CN102243315A - Mobile terminal having auxiliary positioning function and method - Google Patents
Mobile terminal having auxiliary positioning function and method Download PDFInfo
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- CN102243315A CN102243315A CN2011101036990A CN201110103699A CN102243315A CN 102243315 A CN102243315 A CN 102243315A CN 2011101036990 A CN2011101036990 A CN 2011101036990A CN 201110103699 A CN201110103699 A CN 201110103699A CN 102243315 A CN102243315 A CN 102243315A
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Abstract
The invention discloses a mobile terminal having an auxiliary positioning function and a method. The mobile terminal comprises a global positioning system (GPS) module, a gyroscope, an accelerometer and a microprocessor, wherein the GPS module, the gyroscope and the accelerometer are respectively connected with the microprocessor. By the mobile terminal having the auxiliary positioning function and the method provided by the invention, angular speeds and angles of the mobile terminal around an X axis, a Y axis and a Z axis are tested by using the gyroscope; the forward acceleration of the mobile terminal is measured by the accelerometer, and the current speed of the mobile terminal is calculated; and according to initial longitude and latitude coordinates, an initial altitude and an initial current speed, which are acquired by the GPS module, the final longitude and latitude, the final altitude and the final forward speed of the mobile terminal are calculated, so when a GPS signal is abnormal, the function of continuously positioning and navigating the mobile terminal is realized, a user cannot feel the change of GPS application functions completely, and a good use experience effect is achieved.
Description
Technical field
The present invention relates to the GPS location technology, particularly a kind of portable terminal and method with auxiliary positioning function.
Background technology
People are in long journey or when being unfamiliar with route, general using GPS(Global Positioning System, GPS) technology positions and navigates.But in some environment (as tunnel, hill path), gps signal is very faint or can't receive gps signal.Under this environment, people just can't utilize GPS to position and navigate, and have brought inconvenience for travelling of people.
Thereby prior art is still waiting to improve and improve.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art part, the object of the present invention is to provide a kind of portable terminal and method with auxiliary positioning function, can when gps signal is undesired, carry out auxiliary positioning.
In order to achieve the above object, the present invention has taked following technical scheme:
A kind of portable terminal with auxiliary positioning function wherein, comprising: the GPS module, be used for receiving in real time gps data, and obtain latitude and longitude coordinates, sea level elevation and the present speed of portable terminal; Gyroscope is used to measure the anglec of rotation of portable terminal around X-axis, Y-axis and Z axle; Accelerometer is used to obtain the acceleration that portable terminal advances, and calculates the current speed of portable terminal; Microprocessor is used to control the keying of GPS module, gyroscope and accelerometer; Wherein, described microprocessor is used for cutting out the GPS module when gps signal is undesired, open gyroscope and accelerometer simultaneously, latitude and longitude coordinates, sea level elevation and the present speed that the GPS module is obtained be respectively as initial coordinate, initial sea level elevation and initial velocity, and according to the anglec of rotation and the current latitude and longitude coordinates and the sea level elevation of speed calculation portable terminal of gyroscope and accelerometer measures; Described GPS module, gyroscope and accelerometer are connected with microprocessor respectively.
Described portable terminal with auxiliary positioning function wherein, also comprises the magnetometer of the data that are used to revise gyroscope survey, and described magnetometer is connected with microprocessor.
Described portable terminal with auxiliary positioning function, wherein, microprocessor also is used for when gyroscope and accelerometer unlatching, and control GPS module was opened once every first schedule time, and judged whether gps signal recovers normal.
Described portable terminal with auxiliary positioning function, wherein, first schedule time was 20-60 second.
Described portable terminal with auxiliary positioning function, wherein, described microprocessor also is used to control magnetometer and opens once every second schedule time.
Described portable terminal with auxiliary positioning function, wherein, described second schedule time is 20-50 second.
A kind of portable terminal with auxiliary positioning function is realized the method for auxiliary positioning, wherein, comprising:
A, receive gps data in real time, obtain latitude and longitude coordinates, sea level elevation and the present speed of portable terminal by the GPS module;
B, judge whether gps signal is normal, if, execution in step A then, otherwise execution in step C;
C, open gyroscope and accelerometer, close the GPS module simultaneously, and latitude and longitude coordinates, sea level elevation and present speed that the GPS module is obtained are respectively as initial coordinate, initial sea level elevation and initial velocity;
D, by the anglec of rotation of gyroscope survey portable terminal around X-axis, Y-axis and Z axle, the acceleration that advances by the accelerometer measures portable terminal simultaneously, and calculate the current speed of portable terminal;
E, according to the described anglec of rotation and current speed, and, calculate current latitude and longitude coordinates and sea level elevation in conjunction with described initial coordinate, initial sea level elevation and initial velocity;
F, judge whether gps signal recovers normal; If, then open GSP module and execution in step A, close gyroscope and accelerometer simultaneously; Otherwise, execution in step D.
Described portable terminal with auxiliary positioning function is realized the method for auxiliary positioning, and wherein, described method further comprises after step D: the data of opening magnetometer correction gyroscope survey.
Described portable terminal with auxiliary positioning function is realized the method for auxiliary positioning, and wherein, in step F, microprocessor control GPS module is opened once every 20-60 second, and judges whether gps signal recovers normal.
Described portable terminal with auxiliary positioning function is realized the method for auxiliary positioning, and wherein, microprocessor control magnetic dynamometric is opened once every 20-50 second.
Portable terminal and method with auxiliary positioning function provided by the invention, utilize the gyroscope testing mobile terminal around X-axis, the angular velocity of Y-axis and Z axle and angle, the acceleration calculation of advancing by the accelerometer measures portable terminal draws the current speed of portable terminal simultaneously, and the initial latitude and longitude coordinates of obtaining according to the GPS module, initial sea level elevation and initial present speed, calculate the final longitude and latitude of portable terminal, sea level elevation and pace, when gps signal is undesired, realized continuing the function of location navigation to portable terminal, the user can not feel the variation of GPS application function to have good user experience effect fully.
Description of drawings
Fig. 1 has the structured flowchart of the portable terminal preferred embodiment of auxiliary positioning function for the present invention.
Fig. 2 is the angle synoptic diagram of gyroscope survey portable terminal in the portable terminal preferred embodiment of the present invention around surface level X, Y, three axis of orientation rotations of Z.
Fig. 3 realizes the process flow diagram of the method preferred embodiment of auxiliary positioning for portable terminal of the present invention.
Embodiment
The invention provides a kind of portable terminal and method with auxiliary positioning function, clearer, clear and definite for making purpose of the present invention, technical scheme and effect, below with reference to accompanying drawing and give an actual example that the present invention is described in more detail.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The portable terminal with auxiliary positioning function that the embodiment of the invention provides comprises GPS module 11, gyroscope 21, accelerometer 31 and microprocessor 41, and described GPS module 11, gyroscope 21 and accelerometer 31 are connected with microprocessor 41 respectively.Wherein, GPS module 11 is by UART(Universal Asynchronous Receiver/Transmitter, universal asynchronous reception/dispensing device) serial ports is communicated by letter with microprocessor 41, and gyroscope 21, accelerometer 31 and magnetometer 51 are communicated by letter by I2C bus microprocessor 41 respectively.
Wherein, GPS module 11 is used for receiving in real time gps data, obtains latitude and longitude coordinates, sea level elevation and the present speed of portable terminal.Gyroscope 21 is used to measure the anglec of rotation and the angular velocity of portable terminal around X-axis, Y-axis and Z axle.Accelerometer 31 is used to obtain the acceleration that portable terminal advances, and calculates the current speed of portable terminal.
As shown in Figure 2, the Z axle is the axle of vertical level, and X, Y-axis are two mutual Z-axises of surface level.Suppose that X-axis is the initial working direction axle of portable terminal, then Y-axis is portable terminal vertical with initial working direction axle on surface level, and the Z axle is an altitude axis.Portable terminal is around Z axle rotation, the working direction of expression portable terminal departing to the left or to the right on surface level, and around the anglec of rotation of the Z axle angle that departs to the left or to the right of portable terminal just, the speed that just departs from around the angular velocity of Z axle rotation; Portable terminal rotates around Y-axis, and the relative surface level of working direction of expression portable terminal is raised or descended, the angle that the just relative surface level of the angle of rotation is raised or descended, the speed that the angular velocity of rotation is just raised or descended; Portable terminal rotates around X-axis, and the expression portable terminal tilts to the left or to the right, the angle that the angle of rotation just tilts to the left or to the right, and the angular velocity of rotation is exactly the speed that tilts.
The portable terminal that the embodiment of the invention provides is preferably GPS terminal or mobile phone, utilize gyroscope 21 and accelerometer 31 to measure the angle of pace, working direction and the left and right deviation of portable terminal, calculate on X, Y-axis plane by microprocessor 41, the current location of portable terminal with respect to reference position in the angle of initial direction axle (being X-axis) and with respect to the air line distance of reference position, thereby calculate the longitude and latitude of portable terminal current location.Measure the angle of raising or descending of the relative surface level of portable terminal working direction and the speed of advancing by gyroscope 21, can calculate the height of portable terminal current location, just can calculate the sea level elevation of portable terminal current location then in conjunction with initial sea level elevation with respect to reference position.According to the data of gyroscope 21 and accelerometer 31 measurements, the method for calculating portable terminal current latitude and longitude coordinates, sea level elevation and pace is that prior art no longer describes in detail herein herein.
Because the embodiment of the invention has adopted gyroscope 21 to measure direction and height that portable terminal advances, when portable terminal is done high-speed motion, might there be certain error, in order to improve the degree of accuracy of gyroscope 21 measurement data, the portable terminal with auxiliary positioning function that the embodiment of the invention provides also comprises magnetometer 51, described magnetometer 51 is connected with microprocessor 41, is used to revise the data that gyroscope 21 is measured.
In the present embodiment, described magnetometer 51 can accurately be measured the angle of the North and South direction of the magnetic field of the earth and the earth, the direction that microprocessor energy computing gyroscope 21 measurement data obtain and the angle of earth North and South direction, these two angles are compared, the angle that obtains with magnetometer 51 is reference, revise the current working direction of object, thereby improved the auxiliary bearing accuracy of portable terminal.
Gyroscope 21 and accelerometer 31 measurement data the time, microprocessor 41 also is used to control GPS module 11 and opens once every first schedule time, and judge whether gps signal recovers normal, after gps signal recovers normally, open the positioning function of GPS module 11, close gyroscope 21, accelerometer 31 and magnetometer 51 simultaneously.Wherein, described first schedule time is 20-60 second, and present embodiment is preferably 30 seconds, and close in GPS module 11, gyroscope 21 and accelerometer 31 pick up counting when opening.
In a further embodiment, gyroscope 21 and accelerometer 31 measurement data the time, described microprocessor 41 also is used to control magnetometer 51 to be opened once every second schedule time, the measurement of proofreading and correct gyroscope 21 several times.Wherein, described second schedule time is 20-50 second, and present embodiment is preferably 30 seconds, and close in GPS module 11, gyroscope 21 and accelerometer 31 pick up counting when opening.
The embodiment of the invention is also corresponding to provide a kind of portable terminal with auxiliary positioning function to realize the method for auxiliary positioning, sees also Fig. 3, and it realizes the method flow diagram of auxiliary positioning for portable terminal.
S110, receive gps data in real time, obtain latitude and longitude coordinates, sea level elevation and the present speed of portable terminal by the GPS module.
S120, judge whether gps signal is normal, if, execution in step S110 then, otherwise execution in step S130;
S130, open gyroscope and accelerometer, close the GPS module simultaneously, and latitude and longitude coordinates, sea level elevation and present speed that the GPS module is obtained are respectively as initial coordinate, initial sea level elevation and initial velocity.
S140, by the anglec of rotation of gyroscope survey portable terminal around X-axis, Y-axis and Z axle, the acceleration that advances by the accelerometer measures portable terminal simultaneously, and calculate the current speed of portable terminal;
S150, according to the described anglec of rotation and current speed, and, calculate current latitude and longitude coordinates and sea level elevation in conjunction with described initial coordinate, initial sea level elevation and initial velocity;
S160, judge whether gps signal recovers normal; If, then open GSP module and execution in step S110, close gyroscope and accelerometer simultaneously; Otherwise, execution in step S140.
In order to improve gyrostatic measuring accuracy, after step S140, described method further comprises: the data of opening magnetometer correction gyroscope survey.Obtain the direction before the portable terminal and the angle of earth North and South direction by magnetometer, and the working direction that this angle and gyroscope survey data are obtained and the angle of earth North and South direction compare, data to gyroscope survey are revised, and upgrade the current working direction of portable terminal.
In step S150, microprocessor is opened the GPS module one time every 20-60 second, and judges whether gps signal recovers normal.After gps signal recovered normally, the GPS module was got back to normal mode of operation.
In sum, the portable terminal that the embodiment of the invention provides is when positioning with navigation application, even gps signal variation or disappearance can position and navigation application the blind area of having eliminated location navigation equally.The GPS module starts automatically according to the situation of gps signal fully and closes, and the user can not feel the variation of GPS application function to have good user experience effect fully.
In addition, when gps signal is bad, the present invention adopts and closes the GPS module, allow the GPS module enter low power consumpting state, avoided GPS module continuous search of satellite signals when poor signal, the unnecessary power consumption that causes, and the power consumption of gyroscope and accelerometer is significantly smaller than the power consumption of GPS module, thus improved the time that battery uses.
Simultaneously, the invention process magnetometer is constantly revised gyrostatic error, has improved the precision of portable terminal assisting navigation.
Be understandable that, for those of ordinary skills, can be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, and all these changes or replacement all should belong to the protection domain of the appended claim of the present invention.
Claims (10)
1. the portable terminal with auxiliary positioning function is characterized in that, comprising:
The GPS module is used for receiving in real time gps data, obtains latitude and longitude coordinates, sea level elevation and the present speed of portable terminal;
Gyroscope is used to measure the anglec of rotation of portable terminal around X-axis, Y-axis and Z axle;
Accelerometer is used to obtain the acceleration that portable terminal advances, and calculates the current speed of portable terminal;
Microprocessor is used to control the keying of GPS module, gyroscope and accelerometer; Wherein, described microprocessor is used for cutting out the GPS module when gps signal is undesired, open gyroscope and accelerometer simultaneously, latitude and longitude coordinates, sea level elevation and the present speed that the GPS module is obtained be respectively as initial coordinate, initial sea level elevation and initial velocity, and according to the anglec of rotation and the current latitude and longitude coordinates and the sea level elevation of speed calculation portable terminal of gyroscope and accelerometer measures;
Described GPS module, gyroscope and accelerometer are connected with microprocessor respectively.
2. the portable terminal with auxiliary positioning function according to claim 1 is characterized in that, also comprises the magnetometer of the data that are used to revise gyroscope survey, and described magnetometer is connected with microprocessor.
3. the portable terminal with auxiliary positioning function according to claim 1, it is characterized in that, microprocessor also is used for when gyroscope and accelerometer unlatching, and control GPS module was opened once every first schedule time, and judged whether gps signal recovers normal.
4. the portable terminal with auxiliary positioning function according to claim 3 is characterized in that, first schedule time was 20-60 second.
5. the portable terminal with auxiliary positioning function according to claim 2 is characterized in that, described microprocessor also is used to control magnetometer and opens once every second schedule time.
6. the portable terminal with auxiliary positioning function according to claim 5 is characterized in that, described second schedule time is 20-50 second.
7. a method that adopts the described portable terminal with auxiliary positioning function of claim 1 to realize auxiliary positioning is characterized in that, comprising:
Receive gps data in real time by the GPS module, obtain latitude and longitude coordinates, sea level elevation and the present speed of portable terminal;
Judge whether gps signal is normal, if, execution in step A then, otherwise execution in step C;
Open gyroscope and accelerometer, close the GPS module simultaneously, and latitude and longitude coordinates, sea level elevation and present speed that the GPS module is obtained are respectively as initial coordinate, initial sea level elevation and initial velocity;
By the anglec of rotation of gyroscope survey portable terminal around X-axis, Y-axis and Z axle, the acceleration that the while is advanced by the accelerometer measures portable terminal, and calculate the current speed of portable terminal;
According to the described anglec of rotation and current speed, and, calculate current latitude and longitude coordinates and sea level elevation in conjunction with described initial coordinate, initial sea level elevation and initial velocity;
Judge whether gps signal recovers normal; If, then open GSP module and execution in step A, close gyroscope and accelerometer simultaneously; Otherwise, execution in step D.
8. the portable terminal with auxiliary positioning function according to claim 7 is realized the method for auxiliary positioning, it is characterized in that described method further comprises after step D: the data of opening magnetometer correction gyroscope survey.
9. the portable terminal with auxiliary positioning function according to claim 7 is realized the method for auxiliary positioning, it is characterized in that, in step F, microprocessor control GPS module is opened once every 20-60 second, and judges whether gps signal recovers normal.
10. the portable terminal with auxiliary positioning function according to claim 8 is realized the method for auxiliary positioning, it is characterized in that, microprocessor control magnetic dynamometric is opened once every 20-50 second.
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