change in the magnetic field strength of the magnet detected by the magnetic sensor of the low consumption sensor 11IMU when the running device is running. As shown, the horizontal axis represents time T and the vertical axis represents magnetic field strength B. Where a peak in field strength indicates the maximum measured field strength at which point the magnet 101 is located closest to the low-loss sensor 11; a trough in magnetic field strength indicates that the measured magnetic field strength is at a minimum, at which point the magnet 101 is located furthest from the low loss sensor 11. The peaks and valleys occur periodically. Starting from the measurement of the first peak (or valley) by the low consumption sensor 11, each time a peak (or valley) is measured, i.e. one revolution of the running wheel of the running device 100. A counter is provided in the calculating unit 13 to count the number of revolutions N (t) of the running wheel during a certain time t, i.e. the distance traveled by the running device 100, i.e. the travel D (t), can be calculated, such as:
D(t)＝N(t)*2πR
where R is the radius of the running wheel.
Methods for obtaining a travel trajectory for a travel device according to some embodiments of the present application may be implemented by a computer system, for example, storing executable instructions on a machine-readable non-transitory storage medium that, when executed, cause a machine (e.g., computing unit 13) to perform the methods.
Referring to fig. 3, a method 200 for obtaining a driving trajectory of a driving device includes a starting step 20, a starting position obtaining step 21, an intermediate position obtaining step 22, a correcting step 23, and an ending step 28. Wherein a start step 20 performs a system initialization in preparation for executing program steps. The end step 28 performs cleaning before the system ends to normally exit the program. The step 21 of obtaining the start position obtains the start position through the positioning system, and takes the start position as the current point. The intermediate position acquisition step 22 obtains a number of intermediate positions by calculation from the travel information obtained by the low consumption sensor 11. The correction step 23 corrects several intermediate positions by the positioning system obtaining the correction point positions.
Specifically, for example, the step 22 of obtaining the intermediate position mainly includes a step one 221, a step two 224 and a step three 226 in sequence.
Step one 221, obtaining the driving direction of the current point through the tilt sensor. Referring to fig. 5, when the low consumption sensor 11 measures that the driving direction (the angle in the measurement coordinate system XY) is θ, the real driving direction (the angle in the real coordinate system XY) Ψ is θ -C0-C1. Wherein, C0 is coordinate system deflection angle, that is, the value of the angle of the coordinate system XY deviating from the real coordinate system XY is measured, and C0 may be any value between-180 degrees and 180 degrees under the condition of no calibration; c1 is the angular drift, i.e. the error of the tilt angle measured by the low loss sensor 11 from the true tilt angle, which is roughly between-0.2 and 0.2 degrees depending on the accuracy of the sensor itself. How to obtain the correction values for the correction coordinate system deflection angle C0 and the angle drift C1 will be described below in the description of the correction step 23.
After a period, step two 224 obtains the stroke of the period through the stroke sensor in the low consumption sensor 11. For example, in some embodiments, step two 224 includes determining a travel cycle step 223. For example, the number of revolutions of the running wheel in a period of time, such as one period every 0.1 second, is obtained by the revolution number sensor, and the stroke is obtained by multiplying the number of revolutions by the circumference of the running wheel. For another example, the distance is used as a period, such as one rotation (for example, the magnetic sensor of the low consumption sensor 11 determines that one period is reached when it detects a peak). Then, at step 225, please refer to FIG. 6 in combination, an intermediate position is obtained from the current point along the travel direction. For example, when the current position is (x0, y0), the low consumption sensor 11 measures the driving direction as θ, and the stroke of the stroke sensor for obtaining the cycle is L, then the intermediate position (x1, y1) obtained by extending the stroke L is x1 ═ x0+ L × cos (θ), and y1 ═ y0+ L × sin (θ).
Step three 226 includes repeating step one 221 and step two 224 several times with the intermediate position as the current point to obtain several intermediate positions.
In some embodiments, the obtaining intermediate position step 22 further comprises determining a stop step 222. For example, after the step 21 of obtaining the starting position, the sensor detects the stroke of the low-consumption sensor 11, and if the sensor detects that the stroke continues to increase, it is determined that the running apparatus 100 does not stop running, so that the step two 224 is performed.
In step three 226, it is further determined whether the intermediate travel (i.e., the travel route that the traveling apparatus 100 circularly accumulates in the step 22 of obtaining the intermediate position) reaches the preset range, and if the intermediate travel does not reach the preset range, the first step 221 and the second step 224 are repeatedly performed; if the preset range is reached, a correction step 23 is performed. Wherein the preset range is not less than 100 meters and not more than 9000 meters. For example, the predetermined range is 500 meters, 170 meters, 7000 meters, 240 meters, 5000 meters, 300 meters, or 3000 meters.
Referring to fig. 7, the calibration step 23 includes acquiring the calibration point position GPS via the positioning system while the last intermediate position is acquired (as soon as the technology allows)EThereby correcting several intermediate positions. For example, a direction value of a connecting line between the position of the correction point and the initial position is calculated as a positioning direction, and a coordinate system deflection angle correction value of the tilt sensor is obtained through the positioning direction correction. Alternatively, the correction point position GPS is calculatedEAnd starting position GPSSThe distance between the two sensors is a positioning distance D, and an angle drift correction value of the tilt sensor is obtained through correction of the positioning distance D. In some embodiments, obtaining the angle drift correction value of the tilt sensor by correcting the positioning distance D includes: in the range of possible driftThe dispersion values are taken as a series of assumed angle shift values within the range, for example, the possible shift range is-0.5 degrees to 0.5 degrees, and the number of the series of assumed angle shift values is not less than 6, for example, the number is 5, such as-0.5 degrees, -0.25 degrees, 0 degrees, 0.25 degrees and 0.5 degrees. In step one 221, the tilt sensor is calibrated according to a series of 5 assumed angle drift values to obtain the driving direction, and in step two 224, the intermediate position corresponding to the assumed angle drift value is calculated. A set of intermediate positions corresponding to each assumed angle drift value yields a trajectory. The distance between the last intermediate position of the set of intermediate positions of each trajectory and the starting position is an intermediate linear distance dk corresponding to the assumed angle drift value, and the assumed angle drift value (e.g. 0.5 degrees) corresponding to the closest one (e.g. the 4 th) of the intermediate linear distances dk corresponding to the positioning distance D in the series of assumed angle drift values is the angle drift correction value of the tilt sensor. Then, calculate the 4 th middle straight line and correct point position GPSEAnd obtaining a coordinate system deflection angle correction value through the included angle between the coordinates and the track, and inverting the coordinate of the 4 th track according to the coordinate system deflection angle correction value to obtain the required running track. Then, the process returns to the step 222 of determining stop, and continues to loop through the following steps.
If the sensor detects that the travel does not increase any more after a certain time in the determination stop step 222, it is determined that the travel apparatus 100 stops traveling, and the correction step 23' before the end is directly performed. The pre-end correction step 23' operates similarly to the correction step 23, except that the end step 28 is performed after the desired travel trajectory is corrected, without returning to the stop determination step 222.
It follows that no positioning system is required in the intermediate position acquisition step 22. Compared with the prior art, the scheme of the embodiment of the invention can accurately acquire the running track of the running equipment in a low-power consumption mode because a positioning system is not required to be used all the time in the running process.
Claims (10)
1. Method for acquiring a trajectory of a travel device comprising a positioning system and at least one low consumption sensor with a lower energy consumption than the positioning system, characterized in that it comprises:
a step of obtaining a starting position, which obtains the starting position through the positioning system;
an intermediate position acquisition step of obtaining a plurality of intermediate positions by calculation from the travel information obtained by the low consumption sensor;
a correction step of correcting the number of intermediate positions by the positioning system acquiring correction point positions.
2. The method of claim 1, wherein the obtaining a start position step includes taking the start position as a current point;
the low-loss sensor comprises an inclination angle sensor and a stroke sensor, and the step of acquiring the middle position comprises the following steps:
step one, obtaining the driving direction of the current point through an inclination angle sensor;
step two, obtaining the stroke of a period through a stroke sensor after the period, and extending the stroke along the driving direction from the current point to obtain an intermediate position; and
step three, the intermediate position is taken as a current point, and the step one and the step two are repeated for a plurality of times to obtain a plurality of intermediate positions;
wherein a sum of the strokes of the acquiring intermediate position step is not less than 100 meters and not more than 9000 meters, not less than 170 meters and not more than 7000 meters, not less than 240 meters and not more than 5000 meters, or not less than 300 meters and not more than 3000 meters.
3. The method of claim 2, wherein the travel device comprises a travel wheel, the travel sensor comprises a revolution sensor, and obtaining the travel of a cycle by the travel sensor after the cycle comprises obtaining a number of revolutions of the travel wheel in the cycle by the revolution sensor, and obtaining the travel is obtained by multiplying the number of revolutions by a circumference of the travel wheel.
4. The method of claim 2, wherein said correcting step comprises correcting said number of intermediate positions by acquiring a correction point location by said positioning system while obtaining a last of said intermediate positions.
5. The method according to claim 4, wherein the correcting step comprises calculating a direction value of a connecting line between the position of the correction point and the starting position as a positioning direction, and obtaining a coordinate system deflection angle correction value of the tilt sensor through the positioning direction correction.
6. The method of claim 4, wherein the correcting step comprises calculating a distance between the position of the correction point and the starting position as a positioning distance D, and correcting the angle drift correction value of the tilt sensor by the positioning distance D.
7. The method of claim 6, wherein said deriving an angle drift correction value for the tilt sensor by the positioning distance D correction comprises:
taking a plurality of dispersion values as a series of assumed angle drift values within a possible drift range of minus 0.5 degrees to 0.5 degrees, the number of the series of assumed angle drift values being not less than 6, in the first step, the driving direction obtained by the tilt sensor is corrected according to the series of assumed angle drift values, and the intermediate position corresponding to the assumed angle drift value is calculated in the second step, wherein the distance between the last intermediate position of a group of intermediate positions corresponding to each assumed angle drift value and the initial position is the intermediate straight-line distance d corresponding to the assumed angle drift value, and the assumed angle drift value corresponding to the closest one of the intermediate linear distances D corresponding to the series of assumed angle drift values to the positioning distance D is the angle drift correction value of the tilt sensor.
8. Device for acquiring a trajectory for travel for use in the method according to any one of claims 1 to 7, characterized in that it comprises said positioning system, said low consumption sensor and a calculation unit, said calculation unit being electrically connected to said positioning system and to said low consumption sensor, said calculation unit obtaining a trajectory for travel of said travel means by said method.
9. A machine readable non-transitory storage medium having stored thereon executable instructions that, when executed, cause a machine to perform the method of any one of claims 1 to 7.
10. A travel device comprising a positioning system and at least one low consumption sensor having a lower energy consumption than the positioning system, characterized in that it comprises a calculation unit electrically connected to the positioning system and the low consumption sensor, the calculation unit obtaining a travel trajectory of the travel device by a method according to any one of claims 1 to 7.
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| CN201910361247.9A CN111954157A (en) | 2019-04-30 | 2019-04-30 | Driving device and method and device for acquiring driving track thereof |
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| CN201910361247.9A CN111954157A (en) | 2019-04-30 | 2019-04-30 | Driving device and method and device for acquiring driving track thereof |
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| CN101183010A (en) * | 2007-12-04 | 2008-05-21 | 北京科技大学 | A positioning subsystem and positioning method of a vehicle ad hoc network system |
| JP2015094689A (en) * | 2013-11-13 | 2015-05-18 | 株式会社デンソー | Vehicle trajectory calculation device |
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