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WO2017193252A1 - Appareil, système et procédé d'enregistrement et de présentation de piste de déplacement d'animal - Google Patents

Appareil, système et procédé d'enregistrement et de présentation de piste de déplacement d'animal Download PDF

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Publication number
WO2017193252A1
WO2017193252A1 PCT/CN2016/081396 CN2016081396W WO2017193252A1 WO 2017193252 A1 WO2017193252 A1 WO 2017193252A1 CN 2016081396 W CN2016081396 W CN 2016081396W WO 2017193252 A1 WO2017193252 A1 WO 2017193252A1
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WO
WIPO (PCT)
Prior art keywords
animal
coordinate system
module
motion trajectory
motion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/081396
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English (en)
Chinese (zh)
Inventor
郑勇
王忠山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Water World Co Ltd
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Shenzhen Water World Co Ltd
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Publication date
Application filed by Shenzhen Water World Co Ltd filed Critical Shenzhen Water World Co Ltd
Priority to PCT/CN2016/081396 priority Critical patent/WO2017193252A1/fr
Publication of WO2017193252A1 publication Critical patent/WO2017193252A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
    • A01K11/008—Automatic identification systems for animals, e.g. electronic devices, transponders for animals incorporating global positioning system [GPS]

Definitions

  • the invention belongs to the field of positioning technology, and in particular relates to a device, a system and a method for recording and presenting a motion track of an animal.
  • a wearable device is a portable device that is worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are more than just a hardware device. They also implement powerful functions through software support, data interaction, and cloud interaction. Wearable devices will make a big difference in our lives and perceptions.
  • Animal wearables allow people to better understand the movements, current location and other important information of animals such as dogs and horses. People wear animal wearables on pets to prevent pets from being lost.
  • the trajectory tracking function of the existing animal wearing equipment mainly relies on GNSS, and there is no motion trajectory tracking function in the blind area of the GNSS.
  • the motion trajectory tracking function relies on the use of an electronic map of the navigation coordinate system. In some places of the electronic map without the navigation coordinate system, such as indoors, the motion trajectory is also difficult to present.
  • the technical problem to be solved by the present invention is to provide a device, system and method for recording and presenting an animal's motion trajectory, aiming at solving the problem that the existing animal wearing device cannot be positioned in the GPS blind zone.
  • the present invention is achieved by a device for recording an animal's trajectory, the device being fixed to an animal, comprising:
  • a sensor module for collecting motion parameters of an animal in an animal carrier coordinate system
  • a positioning module for locating specific location information of an animal in real time in an area having a global navigation satellite system signal
  • a baseband processing and application processing module respectively connected to the sensor module and the positioning module, configured to receive the motion parameter and the specific location information, and calculate the coordinate in the animal carrier coordinate system according to the motion parameter The heading angle information, and then calculating the azimuth and displacement of the animal in the geographic coordinate system according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information;
  • a storage module respectively connected to the sensor module, the positioning module, and the baseband processing and application processing module, configured to store the motion parameter, the specific location information, and the baseband processing and application processing module in operation Intermediate data in the process;
  • the power management module is respectively connected to the sensor module, the positioning module, the baseband processing and application processing module and the storage module, for providing power and controlling the switch of the device.
  • the device further includes:
  • a barometer respectively connected to the baseband processing and application processing module, the storage module and the power management module, for measuring the air pressure value of the animal in real time, and comparing the air pressure value with the relationship between the air pressure and the height The height value at which the animal is located;
  • the baseband processing and application processing module is further configured to convert the height value into a height value in the geographic coordinate system
  • the radio frequency module is respectively connected to the baseband processing and application processing module and the power management module, and wirelessly transmits the azimuth and displacement or the height value.
  • the present invention also provides an apparatus for presenting an animal's motion trajectory, comprising:
  • a receiving module configured to receive azimuth, displacement, and altitude values in the geographic coordinate system, or to receive the specific location information of an animal in an area having a global navigation satellite system signal;
  • the origin confirmation module is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears;
  • a calculation module configured to calculate, according to the azimuth angle, the displacement, and the height value, a coordinate point of the animal moving at each moment in a geographic coordinate system
  • a rendering module which uses the origin as a starting point to connect the coordinate points of the movements at each moment into a motion trajectory, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.
  • calculation module includes:
  • a first calculating sub-unit calculating a height value difference of consecutive time intervals, and if the height value difference is less than a preset height, calculating a coordinate point of each moment of the animal by using a calculation method of a motion trajectory of the horizontal plane;
  • the second calculating subunit calculates a height value difference of the continuous time interval. If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.
  • the present invention also provides a system for recording and presenting an animal's motion trajectory, including a device for recording an animal's motion trajectory and a device for presenting an animal's motion trajectory;
  • the means for recording the trajectory of the animal is coupled to the means for presenting the trajectory of the animal for recording specific location information of the animal in the area having the GNSS signal, or for recording in the absence of a global navigation satellite system
  • the device for presenting an animal's motion trajectory draws an animal's motion trajectory in a navigation coordinate system according to the specific location information, or calculates an animal's motion at various moments according to the azimuth angle, the displacement, and the height value.
  • the coordinate points are connected to the animal's motion trajectory according to the coordinate points at each moment.
  • the device for recording an animal's motion trajectory includes:
  • a sensor module for collecting motion parameters of an animal in an animal carrier coordinate system
  • a barometer respectively connected to the baseband processing and application processing module, the storage module and the power management module, for measuring the air pressure value of the animal in real time, and comparing the air pressure value with the relationship between the air pressure and the height The height value at which the animal is located;
  • a positioning module for locating specific location information of an animal in real time in an area having a global navigation satellite system signal
  • a baseband processing and application processing module respectively connected to the sensor module, the barometer, the positioning module, for receiving the motion parameter, the height value, and the specific location information, and according to the motion Calculating the heading angle information in the animal carrier coordinate system, and calculating the azimuth and displacement of the animal in the geographic coordinate system according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information;
  • the radio frequency module is respectively connected to the baseband processing and application processing module and the power management module, and wirelessly transmits the azimuth and displacement or the height value;
  • a storage module respectively connected to the sensor module, the barometer, the positioning module, and the baseband processing and application processing module, configured to store the motion parameter, the height value, the specific location information, and The baseband processing and application processing module intermediate data in the operation process;
  • the power management module is respectively connected to the sensor module, the positioning module, the baseband processing and application processing module and the storage module, for providing power and controlling the switch of the device.
  • the device for presenting an animal's motion trajectory includes:
  • a receiving module configured to receive azimuth, displacement, and altitude values in the geographic coordinate system, or to receive the specific location information of an animal in an area having a global navigation satellite system signal;
  • the origin confirmation module is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears;
  • a calculation module configured to calculate, according to the azimuth angle, the displacement, and the height value, a coordinate point of the animal moving at each moment in a geographic coordinate system
  • a rendering module which uses the origin as a starting point to connect the coordinate points of the movements at each moment into a motion trajectory, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.
  • the present invention also provides a method of recording and presenting an animal's motion trajectory, comprising the steps of:
  • the latitude and longitude information of the vanishing point is taken as the origin of the geographic coordinate system, and the coordinates of the movement of the animal at various moments in the geographic coordinate system are calculated according to the azimuth angle, the displacement and the height value. ;
  • the coordinate points of the movements at the respective moments are connected into a motion trajectory starting from the origin, or a motion trajectory of the animal drawn in the navigation coordinate system according to the specific position information.
  • the calculating, according to the azimuth angle, the displacement, and the height value, the coordinate points of the animals moving in the geographic coordinate system at each moment include:
  • the calculation method of the motion trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment;
  • the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.
  • the real-time recording in the region without the global navigation satellite system signal, the azimuth, displacement and height values of the animal in the geographic coordinate system specifically include:
  • the azimuth and displacement of the animal in the geographic coordinate system are calculated according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information.
  • the device for recording the movement track of the animal uses the positioning module to locate the specific location information of the animal in real time when the GNSS or GPS signal is present, and displays the motion track of the animal on the electronic map.
  • the sensor module is used to collect the motion parameters of the animal in the animal carrier coordinate system
  • the baseband processing and application processing module is used to process the motion parameters to obtain azimuth and displacement, thereby knowing the approximate position of the animal and Movement track. In order to facilitate people to know the location and movement track of the animal in real time.
  • FIG. 1 is a schematic structural diagram of an apparatus for recording an animal's motion trajectory according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an apparatus for presenting an animal's motion trajectory according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of an apparatus for presenting an animal's motion trajectory according to another embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a system for recording and presenting an animal's motion trajectory according to an embodiment of the present invention
  • FIG. 5 is a schematic flowchart diagram of a method for presenting an animal motion track according to an embodiment of the present invention
  • FIG. 6 is a schematic flow chart of a method for recording and presenting an animal's motion trajectory according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram showing the relationship between an animal carrier coordinate system and a geographic coordinate system in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a navigation coordinate system in an embodiment of the present invention.
  • FIG. 9 is a schematic diagram showing the relationship between a geographic coordinate system and a navigation coordinate system in an embodiment of the present invention.
  • FIG. 10 is a schematic flowchart of a long-term fusion algorithm in an embodiment of the present invention.
  • Figure 11 is a schematic view showing the movement trajectory of the animal in the horizontal plane of the geographic coordinate system in the embodiment of the present invention.
  • FIG. 12 is a schematic diagram showing the movement trajectory of an animal in a three-dimensional space of a geographic coordinate system according to an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of an apparatus for recording an animal's motion trajectory according to an embodiment of the present invention.
  • the apparatus for recording an animal's motion trajectory is fixed on an animal, and specifically includes: a baseband processing and application processing module 101, and a sensor module. 102.
  • the detailed description of each module is as follows:
  • the sensor module 102 is configured to collect motion parameters of the animal in the animal carrier coordinate system.
  • the sensor module 102 can accurately monitor the position information of the animal's position and motion.
  • the attitude information includes a pitch angle ⁇ (pitch), a yaw angle yaw (yaw), a roll angle ⁇ (roll), a direction angle, a heading angle, and the like.
  • the motion parameters may be acceleration, angular velocity, magnetic field strength, and the like.
  • the acceleration and angular velocity of the animal reflect the state of motion of the animal.
  • Positioning module 103 for use in a global navigation satellite system (GNSS, Global Navigation)
  • GNSS Global Navigation Satellite System
  • the Satellite System locates the specific location information of the animal in real time within the area of the signal.
  • the baseband processing and application processing module 101 is respectively connected to the sensor module 102 and the positioning module 103 for receiving motion parameters and specific position information, and calculating the heading angle information in the animal carrier coordinate system according to the motion parameters, and then according to the animal.
  • the relationship between the carrier coordinate system and the geographic coordinate system and the heading angle information calculate the azimuth and displacement of the animal in the geographic coordinate system.
  • the baseband processing and application processing module 101 can use the MTK6580 Cortex
  • the A7 quad-core 1.4G processor is responsible for recording and computing the attitude information in the animal carrier coordinate system.
  • the Euler transform matrix of the animal carrier coordinate system and the geographic coordinate system may be used to obtain the heading angle information of the geographic coordinate system from the heading angle information of the animal carrier coordinate system.
  • the attitude information includes a pitch angle ⁇ (pitch), a yaw angle yaw (yaw), a roll angle ⁇ (roll), and the like.
  • the storage module 109 is connected to the sensor module 102, the positioning module 103, and the baseband processing and application processing module 101, respectively, for storing motion parameters, specific position information, azimuth, displacement, and baseband processing and application processing module 101 in the operation process. Intermediate data.
  • the storage module 109 includes EMMC (Embedded) Multi Media Card) and T card support for high speed memory systems.
  • the power management module 106 is connected to the sensor module 102, the positioning module 103, the baseband processing and application processing module 101, and the storage module 109, respectively, for providing power and controlling the on/off of the device.
  • Animal carrier coordinate system defined as the origin of the animal's center of mass, OX b axis and OY b axis in the local horizontal plane, OX b axis pointing to the right side of the carrier, OY b axis along the longitudinal axis of the carrier and pointing forward, OZ b perpendicular to The carrier is upright.
  • the OX b Y b Z b coordinate system constitutes a right-handed rectangular coordinate system.
  • OX b Y b is the horizontal plane
  • the OZ b axis is perpendicular to the horizontal plane formed by OX b Y b and points to the zenith.
  • the geographic coordinate system is defined as the origin of the earth surface where the carrier is located.
  • the origin O of the geographic coordinate system is selected at the center of mass of the carrier, the X n axis points to the north, the Y n axis points to the sky, and the Z n axis points to the east.
  • the attitude angle of the animal carrier coordinate system rotating around the X coordinate of the geographic coordinate system is called the roll angle ⁇ (roll );
  • the attitude angle of the animal carrier coordinate system rotating around the Y coordinate of the geographic coordinate system is called the pitch angle ⁇ ( pitch );
  • the attitude angle of the carrier coordinate system around the Z coordinate of the geographic coordinate system is called the yaw angle yaw. See Figure 7 for the relationship between the animal carrier coordinate system and the geographic coordinate system.
  • FIG. 8 is a schematic diagram of a navigation coordinate system according to an embodiment of the present invention.
  • the navigation coordinate system and the origin O of the world geodetic coordinate system are both at the center of the earth, and OZ w points to the protocol ground defined by the International Time Bureau (BIH) 1984.0.
  • the OX w axis points to the intersection of the protocol meridian plane of BIH1984.0 and the CTP equator, and the OY w axis and OX w and OZ w form the right-handed coordinate system.
  • the WGS-84 coordinate system is a protocol earth coordinate system that is consistent with the Earth coordinate system.
  • the coordinate system used by GPS is the coordinate system. See Figure 9 for the relationship between the geographic coordinate system and the navigational coordinate system.
  • the positioning module 103 includes GPS (Global Positioning) System, Global Positioning System), WiFi (WIreless-Fidelity, Wireless Fidelity), BT (Bit Torrent, bitstream), Beidou II and FM (frequency Modulation, FM module, etc.
  • the positioning module 103 is responsible for handling the positioning functions of the GPS/WiFi/BT/FM/Beidou II and the like together with the antenna 107.
  • the apparatus also includes a barometer 104.
  • the barometer 104 is connected to the baseband processing and application processing module 101, the storage module 109 and the power management module 106, respectively, for measuring the air pressure value of the animal in real time, and comparing the air pressure value with the height and the height to obtain the height of the animal. value.
  • the barometer 104 enables extremely high resolution pressure and height measurements with an accuracy of up to centimeter.
  • the baseband processing and application processing module 101 converts the height value to a height value in the geographic coordinate system.
  • the apparatus may further include: a radio frequency module 105, an audio module 110, and a camera 111.
  • the radio frequency module 105 is connected to the baseband processing and application processing module 101 and the power management module 106, and wirelessly transmits azimuth, displacement, specific location information or altitude values.
  • the radio frequency module 105 supports various communication forms such as WIFI/2G/3G/4G, and completes reception and transmission of radio frequency signals with the antenna 108.
  • the audio module 110 is coupled to the baseband processing and application processing module 101 for emitting an alarm audio signal.
  • an alarm signal is generated for prompting the animal or monitoring the animal's motion status in real time.
  • the camera 111 is coupled to the baseband processing and application processing module 101 for capturing the motion of the animal.
  • the captured video can be transmitted by the radio frequency module 105 to a device that presents an animal's motion trajectory to facilitate real-time understanding of the animal's condition.
  • the sensor module 102 can be a MEMS (Micro electro Mechanical) Systems, MEMS) 9-axis sensor, 9-axis sensor including three-axis accelerometer, three-axis gyroscope and three-axis magnetic field meter.
  • MEMS Micro electro Mechanical
  • the three-axis accelerometer is mainly used to measure the acceleration of the animal
  • the three-axis gyroscope is used to measure the angular velocity under the animal carrier coordinate system X-Y-Z
  • the three-axis magnetometer is used to measure the magnetic field strength under the animal carrier coordinate system X-Y-Z.
  • the measurement error of the sensor module 102 is mainly due to the integral error of the three-axis gyroscope and the accelerometer error caused by the vibration, so that the obtained motion parameter is not accurate. Therefore, a long-term fusion algorithm can be used to correct the parameters derived from the gyroscope integration.
  • Long-term integration is divided into two phases. The first phase is to obtain direct parameters. The quantities directly measured include acceleration and magnetic field strength. The second stage is to correct the current parameters with the parameters obtained by direct measurement. Because the gravity and magnetic fields in the geographic coordinate system are constant, the gravity vector and the magnetic field vector in the geographic coordinate system are converted into the animal carrier coordinate system.
  • the gravity vector and magnetic field vector of the animal carrier coordinate system are converted to the animal carrier coordinates.
  • the animal carrier coordinate system can be corrected, and the accurate heading angle information of the animal carrier coordinate system can be obtained.
  • Methods for eliminating errors include Kalman filtering, complementary filtering, and attitude interpolation.
  • FIG. 10 The schematic diagram of the process of the long-term fusion algorithm is shown in FIG. 10, specifically:
  • the initialization is not completed, then various initializations are continued; if the initialization is completed, the timer is used to trigger the measurement, and the quantities to be measured are acceleration, angular velocity, magnetic field strength, and barometric pressure. All measurement processes are completed in a timed interrupt.
  • the measurement results are saved and the status is transferred to the ready measurement state.
  • angle (angle) Tn angle (angle) Tn-1 + ⁇ Tn Tn-1 wdt is calculated, where angle (angle) Tn is the angle of time Tn, angle (angle) Tn-1 is The angle of Tn-1 moment, w is the angular velocity of the gyroscope.
  • the value obtained by the three-axis gyroscope in the short-term measurement is relatively accurate, but due to the temperature drift, after the integration, the value obtained in the long period of time will have a large error, resulting in being unusable. Therefore, the angle is corrected by the three-axis accelerometer and the three-axis magnetic field meter.
  • the parameters measured by the three-axis accelerometer in a short period of time are inaccurate, the noise is relatively large, and the three-axis magnetic field meter is susceptible to external interference, so three Axis gyroscope Qualcomm, three-axis accelerometer and three-axis magnetic field meter are low-pass and then a certain proportion of fusion, in order to more accurately change the reaction angle.
  • angle (angle) ⁇ ⁇ gyroscope angle value + ( 1- ⁇ ) ⁇ acceleration / angular velocity calculation, wherein the acceleration and angular velocity are the parameters obtained by the three-axis accelerometer and the three-axis gyroscope in the same animal carrier coordinate system.
  • the coefficient ⁇ can be obtained by an experimental sampling test.
  • FIG. 2 is a schematic structural diagram of an apparatus for presenting an animal motion track according to an embodiment of the present invention.
  • the device for presenting the motion track of the animal may be implemented by software, may be implemented by hardware, or may be implemented by a combination of software and hardware.
  • it can be implemented by an APP application running on a mobile terminal, which can support both Android and IOS systems.
  • the device for presenting an animal motion track mainly includes: a receiving module 201, an origin confirmation module 202, a calculation module 204, and a presentation module 205.
  • the detailed description of each function module is as follows:
  • the receiving module 201 is configured to receive azimuth, displacement and altitude values in a geographic coordinate system, or receive in a Global Navigation Satellite System (GNSS, Global Navigation) Satellite System) The specific location information of the animal within the area of the signal.
  • GNSS Global Navigation Satellite System
  • the origin confirmation module 202 is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears.
  • the direction of the X/Y/Z axis is the direction of the geographic coordinate system.
  • the corresponding relationship is that the displayed X axis represents the east-west direction of the horizontal plane, the Y axis represents the north-south direction of the horizontal plane, and the Z axis represents the height.
  • the calculation module 204 is configured to calculate coordinate points of the animals moving in the geographic coordinate system at various moments according to the azimuth, displacement and height values.
  • the calculation module 204 can perform the fusion calculation on the attitude information combined with the heading angle information and the height value by using the dead reckoning method to obtain the three-dimensional coordinates of the animal in the X-Y-Z axis of the geographic coordinate system.
  • Dead reckoning is a technique that uses the current position and velocity of an object to estimate future position and direction.
  • the animal By reading the height difference of the barometers for successive time intervals, when the height difference is less than a threshold, the animal moves in the horizontal plane, and the coordinates of the animal are calculated using the calculation method of the trajectory of the horizontal plane.
  • the height difference is greater than a threshold, the animal moves in three dimensions, and the coordinates of the animal are calculated using a calculation method of the motion trajectory in three dimensions.
  • the presentation module 205 connects the coordinate points of the respective moments of movement to the motion trajectory starting from the origin, or the motion trajectory of the animal drawn in the navigation coordinate system according to the specific position information. That is to say, using the geographic coordinate system to draw points, each point is connected in time series by line segments to form a motion track.
  • the animal in the region where the global navigation satellite system signal is present, the animal is presented in a moving coordinate system in the navigation coordinate system. In areas where there is no GNSS signal, the animal's trajectory is presented in a geographic coordinate system.
  • FIG. 3 is a schematic structural diagram of an apparatus for presenting an animal motion trajectory according to another embodiment of the present invention.
  • the main difference lies in the calculation module 204 and the conversion module 203.
  • the calculation module 204 is described.
  • the calculation module 204 includes a first calculation subunit 2041 and a second calculation subunit 2042.
  • the first calculating sub-unit 2041 calculates the difference in height value of the continuous time interval. If the difference in the height value is less than the preset height, the coordinate point of the moving trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment.
  • the second calculating sub-unit 2042 calculates the height value difference of the continuous time interval. If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space motion trajectory is used to calculate the coordinate points of the animal at each moment.
  • the conversion module 203 is configured to convert the heading angle information in the animal carrier coordinate system into an azimuth and a displacement in a geographic coordinate system.
  • the conversion matrix of the animal carrier coordinate system and the navigation coordinate system may be used to obtain the heading angle information of the geographic coordinate system from the heading angle information of the animal carrier coordinate system.
  • the attitude information includes a pitch angle ⁇ (pitch), a yaw angle yaw (yaw), a roll angle ⁇ (roll), and the like.
  • the transformation module 203 converts the motion parameters of the motion carrier coordinate system into azimuths and displacements of the geographic coordinate system.
  • the implementation of this function can be implemented in a device that presents an animal's trajectory, either at the APP end or in a device that records the animal's trajectory, ie, on an animal's wearable device.
  • the calculation method of the trajectory of the animal in the horizontal plane is:
  • Figure 11 is a schematic diagram of the movement of animals in the horizontal plane of the geographic coordinate system.
  • the coordinates are (X 0 , Y 0 ), and the displacement L 0 to B along the azimuth ⁇ 1
  • the coordinate of point B is (X 1 , Y 1 )
  • the azimuth angle ⁇ 1 is the angle between the walking direction and the X axis.
  • the displacement L 1 to C is along the azimuth angle ⁇ 2
  • the coordinate of the C point is (X 2 , Y 2 ), where the orientation
  • the angle ⁇ 2 is the angle between the walking direction and the X axis.
  • the displacement L 2 to D is along the azimuth angle ⁇ 3 , and the coordinates of the D point are ( X 3 , Y 3 ), where the azimuth angle ⁇ 3 is the angle between the walking direction and the X-axis.
  • the displacement L 3 to E is along the azimuth angle ⁇ 4 , and the coordinates of the E point are ( X 4 , Y 4 ), wherein the azimuth angle ⁇ 4 is The angle between the walking direction and the X axis, at time T 4 at E, travels along the azimuth angle ⁇ 5 to the displacement L 4 to F, the coordinate of the F point is (X 5 , Y 5 ), where the azimuth angle ⁇ 5 is the walking direction
  • the angle with the X axis, the displacement L i the step length * the number of steps, this is the absolute displacement of the animal carrier coordinate system obtained from the accelerometer. From Fig.
  • the points are sequentially connected in time series by line segments, and the motion track of the animal can be obtained.
  • the trajectory calculation method for animals moving in three-dimensional space is:
  • FIG. 12 is a schematic diagram of the movement trajectory of the animal in the three-dimensional space of the geographic coordinate system.
  • the coordinates are (X 0 , Y 0 , Z 0 ), and the displacement LL 0 to B is along the azimuth angle ⁇ 1 , and the coordinates of point B are ( X 1 , Y 1 , Z 1 ), where the azimuth angle ⁇ 1 is the angle between the walking direction and the X axis.
  • the displacement LL 1 to C is along the azimuth angle ⁇ 2 , and the coordinates of the C point are ( X 2 , Y 2 , Z 2 ), wherein the azimuth angle ⁇ 2 is the angle between the walking direction and the X axis.
  • the points are sequentially connected in time series by line segments, and the motion track of the animal can be obtained.
  • the azimuth, displacement, height value and specific position information obtained by the receiving module 201 in the device for recording the motion track of the animal are received, and then the motion coordinate points in the geographic coordinate system are calculated, thereby realizing the GNSS.
  • Both the signal and the GNSS blind zone can display the animal's motion trajectory, thus achieving the function of recording and playback.
  • FIG. 4 is a schematic structural diagram of a system for recording and presenting an animal's motion trajectory according to an embodiment of the present invention.
  • the system for recording and displaying an animal's motion trajectory includes a device 41 for recording an animal's motion trajectory and a motion trajectory for presenting an animal.
  • Device 42 for recording an animal's motion trajectory and a motion trajectory for presenting an animal.
  • a means 41 for recording the trajectory of the animal is coupled to means 42 for presenting the trajectory of the animal for recording specific location information of the animal in the area where the GNSS signal is present, or for recording in the absence of GNSS signals.
  • the azimuth, displacement, and altitude values of the animal in the geographic coordinate system are sent to the device 42 that presents the animal's motion trajectory.
  • the means 41 for recording the trajectory of the animal and the means 42 for presenting the trajectory of the animal can be connected by wireless or by wire.
  • the device 41 for recording the motion track of the animal can be connected to the device 42 for presenting the motion track of the animal through hardware such as WIFI/2G/3G/4G, thereby realizing data transmission.
  • the device 42 for presenting the trajectory of the animal draws the motion trajectory of the animal in the navigation coordinate system according to the specific position information, or calculates the coordinate point of the movement of the animal at each moment according to the azimuth, displacement and height values, and according to each moment The coordinate points are connected to the animal's trajectory.
  • the means 41 for recording the trajectory of the animal includes:
  • the sensor module 102 is configured to collect motion parameters of the animal in the animal carrier coordinate system.
  • the barometer 104 is respectively connected to the baseband processing and application processing module 101, the storage module 109 and the power management module 106, and is used for real-time measurement of the air pressure value of the animal, and the relationship between the air pressure value and the altitude is obtained by the animal. Height value.
  • the positioning module 103 is configured to locate specific location information of the animal in real time in an area with a global navigation satellite system signal.
  • the baseband processing and application processing module 101 is respectively connected to the sensor module 102, the barometer 104, and the positioning module 103, and is configured to receive motion parameters, altitude values, and specific location information, and calculate the coordinates in the animal carrier according to the motion parameters.
  • the heading angle information is used to calculate the azimuth and displacement of the animal in the geographic coordinate system based on the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information.
  • the radio frequency module 105 is connected to the baseband processing and application processing module 101 and the power management module 106, and wirelessly transmits azimuth, displacement, specific location information or altitude values.
  • the storage module 109 is respectively connected to the sensor module 102, the barometer 104, the positioning module 103, and the baseband processing and application processing module 101 for storing acceleration, angular velocity, magnetic field strength, height value, specific position information, and baseband processing and application processing.
  • the intermediate data of the module in the operation process is respectively connected to the sensor module 102, the barometer 104, the positioning module 103, and the baseband processing and application processing module 101 for storing acceleration, angular velocity, magnetic field strength, height value, specific position information, and baseband processing and application processing.
  • the power management module 106 is connected to the sensor module 102, the positioning module 103, the baseband processing and application processing module 101, and the storage module 109, respectively, for providing power and controlling the on/off of the device.
  • the device 42 for presenting the motion track of the animal specifically includes:
  • the receiving module 201 is configured to receive azimuth, displacement, and altitude values in a geographic coordinate system, or to receive specific location information of the animal in an area having a global navigation satellite system signal.
  • the origin confirmation module 202 is configured to use the latitude and longitude information of the vanishing point as the origin of the geographic coordinate system when the global navigation satellite system signal disappears.
  • the direction of the X/Y/Z axis is the direction of the geographic coordinate system.
  • the corresponding relationship is that the displayed X axis represents the east-west direction of the horizontal plane, the Y axis represents the north-south direction of the horizontal plane, and the Z axis represents the height.
  • the conversion module 203 is configured to convert the heading angle information in the animal carrier coordinate system into the posture information in the geographic coordinate system.
  • the conversion module 203 may not be needed when the motion parameters in the animal carrier coordinate system have been converted to azimuth and displacement in the geographic coordinate system in a device for recording animal motion trajectories.
  • the conversion matrix of the animal carrier coordinate system and the navigation coordinate system may be used to obtain the heading angle information of the geographic coordinate system from the heading angle information of the animal carrier coordinate system.
  • the attitude information includes a pitch angle ⁇ (pitch), a yaw angle yaw (yaw), a roll angle ⁇ (roll), a displacement, and the like.
  • the calculation module 204 is configured to calculate a coordinate point of the animal moving at each moment in the geographic coordinate system according to the posture information and the height value.
  • the calculation module 204 can perform the fusion calculation on the attitude information combined with the heading angle information and the height value by using the dead reckoning method to obtain the three-dimensional coordinates of the animal in the X-Y-Z axis of the geographic coordinate system.
  • Dead reckoning is a technique that uses the current position and velocity of an object to estimate future position and direction.
  • the animal By reading the height difference of the barometers for successive time intervals, when the height difference is less than a threshold, the animal moves in the horizontal plane, and the coordinates of the animal are calculated using the calculation method of the trajectory of the horizontal plane.
  • the height difference is greater than a threshold, the animal moves in three dimensions, and the coordinates of the animal are calculated using a calculation method of the motion trajectory in three dimensions.
  • the presentation module 205 connects the coordinate points of the respective moments of movement to the motion trajectory starting from the origin, or the motion trajectory of the animal drawn in the navigation coordinate system according to the specific position information. That is to say, using the geographic coordinate system to draw points, each point is connected in time series by line segments to form a motion track.
  • the calculation module 204 includes a first calculation subunit 2041 and a second calculation subunit 2042.
  • the first calculating sub-unit 2041 calculates the difference in height value of the continuous time interval. If the difference in the height value is less than the preset height, the coordinate point of the moving trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment.
  • the second calculating sub-unit 2042 calculates the height value difference of the continuous time interval. If the height value difference is greater than or equal to the preset height, the coordinate point of the three-dimensional space motion trajectory is used to calculate the coordinate points of the animal at each moment.
  • the blind zone can also obtain the trajectory information of the animal in real time.
  • the trajectory of the animal is directly represented by the geographic coordinate system in the device for presenting the trajectory of the animal. This makes it easier for people to track the animals and further understand the animal's state of motion, and to facilitate the playback of the movement.
  • FIG. 5 is a schematic flowchart diagram of a method for presenting an animal motion track according to an embodiment of the present invention.
  • the method of presenting an animal's motion trajectory includes the following steps:
  • S501 Receive real-time location information of an animal in a region with a global navigation satellite system signal, or receive an azimuth, displacement, and altitude value of the animal in a geographic coordinate system in an area without a global navigation satellite system signal in real time.
  • the latitude and longitude information of the vanishing point is used as the origin of the geographic coordinate system, and the coordinate points of the animal moving at each moment in the geographic coordinate system are calculated according to the azimuth, displacement and height values.
  • S503 The coordinate points of the motions at each moment are connected into a motion trajectory starting from the origin, or the motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.
  • step S502 specifically includes:
  • the calculation method of the motion trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment.
  • the preset height is set according to actual needs.
  • the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.
  • FIG. 6 is a schematic flowchart diagram of a method for recording and presenting an animal's motion trajectory according to an embodiment of the present invention.
  • the method of recording and presenting an animal's motion trajectory includes the following steps:
  • S601 Recording, in real time, specific location information of animals in a region with a global navigation satellite system signal, or real-time recording of azimuth, displacement, and altitude values of the animal in a geographic coordinate system in an area without a global navigation satellite system signal.
  • the latitude and longitude information of the vanishing point is used as the origin of the geographic coordinate system, and the coordinate points of the animal moving at each moment in the geographic coordinate system are calculated according to the azimuth, displacement and height values.
  • S603 The coordinate points of the motions at each moment are connected into a motion trajectory starting from the origin, or the motion trajectory of the animal drawn in the navigation coordinate system according to the specific location information.
  • step S602 specifically includes:
  • the calculation method of the motion trajectory of the horizontal plane is used to calculate the coordinate points of the animal at each moment.
  • the coordinate point of the three-dimensional space is used to calculate the coordinate points of the animal at each moment.
  • Real-time recording of the heading angle information and height values of the animal in the animal carrier coordinate system in the region without the GNSS signal includes:
  • the animal's motion parameters and barometric pressure values were collected in real time in the animal carrier coordinate system.
  • the air pressure value is converted to the height value at which the animal is located, based on the relationship between air pressure and altitude.
  • the air pressure changes with height.
  • the real-time height value of the animal can be obtained by comparing the relationship between air pressure and altitude.
  • the heading angle information in the animal carrier coordinate system is calculated based on the motion parameters.
  • the azimuth and displacement of the animal in the geographic coordinate system are calculated according to the relationship between the animal carrier coordinate system and the geographic coordinate system and the heading angle information.
  • the motion parameters of the animal can be collected by the sensor module 102, and the approximate position and trajectory of the animal can be known by combining dead reckoning and inertial navigation.
  • the collected motion parameters are calculated by the baseband processing and application processing module 101 and then transmitted to the device that presents the animal's motion track, and the device that presents the animal's motion track calculates the animal by using the dead reckoning.
  • the position coordinates are used to present the motion trajectory on the geographic coordinate system to facilitate the recording, analysis and playback of the animal's trajectory, so that people can better understand the animal's movement.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Environmental Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Animal Husbandry (AREA)
  • Zoology (AREA)
  • Birds (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un appareil, un système et un procédé d'enregistrement et de présentation d'une piste de déplacement d'un animal. L'appareil destiné à enregistrer une piste de déplacement d'animal comprend : un module de capteur (102), utilisé pour acquérir des paramètres de mouvement d'un animal dans un système de coordonnées de porteur d'animal ; un module de positionnement (103), utilisé pour déterminer des informations d'emplacement spécifiques de l'animal en temps réel à l'intérieur d'une couverture de signaux de système mondial de navigation par satellite (GNSS) ; et un module de traitement de bande de base et de traitement d'application (101), connecté au module de capteur (102) et au module de positionnement (103), respectivement, et utilisés pour recevoir les paramètres de déplacement et les informations d'emplacement spécifiques, calculer des informations d'angle de cap dans le système de coordonnées de porteur d'animal en fonction des paramètres de mouvement, et calculer ensuite un angle d'azimut et un déplacement de l'animal dans un système de coordonnées géographiques selon une relation entre le système de coordonnées de porteur d'animal et le système de coordonnées géographiques et les informations d'angle de cap. L'appareil de la présente invention peut déterminer un emplacement approximatif et une piste de déplacement d'un animal sans un signal GNSS ou GPS, de telle sorte qu'un utilisateur peut déterminer en temps réel l'emplacement et la piste de déplacement de l'animal.
PCT/CN2016/081396 2016-05-09 2016-05-09 Appareil, système et procédé d'enregistrement et de présentation de piste de déplacement d'animal Ceased WO2017193252A1 (fr)

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CN109917441A (zh) * 2019-04-02 2019-06-21 河北工业大学 一种基于窄带物联网的运动物体姿态定位装置及方法
CN111103566A (zh) * 2019-11-28 2020-05-05 中国科学院上海微系统与信息技术研究所 一种航向角确定方法、系统、电子设备及存储介质
CN111208545A (zh) * 2018-11-22 2020-05-29 广州幻境科技有限公司 一种运动轨迹记录方法与系统
CN112540617A (zh) * 2020-12-16 2021-03-23 天奇自动化工程股份有限公司 移动平台的导航纠偏方法
CN115790601A (zh) * 2022-12-01 2023-03-14 航天新气象科技有限公司 一种融合定位与感知方法及系统
CN116430423A (zh) * 2023-06-13 2023-07-14 广州悦跑信息科技有限公司 一种运动数据中卫星导航定位轨迹点坐标方法
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CN108828643B (zh) * 2018-04-25 2022-04-29 长安大学 一种基于灰色预测模型的室内外无缝定位系统及方法
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CN111103566A (zh) * 2019-11-28 2020-05-05 中国科学院上海微系统与信息技术研究所 一种航向角确定方法、系统、电子设备及存储介质
CN111103566B (zh) * 2019-11-28 2023-09-05 中国科学院上海微系统与信息技术研究所 一种航向角确定方法、系统、电子设备及存储介质
CN112540617A (zh) * 2020-12-16 2021-03-23 天奇自动化工程股份有限公司 移动平台的导航纠偏方法
WO2023160104A1 (fr) * 2022-02-24 2023-08-31 中兴通讯股份有限公司 Procédé d'affichage d'informations multimédias, dispositif électronique et support de stockage lisible par ordinateur
CN115790601A (zh) * 2022-12-01 2023-03-14 航天新气象科技有限公司 一种融合定位与感知方法及系统
CN116430423B (zh) * 2023-06-13 2023-08-29 广州悦跑信息科技有限公司 一种运动数据中卫星导航定位轨迹点坐标修正方法
CN116430423A (zh) * 2023-06-13 2023-07-14 广州悦跑信息科技有限公司 一种运动数据中卫星导航定位轨迹点坐标方法
CN117390823A (zh) * 2023-09-01 2024-01-12 广东省水利水电科学研究院 一种大坝内部变形三维运动轨迹计算方法及装置

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