我的算法计算智能手机的位置 - 全球定位系统和传感器 [英] My Algorithm to Calculate Position of Smartphone - GPS and Sensors
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问题描述
我开发一个Android应用程序来计算排名，基于传感器的数据。
I am developing an android application to calculate position based on Sensor's Data
-
加速度计 - >计算线性加速度
Accelerometer --> Calculate Linear Acceleration
磁力仪+加速度计 - >移动方向
Magnetometer + Accelerometer --> Direction of movement
初始位置将取自GPS（纬度+经度）。
The initial position will be taken from GPS (Latitude + Longitude).
现在基于传感器的读数我需要计算的智能手机的新位置：
Now based on Sensor's Readings i need to calculate the new position of the Smartphone:
我的算法如下 - （但不计算准确的位置）：请帮我完善它。
My Algorithm is following - (But is not calculating Accurate Position): Please help me improve it.
注意： 我的算法code是用C＃（我派传感器数据到服务器 - 当数据被存储在数据库中，我计算在服务器上的位置）
所有datetime对象已使用时间戳计算 - 从01-01-1970
var prevLocation = ServerHandler.getLatestPosition(IMEI);
var newLocation = new ReceivedDataDTO()
{
LocationDataDto = new LocationDataDTO(),
UsersDto = new UsersDTO(),
DeviceDto = new DeviceDTO(),
SensorDataDto = new SensorDataDTO()
};
//First Reading
if (prevLocation.Latitude == null)
{
//Save GPS Readings
newLocation.LocationDataDto.DeviceId = ServerHandler.GetDeviceIdByIMEI(IMEI);
newLocation.LocationDataDto.Latitude = Latitude;
newLocation.LocationDataDto.Longitude = Longitude;
newLocation.LocationDataDto.Acceleration = float.Parse(currentAcceleration);
newLocation.LocationDataDto.Direction = float.Parse(currentDirection);
newLocation.LocationDataDto.Speed = (float) 0.0;
newLocation.LocationDataDto.ReadingDateTime = date;
newLocation.DeviceDto.IMEI = IMEI;
// saving to database
ServerHandler.SaveReceivedData(newLocation);
return;
}
//If Previous Position not NULL --> Calculate New Position
**//Algorithm Starts HERE**
var oldLatitude = Double.Parse(prevLocation.Latitude);
var oldLongitude = Double.Parse(prevLocation.Longitude);
var direction = Double.Parse(currentDirection);
Double initialVelocity = prevLocation.Speed;
//Get Current Time to calculate time Travelling - In seconds
var secondsTravelling = date - tripStartTime;
var t = secondsTravelling.TotalSeconds;
//Calculate Distance using physice formula, s= Vi * t + 0.5 * a * t^2
// distanceTravelled = initialVelocity * timeTravelling + 0.5 * currentAcceleration * timeTravelling * timeTravelling;
var distanceTravelled = initialVelocity * t + 0.5 * Double.Parse(currentAcceleration) * t * t;
//Calculate the Final Velocity/ Speed of the device.
// this Final Velocity is the Initil Velocity of the next reading
//Physics Formula: Vf = Vi + a * t
var finalvelocity = initialVelocity + Double.Parse(currentAcceleration) * t;
//Convert from Degree to Radians (For Formula)
oldLatitude = Math.PI * oldLatitude / 180;
oldLongitude = Math.PI * oldLongitude / 180;
direction = Math.PI * direction / 180.0;
//Calculate the New Longitude and Latitude
var newLatitude = Math.Asin(Math.Sin(oldLatitude) * Math.Cos(distanceTravelled / earthRadius) + Math.Cos(oldLatitude) * Math.Sin(distanceTravelled / earthRadius) * Math.Cos(direction));
var newLongitude = oldLongitude + Math.Atan2(Math.Sin(direction) * Math.Sin(distanceTravelled / earthRadius) * Math.Cos(oldLatitude), Math.Cos(distanceTravelled / earthRadius) - Math.Sin(oldLatitude) * Math.Sin(newLatitude));
//Convert From Radian to degree/Decimal
newLatitude = 180 * newLatitude / Math.PI;
newLongitude = 180 * newLongitude / Math.PI;
这是我得到的结果 - >电话是不动的。正如你所看到的速度27.3263111114502 的所以有一些错误的计算速度，但我不知道是什么
This is the Result I get --> Phone was not moving. As you can see speed is 27.3263111114502 So there is something wrong in calculating Speed but I don't know what
答：
我找到了一个解决方案，来计算基于传感器的位置。我已经发布了如下回答。
I found a solution to calculate position based on Sensor: I have posted an Answer below.
如果您需要任何帮助，请发表评论
If you need any help, please leave a comment
这是相对于GPS的结果（注意： GPS是在红）
this is The results compared to GPS (Note: GPS is in Red)
推荐答案
解决我用传感器我想发表我的code在这里情况下，任何人都需要在今后的计算出的位置后：
After solving the position I calculated using Sensors I would like to post my code here in case anyone needs in future:
注意：这是只检查了三星Galaxy S2手机，只有当人走的手机，它并没有被汽车或骑自行车上移动时进行测试
这就是当与GPS相比，相比我得到的结果，（红线GPS，蓝与传感器计算出的位置）
在code是不是很有效，但我希望我的分享这个code会帮助别人的同时他们指出正确的方向。
The code is not very efficient, but I hope my sharing this code will help someone and point them in the right direction.
我有两个单独的类：
- CalculatePosition
-
CustomSensorService
公共类CalculatePosition {
public class CalculatePosition {
static Double earthRadius = 6378D;
static Double oldLatitude,oldLongitude;
static Boolean IsFirst = true;
static Double sensorLatitude, sensorLongitude;
static Date CollaborationWithGPSTime;
public static float[] results;
public static void calculateNewPosition(Context applicationContext,
Float currentAcceleration, Float currentSpeed,
Float currentDistanceTravelled, Float currentDirection, Float TotalDistance) {
results = new float[3];
if(IsFirst){
CollaborationWithGPSTime = new Date();
Toast.makeText(applicationContext, "First", Toast.LENGTH_LONG).show();
oldLatitude = CustomLocationListener.mLatitude;
oldLongitude = CustomLocationListener.mLongitude;
sensorLatitude = oldLatitude;
sensorLongitude = oldLongitude;
LivePositionActivity.PlotNewPosition(oldLongitude,oldLatitude,currentDistanceTravelled * 1000, currentAcceleration, currentSpeed, currentDirection, "GPSSensor",0.0F,TotalDistance);
IsFirst = false;
return;
}
Date CurrentDateTime = new Date();
if(CurrentDateTime.getTime() - CollaborationWithGPSTime.getTime() > 900000){
//This IF Statement is to Collaborate with GPS position --> For accuracy --> 900,000 == 15 minutes
oldLatitude = CustomLocationListener.mLatitude;
oldLongitude = CustomLocationListener.mLongitude;
LivePositionActivity.PlotNewPosition(oldLongitude,oldLatitude,currentDistanceTravelled * 1000, currentAcceleration, currentSpeed, currentDirection, "GPSSensor", 0.0F, 0.0F);
return;
}
//Convert Variables to Radian for the Formula
oldLatitude = Math.PI * oldLatitude / 180;
oldLongitude = Math.PI * oldLongitude / 180;
currentDirection = (float) (Math.PI * currentDirection / 180.0);
//Formulae to Calculate the NewLAtitude and NewLongtiude
Double newLatitude = Math.asin(Math.sin(oldLatitude) * Math.cos(currentDistanceTravelled / earthRadius) +
Math.cos(oldLatitude) * Math.sin(currentDistanceTravelled / earthRadius) * Math.cos(currentDirection));
Double newLongitude = oldLongitude + Math.atan2(Math.sin(currentDirection) * Math.sin(currentDistanceTravelled / earthRadius)
* Math.cos(oldLatitude), Math.cos(currentDistanceTravelled / earthRadius)
- Math.sin(oldLatitude) * Math.sin(newLatitude));
//Convert Back from radians
newLatitude = 180 * newLatitude / Math.PI;
newLongitude = 180 * newLongitude / Math.PI;
currentDirection = (float) (180 * currentDirection / Math.PI);
//Update old Latitude and Longitude
oldLatitude = newLatitude;
oldLongitude = newLongitude;
sensorLatitude = oldLatitude;
sensorLongitude = oldLongitude;
IsFirst = false;
//Plot Position on Map
LivePositionActivity.PlotNewPosition(newLongitude,newLatitude,currentDistanceTravelled * 1000, currentAcceleration, currentSpeed, currentDirection, "Sensor", results[0],TotalDistance);
}
}
公共类CustomSensorService扩展服务实现SensorEventListener {
public class CustomSensorService extends Service implements SensorEventListener{
static SensorManager sensorManager;
static Sensor mAccelerometer;
private Sensor mMagnetometer;
private Sensor mLinearAccelertion;
static Context mContext;
private static float[] AccelerometerValue;
private static float[] MagnetometerValue;
public static Float currentAcceleration = 0.0F;
public static Float currentDirection = 0.0F;
public static Float CurrentSpeed = 0.0F;
public static Float CurrentDistanceTravelled = 0.0F;
/*---------------------------------------------*/
float[] prevValues,speed;
float[] currentValues;
float prevTime, currentTime, changeTime,distanceY,distanceX,distanceZ;
float[] currentVelocity;
public static CalculatePosition CalcPosition;
/*-----FILTER VARIABLES-------------------------*-/
*
*
*/
public static Float prevAcceleration = 0.0F;
public static Float prevSpeed = 0.0F;
public static Float prevDistance = 0.0F;
public static Float totalDistance;
TextView tv;
Boolean First,FirstSensor = true;
@Override
public void onCreate(){
super.onCreate();
mContext = getApplicationContext();
CalcPosition = new CalculatePosition();
First = FirstSensor = true;
currentValues = new float[3];
prevValues = new float[3];
currentVelocity = new float[3];
speed = new float[3];
totalDistance = 0.0F;
Toast.makeText(getApplicationContext(),"Service Created",Toast.LENGTH_SHORT).show();
sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
mAccelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mMagnetometer = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
//mGyro = sensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
mLinearAccelertion = sensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
sensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_NORMAL);
sensorManager.registerListener(this, mMagnetometer, SensorManager.SENSOR_DELAY_NORMAL);
//sensorManager.registerListener(this, mGyro, SensorManager.SENSOR_DELAY_NORMAL);
sensorManager.registerListener(this, mLinearAccelertion, SensorManager.SENSOR_DELAY_NORMAL);
}
@Override
public void onDestroy(){
Toast.makeText(this, "Service Destroyed", Toast.LENGTH_SHORT).show();
sensorManager.unregisterListener(this);
//sensorManager = null;
super.onDestroy();
}
@Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// TODO Auto-generated method stub
}
@Override
public void onSensorChanged(SensorEvent event) {
float[] values = event.values;
Sensor mSensor = event.sensor;
if(mSensor.getType() == Sensor.TYPE_ACCELEROMETER){
AccelerometerValue = values;
}
if(mSensor.getType() == Sensor.TYPE_LINEAR_ACCELERATION){
if(First){
prevValues = values;
prevTime = event.timestamp / 1000000000;
First = false;
currentVelocity[0] = currentVelocity[1] = currentVelocity[2] = 0;
distanceX = distanceY= distanceZ = 0;
}
else{
currentTime = event.timestamp / 1000000000.0f;
changeTime = currentTime - prevTime;
prevTime = currentTime;
calculateDistance(event.values, changeTime);
currentAcceleration = (float) Math.sqrt(event.values[0] * event.values[0] + event.values[1] * event.values[1] + event.values[2] * event.values[2]);
CurrentSpeed = (float) Math.sqrt(speed[0] * speed[0] + speed[1] * speed[1] + speed[2] * speed[2]);
CurrentDistanceTravelled = (float) Math.sqrt(distanceX * distanceX + distanceY * distanceY + distanceZ * distanceZ);
CurrentDistanceTravelled = CurrentDistanceTravelled / 1000;
if(FirstSensor){
prevAcceleration = currentAcceleration;
prevDistance = CurrentDistanceTravelled;
prevSpeed = CurrentSpeed;
FirstSensor = false;
}
prevValues = values;
}
}
if(mSensor.getType() == Sensor.TYPE_MAGNETIC_FIELD){
MagnetometerValue = values;
}
if(currentAcceleration != prevAcceleration || CurrentSpeed != prevSpeed || prevDistance != CurrentDistanceTravelled){
if(!FirstSensor)
totalDistance = totalDistance + CurrentDistanceTravelled * 1000;
if (AccelerometerValue != null && MagnetometerValue != null && currentAcceleration != null) {
//Direction
float RT[] = new float[9];
float I[] = new float[9];
boolean success = SensorManager.getRotationMatrix(RT, I, AccelerometerValue,
MagnetometerValue);
if (success) {
float orientation[] = new float[3];
SensorManager.getOrientation(RT, orientation);
float azimut = (float) Math.round(Math.toDegrees(orientation[0]));
currentDirection =(azimut+ 360) % 360;
if( CurrentSpeed > 0.2){
CalculatePosition.calculateNewPosition(getApplicationContext(),currentAcceleration,CurrentSpeed,CurrentDistanceTravelled,currentDirection,totalDistance);
}
}
prevAcceleration = currentAcceleration;
prevSpeed = CurrentSpeed;
prevDistance = CurrentDistanceTravelled;
}
}
}
@Override
public IBinder onBind(Intent arg0) {
// TODO Auto-generated method stub
return null;
}
public void calculateDistance (float[] acceleration, float deltaTime) {
float[] distance = new float[acceleration.length];
for (int i = 0; i < acceleration.length; i++) {
speed[i] = acceleration[i] * deltaTime;
distance[i] = speed[i] * deltaTime + acceleration[i] * deltaTime * deltaTime / 2;
}
distanceX = distance[0];
distanceY = distance[1];
distanceZ = distance[2];
}
}
编辑：
public static void PlotNewPosition(Double newLatitude, Double newLongitude, Float currentDistance,
Float currentAcceleration, Float currentSpeed, Float currentDirection, String dataType) {
LatLng newPosition = new LatLng(newLongitude,newLatitude);
if(dataType == "Sensor"){
tvAcceleration.setText("Speed: " + currentSpeed + " Acceleration: " + currentAcceleration + " Distance: " + currentDistance +" Direction: " + currentDirection + " \n");
map.addMarker(new MarkerOptions()
.position(newPosition)
.title("Position")
.snippet("Sensor Position")
.icon(BitmapDescriptorFactory
.fromResource(R.drawable.line)));
}else if(dataType == "GPSSensor"){
map.addMarker(new MarkerOptions()
.position(newPosition)
.title("PositionCollaborated")
.snippet("GPS Position"));
}
else{
map.addMarker(new MarkerOptions()
.position(newPosition)
.title("Position")
.snippet("New Position")
.icon(BitmapDescriptorFactory
.fromResource(R.drawable.linered)));
}
map.moveCamera(CameraUpdateFactory.newLatLngZoom(newPosition, 18));
}
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