CN103604413A

CN103604413A - Space distance measurement method based on intelligent cell phone

Info

Publication number: CN103604413A
Application number: CN201310583811.4A
Authority: CN
Inventors: 桂巧; 李汇康; 安宇豪; 陈宇斌; 石晶; 丘施佛; 曾子璇
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2013-11-20
Filing date: 2013-11-20
Publication date: 2014-02-26

Abstract

A space ranging method based on a smart phone is realized through three major steps of indirect distance data collection, data processing and mathematical calculation. The advantages of the present invention are: (1) a method of indirect measurement by using a laser ranging module in stages, Obtain the parameters required for space ranging, avoiding the increase in equipment cost caused by simultaneous ranging of multiple laser ranging modules for similar products; The influence of the displacement from the starting point, while avoiding the complicated operation of using the rotating fixed bracket to obtain the angle change in the same method, makes the space measurement simpler and more convenient.

Description

A kind of space ranging method based on smart mobile phone

Technical field

The present invention relates to a kind of space ranging method, relate in particular to a kind of space ranging method based on smart mobile phone.

Background technology

Laser ranging is found range laser instrument as light source, according to the mode of laser work, can be divided into continuous wave laser and pulsed laser.The gas lasers such as He-Ne, krypton cadmium, argon ion are operated in continuous wave output state, for phase laser distance measurement; Two heterogeneous gallium arsenide semiconductor laser instruments, for infrared distance measurement; The solid state laser such as ruby, neodymium glass, finds range for pulse type laser.Laser range finder is because advantages such as high, the good directionality of laser brightness and monochromaticity, adds that electronic circuit half is integrated, conductor, compares with electro-optical distance instrument, not only day and night operation, but also can improve distance accuracy, obviously reduces power consumption and weight.But above-mentioned laser ranging technique to electron device require high, therefore cause the manufacturing cost of laser range finder high, limited on a large scale and promoted the use of, on the other hand, what this laser ranging technique was realized is contact range finding, measuring 2 distances must have any for distance-measuring equipment loca, cannot meet to a great extent user's demand.

The smart mobile phone application software ecosystem is constantly expanded at present, and the thing of this class of sensor and user interaction indispensability is performed meritorious deeds never to be obliterated, and the present invention has mainly used two class sensors, is respectively acceleration transducer and direction sensor.Acceleration transducer is again G-sensor, return to the acceleration value of x, y, z three axles, this numerical value comprises gravitational impact, unit is m/s^2, acceleration transducer is a kind of electronic equipment that can measure accelerating force, accelerating force is exactly in accelerator, to act on the power on object when object, like terrestrial gravitation-gravity.Accelerating force can be a constant, can be also variable, so its measurement range force of gravity inductor wants large.Direction sensor, referred to as O-sensor, returns to the angle-data of three axles, and the unit of directional data is angle.Mobile phone direction sensor refers to and is arranged on mobile phone the parts in which kind of direction state in order to detection of handset itself.

Summary of the invention

The object of the present invention is to provide a kind of space ranging method based on smart mobile phone, this distance-finding method has utilized multiple sensors and the computing power of embedded in mobile phone, solved that some is less demanding to measuring accuracy, measured point cannot reach, be subject to hindering, measuring the problems such as irregularity bulk area between measurement point, easy to carry, simple and quick.

The present invention realizes according to following technical scheme, it is characterized in that method step is:

(1) indirect distance data acquisition, is used laser ranging module surely to take on localization method measuring equipment by single armed and divides the air line distance that is clipped to tested point;

(2) data processing, in the measuring process of the first step, through obtaining the 3-axis acceleration sensor of smart mobile phone inside and y axle acceleration component and equipment and positive northern angle that direction sensor returns after noise reducing pre-service, by mathematical relation, transform the angle of the equipment of obtaining and surface level and the angle that twice measuring process shone upon on surface level.

(3) mathematical computations, by this distance-finding method modeling is obtained to formula:

; Wherein AB represents 2, target measurement space distance, AO indication equipment loca O is to the air line distance of measurement point A, BO indication equipment loca O is to the air line distance of measurement point B, the angle ∠ AOC of measuring equipment and surface level OCD when ∠ a represents for the first time, the angle ∠ BOD of equipment and surface level OCD when ∠ b represents to measure for the second time, ∠ c represents that twice measuring process is mapped to angle ∠ COD on surface level OCD.

Laser ranging module of the present invention is special professional stadimeter, and it closely fixes, supports that with mobile phone is detachable bluetooth is connected and gathers the laser range finder of indirect distance data.

Smart mobile phone of the present invention, is realized wireless data communications and by realizing mobile phone terminal in conjunction with mobile phone A PP, the data acquisition and control of laser ranging module end is processed by bluetooth and laser ranging module.

Mobile phone A PP of the present invention is the mobile application on smart mobile phone that operates in of writing based on smart mobile phone OS (Android and ios), it is the data processing end of ranging scheme, and to service logic, provide unified interface, major function for process from the data of laser ranging module by mathematical computations derive, the process such as error analysis processing obtains final required separation distance information; And send command information to laser ranging module, make it carry out the actions such as data acquisition.

Noise reducing pre-service of the present invention, its by Kalman filtering algorithm to sensor repeatedly sampling processing fall the white Gaussian noise in sample value, improve the stability of measurement data.

Single armed of the present invention is takeed on localization method surely, it is characterized in that step is as follows:

(1) arm stretches, and points to first measurement point;

(2) arm stretches, and the shoulder joint of take is rotated arm to the second measurement point as summit.

Advantage of the present invention is: (1) adopts the gradation of a laser ranging module to carry out the method for indirectly measuring, and obtains the needed parameter of space ranging, and the equipment cost of avoiding like product to adopt many laser rangings module simultaneously to find range bringing increases; (2) by the single armed of original creation, surely take on localization method, realize twice range finding and avoided the impact that causes range finding starting point to be subjected to displacement, avoided adopting rotary fixed bracket to obtain angle with class methods changes the complex operations of bringing, makes space measurement more simple and easy simultaneously; (3) the noise reducing pre-service before sensing data calculating, and in conjunction with multiple sensors data, measuring error is compensated, the error optimization that sensor brings is within controlled range; (4) computation model, simultaneously to the unavoidable error bringing because of range finding position, carries out mathematical analysis, makes user can understand the confidence level of range finding.

Accompanying drawing explanation

Fig. 1 is space ranging exemplary plot of the present invention.

Fig. 2 is space ranging schematic diagram of the present invention.

Embodiment

In the technical solution used in the present invention, laser ranging module, smart mobile phone and mobile phone A PP have formed two subsystems, be data, services subsystem and object ranging subsystem: data, services subsystem is comprised of smart mobile phone and mobile phone A PP, major function, for the data that laser ranging module provided by location algorithm are converted into target range information, provides range information service to client; Object ranging subsystem is comprised of laser ranging module and smart mobile phone, and major function is recorded the required collateral information of object ranging and imported into smart mobile phone end by bluetooth by laser range finder.

As shown in Figure 1 and Figure 2, range finding flow process of the present invention by: use single armed surely take on localization method record respectively equipment to the air line distance of 2 of survey targets, by interior of mobile phone 3-axis acceleration sensor and direction sensor, obtain respectively the component of acceleration of y axle and the angle in equipment and positive north, adopt Kalman filtering algorithm to sensor repeatedly sampling processing fall the white Gaussian noise in sample value, improve the stability of measurement data.Set up space ranging computation model, the y axle acceleration component recording is converted into the angle of equipment and surface level, two secondary devices that record and positive northern angle are converted into the angle that twice measuring process shone upon on surface level

By this formula:

Wherein AB represents 2, target measurement space distance, AO indication equipment loca O is to the air line distance of measurement point A, BO indication equipment loca O is to the air line distance of measurement point B, the angle ∠ AOC of measuring equipment and surface level OCD when ∠ a represents for the first time, the angle ∠ BOD of equipment and surface level OCD when ∠ b represents to measure for the second time, ∠ c represents that twice measuring process is mapped to angle ∠ COD on surface level OCD.

Claims

1. A method for space ranging based on smart phones, characterized in that the method steps are:

(1) Indirect distance data collection, using the laser ranging module to measure the straight-line distance from the equipment to the point to be measured through the single-arm fixed shoulder positioning method;

(2) Data processing, after the noise reduction preprocessing in the first step of the measurement process, the y-axis acceleration component returned by the three-axis acceleration sensor and the direction sensor inside the smartphone and the angle between the device and true north are obtained, through mathematics The relationship is transformed to obtain the angle between the equipment and the horizontal plane and the angle mapped on the horizontal plane by the two measurement processes;

(3) Mathematical calculation, the formula is obtained by modeling the ranging method:

; where AB represents the distance between two points in the target measurement space, AO represents the straight-line distance from the equipment point O to the measurement point A, BO represents the straight-line distance from the equipment point O to the measurement point B, ∠a represents the measurement equipment and the horizontal plane for the first time The included angle of OCD ∠AOC, ∠b indicates the included angle ∠BOD between the equipment and the horizontal plane OCD during the second measurement, and ∠c indicates that the two measurement processes are mapped to the angle ∠COD on the horizontal plane OCD.

2. A smart phone-based space ranging method according to claim 1, characterized in that: the laser ranging module is a professional rangefinder, which is detachably and tightly fixed with the mobile phone, supports Bluetooth connection and collects indirect Laser range finder for distance data.

3. a kind of space ranging method based on smart phone according to claim 1, is characterized in that: described smart phone realizes wireless data communication by bluetooth and laser distance measuring module and realizes mobile phone end to laser by combining mobile phone APP Data acquisition and control processing at the ranging module end.

4. A kind of space ranging method based on smart phone according to claim 1 or 3, characterized in that: the mobile phone APP is a mobile application based on smart phone OS written and running on the smart phone, and is a ranging scheme It provides a unified interface for business logic, processes data from the laser ranging module, sends instruction information to the laser ranging module, and makes it perform data collection and other actions.

5. a kind of space ranging method based on smart phone according to claim 1, is characterized in that: described single-arm fixed shoulder positioning method step is as follows:

(1) Straighten the arm and point to the first measurement point;

(2) Straighten the arm, and turn the arm with the shoulder joint as the vertex to point to the second measurement point.