CN101299065A - Method and system for positioning mobile terminal - Google Patents
Method and system for positioning mobile terminal Download PDFInfo
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- CN101299065A CN101299065A CNA2008100679708A CN200810067970A CN101299065A CN 101299065 A CN101299065 A CN 101299065A CN A2008100679708 A CNA2008100679708 A CN A2008100679708A CN 200810067970 A CN200810067970 A CN 200810067970A CN 101299065 A CN101299065 A CN 101299065A
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Abstract
The present invention belongs to the field of mobile communication, and provides a positioning method of a mobile terminal and a system thereof. The method comprises the following steps: transmitting a difference positioning request by the mobile terminal to be positioned to a reference mobile terminal to make that the reference mobile terminal obtains the difference corrected value of current position of reference mobile terminal according to the difference positioning request and returns to the mobile terminal to be positioned; and correcting the current position information by the mobile terminal to be positioned according to the difference corrected value returned from the reference mobile terminal. According to the invention the corrected value of current position of the reference mobile terminal is calculated by a reference mobile terminal, and furthermore the corrected value is directly transmitted to a target mobile terminal without the transferring of the server. The dependence to the server is saved and the accurate value of current position of the mobile terminal to be positioned can be conveniently obtained.
Description
Technical field
The invention belongs to moving communicating field, relate in particular to a kind of mobile terminal positioning method and system.
Background technology
Owing to have satellite clock error, ionospheric error, tropospheric error and propagation delay error or the like, (Global Position System is not an exact value to the portable terminal location gained data that are built-in with the gps signal receiver module GPS) to GPS.Along with the development of GPS technology and perfect, the further developing of application, people more and more pay attention to utilizing the GPS differential technique to improve positioning performance.
At present, a kind of GPS of utilization differential technique of industry to the method that target positions is: a portable terminal (being target to be positioned) sends differential data request and its current GPS positioning data to control center's (being equivalent to server) in real time by cordless communication network, and control center is according to virtual reference station of current location structure of portable terminal, and utilize data processing centre (DPC) to calculate the differential corrections data, again by cordless communication network will calculate gained the differential corrections data in real time feed back to portable terminal.After this, portable terminal calculates accurate GPS locator data according to the differential corrections data and portable terminal self current GPS positioning data of control center's feedback.
The above-mentioned GPS of utilization differential technique is the defective of the method that target positions: the needed differential corrections data of target to be positioned must be provided by control center, promptly, constitute in the system of this localization method and must have a control center (being equivalent to server), this in essence based on method meeting increase control center burden under the situation that a plurality of targets to be positioned ask to locate simultaneously of client/service end mode of operation, influence the performance of system.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of mobile terminal positioning method, be intended to solve prior art and when utilizing GPS to carry out the difference location, must pass through transit server, under the situation that a plurality of targets to be positioned ask to locate simultaneously, can increase control center's burden, influence the problem of system performance.
The embodiment of the invention is achieved in that a kind of mobile terminal positioning method, said method comprising the steps of:
Portable terminal to be positioned sends the difference Location Request to the benchmark portable terminal, so that the benchmark portable terminal obtains the differential corrections value of benchmark portable terminal current location according to described difference Location Request, and is back to portable terminal to be positioned;
The current location information of the differential corrections value correction self that portable terminal to be positioned returns according to the benchmark portable terminal.
Another purpose of the embodiment of the invention is to provide a kind of differential corrections value-acquiring method of portable terminal, and described method comprises the steps:
Obtain the latitude and longitude information of benchmark portable terminal current location;
Calculate the differential corrections value of benchmark portable terminal current location according to the accurate latitude and longitude information of the latitude and longitude information of the described current location of obtaining and the current location that prestores.
The another purpose of the embodiment of the invention is to provide a kind of portable terminal, and described portable terminal comprises:
Difference Location Request module is used for sending the difference positioning request information to the benchmark portable terminal, so that the benchmark portable terminal obtains the differential corrections value of benchmark portable terminal current location according to described difference Location Request, and returns described differential corrections value;
Position information acquisition module is used to obtain the portable terminal current position information;
The positional information correcting module, the current location information that the described position information acquisition module of differential corrections value correction that is used for returning according to the benchmark portable terminal is obtained.
A purpose again of the embodiment of the invention is to provide a kind of benchmark portable terminal, and described portable terminal comprises:
The positioning signal receiver module is used to receive the longitude and latitude to the portable terminal current location of described portable terminal real-time positioning gained;
Memory module is used to store the accurate longitude and latitude of described portable terminal current location;
The modified value computing module is used for revising described portable terminal current location according to the longitude and latitude of described portable terminal current location to described portable terminal real-time positioning gained and the accurate longitude and latitude of described portable terminal current location.
An also purpose of the embodiment of the invention is to provide a kind of mobile terminal positioning system, and described system comprises:
Portable terminal to be positioned is used for sending the difference Location Request to the benchmark portable terminal, and when receiving the differential corrections value that the benchmark portable terminal returns, according to the latitude and longitude information of this its current location of differential corrections value correction;
The benchmark portable terminal, be used for when receiving the difference Location Request of described portable terminal transmission to be positioned, obtain the latitude and longitude information of its current location, calculate the differential corrections value of current location according to the accurate latitude and longitude information of the latitude and longitude information of its current location of obtaining and the current location that prestores, and the differential corrections value that calculates is back to described portable terminal to be positioned.
The current location modified value of benchmark portable terminal of the present invention is calculated gained by the benchmark portable terminal, and this modified value does not need through transit server, directly send to destination mobile terminal, saved dependence, but can obtain the exact value of the current location of portable terminal to be positioned easily server.
Description of drawings
Fig. 1 is the method realization flow of the GPS difference location that provides of the embodiment of the invention;
Fig. 2 is the GPS differential position system that the embodiment of the invention provides.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.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.
In embodiments of the present invention, the benchmark portable terminal is after the difference Location Request that receives portable terminal transmission to be positioned, calculate the differential corrections value according to the latitude and longitude information of its position that obtains and the accurate latitude and longitude information of its position that prestores, and this differential corrections value is back to portable terminal to be positioned, portable terminal to be positioned carries out accurate localization according to the latitude and longitude information of this its position of differential corrections value correction thereby can treat localisation of mobile terminals.
Fig. 1 shows the realization flow of the mobile terminal positioning method that the embodiment of the invention provides, and details are as follows:
Step S101, portable terminal to be positioned sends the difference Location Request to the benchmark portable terminal.
Portable terminal wherein to be positioned is any built-in or be equipped with the portable terminal of positioning system outward.The benchmark portable terminal is the accurate latitude and longitude information of having stored its position in advance, and built-in or be equipped with the portable terminal of positioning system outward.Wherein the mode of the accurate latitude and longitude information of its position of storage can be when the benchmark portable terminal dispatches from the factory in the benchmark portable terminal, promptly stores the accurate latitude and longitude information of its present position, perhaps the mode of importing by the user.And the user obtains the channel of the accurate latitude and longitude information of position can be information announcement district of network or associated mechanisms etc.
In embodiments of the present invention, any communication of mobile terminal network that portable terminal to be positioned can provide by prior aries such as wireless networks sends the difference Location Request to the benchmark portable terminal, with to benchmark mobile terminal request differential corrections value.
Step S102, benchmark portable terminal obtain the latitude and longitude information of its current location after the difference Location Request that receives portable terminal transmission to be positioned.
In embodiments of the present invention, the benchmark portable terminal can obtain the latitude and longitude information of its current location by its built-in or external positioning system.Wherein positioning system can be the receiving element of any location technology of providing of gps signal receiving element or prior art.The benchmark portable terminal is resolved this difference Location Request after receiving the difference Location Request, and triggers its built-in or external positioning system, obtains the latitude and longitude information of its current location.
Step S103, the benchmark portable terminal is according to the differential corrections value of the accurate latitude and longitude information calculating current location of the latitude and longitude information of the current location of obtaining and the current location that prestores.
In embodiments of the present invention, the benchmark portable terminal can adopt difference method to calculate the differential corrections value of its current location.Wherein difference method can be differential position method or other difference methods.And the detailed process of differential position method is as follows: the benchmark portable terminal calculates the coordinate system of its current location,, converts the longitude and latitude of the benchmark portable terminal current location obtained to terrestrial coordinate system coordinate (be called and measure coordinate) that is; The accurate longitude and latitude of the current location that the benchmark portable terminal is prestored converts terrestrial coordinate system coordinate (being called accurate coordinates) to; Difference between measurement coordinate and the accurate coordinates is the differential corrections value of benchmark portable terminal current location.
Step S104, the benchmark portable terminal is back to portable terminal to be positioned with the differential corrections value of the current location that calculates.In an embodiment of the present invention, the benchmark portable terminal can pass through wireless network, in modes such as short message, mail or data chainnings, the modified value of current location is sent to portable terminal to be positioned.
The current location information of the differential corrections value correction self that step S105, portable terminal to be positioned return according to the benchmark portable terminal.
Portable terminal to be positioned is after receiving short message, mail or data chainning, these data are resolved, after extracting the differential corrections value of the benchmark portable terminal current location that wherein comprises, portable terminal to be positioned converts the latitude and longitude information of the position that it obtains by positioning system to the terrestrial coordinate system coordinate, modified value to this coordinate system coordinate and benchmark portable terminal current location is asked difference operation, with the latitude and longitude information of the current location of revising portable terminal to be positioned.Owing to ask difference operation to eliminate public keys (as common error and common parameter), so the gained result is exactly a more accurate in theory portable terminal current location terrestrial coordinate system coordinate to be positioned, then this terrestrial coordinate system coordinate conversion is become longitude and latitude, the gained longitude and latitude has been represented the current precise position information of portable terminal to be positioned.
Fig. 2 shows the structure of the mobile terminal location system that the embodiment of the invention provides.For convenience of explanation, only show the part relevant with the embodiment of the invention.
Benchmark portable terminal 22 is when receiving the difference Location Request of portable terminal 21 transmissions to be positioned, obtain the latitude and longitude information of its current location, calculate the differential corrections value of current location according to the accurate latitude and longitude information of the latitude and longitude information of its current location of obtaining and the current location that prestores, and the differential corrections value that calculates is back to portable terminal 21 to be positioned.
Wherein difference Location Request module 211 sends the difference Location Request to benchmark portable terminal 22, to ask the differential corrections values to benchmark portable terminal 22.Difference Location Request module 211 can be sent to benchmark portable terminal 22 with the difference Location Request by wireless network.
Position information acquisition module 212 is obtained the latitude and longitude information of the current position of portable terminal to be positioned.
Positional information correcting module 213 is after receiving the differential corrections value that benchmark portable terminal 22 returns, and the longitude and latitude of portable terminal to be positioned 21 current locations of obtaining according to this differential corrections value location information acquisition module 212 is revised.Its detailed process is: the differential corrections value that 213 pairs of benchmark portable terminals 22 of positional information correcting module return is resolved, the longitude and latitude of portable terminal to be positioned 21 current locations of simultaneously position information acquisition module 212 being obtained converts the terrestrial coordinate system coordinate to, and the differential corrections value that this coordinate system coordinate and benchmark portable terminal 21 return asked difference operation, can revise the latitude and longitude information of the current location of portable terminal 21 to be positioned.Owing to ask difference operation to eliminate public keys (common error and common parameter), so the gained result is exactly a more accurate in theory portable terminal to be positioned 22 current location terrestrial coordinate system coordinates, then this terrestrial coordinate system coordinate conversion is become longitude and latitude, the gained longitude and latitude has been represented the current precise position information of portable terminal to be positioned 22.
Benchmark portable terminal 22 is base stations of the mobile terminal location system that provides of the embodiment of the invention, comprises gps signal receiver module 221, memory module 222 and modified value computing module 223.
Wherein gps signal receiver module 221 receives GPS benchmark portable terminal 22 is carried out the locator data of gained after the real-time positioning, and this GPS locator data is exactly the longitude and latitude of benchmark portable terminal 22 front positions.The accurate latitude and longitude information of memory module 222 Memory Reference portable terminals 22 current locations.Owing to have satellite clock error, ionospheric error, tropospheric error and propagation delay error or the like, gps signal receiver module 221 receives GPS and benchmark portable terminal 22 is carried out the locator data of gained is not an exact value after the real-time positioning, it and errors of accurate latitude and longitude information existence of benchmark portable terminal 22 current locations of memory module 222 storages.After benchmark portable terminal 22 receives the difference positioning request information, error between the accurate longitude and latitude of benchmark portable terminal 22 current locations of modified value computing module 223 calculating memory modules 222 storages and the longitude and latitude of benchmark portable terminal 22 current locations that gps signal receiver module 221 receives, concrete computation process is: the coordinate system that calculates benchmark portable terminal 22 current locations, promptly, the longitude and latitude of the benchmark portable terminal current location that gps signal receiver module 221 is obtained by GPS converts terrestrial coordinate system coordinate (for ease of explanation, this coordinate called after being measured coordinate) to; Equally, the accurate longitude and latitude of the current location that memory module 222 is stored converts terrestrial coordinate system coordinate (being referred to as accurate coordinates) to; By above-mentioned measurement coordinate and accurate coordinates, solve a difference between the two, this difference is exactly the modified value of benchmark portable terminal 22 current locations.
The embodiment of the invention with a benchmark portable terminal as base station, after the difference Location Request that receives portable terminal transmission to be positioned, the modified value of benchmark portable terminal calculating self current location also is sent to portable terminal to be positioned, portable terminal to be positioned obtains the accurate locator data of current location according to the current location information of this modified value correction self.The current location modified value of benchmark portable terminal of the present invention is calculated gained by the benchmark portable terminal, and this modified value does not need through transit server, directly send to portable terminal to be positioned, saved dependence, but can obtain the exact value of the current location of portable terminal to be positioned easily server.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1, a kind of mobile terminal positioning method is characterized in that, said method comprising the steps of:
Portable terminal to be positioned sends the difference Location Request to the benchmark portable terminal, so that the benchmark portable terminal obtains the differential corrections value of self current location according to described difference Location Request, and is back to portable terminal to be positioned;
The current location information of the differential corrections value correction self that portable terminal to be positioned returns according to the benchmark portable terminal.
2, the method for claim 1 is characterized in that, the step of the current location information of the differential corrections value correction self that described portable terminal to be positioned returns according to the benchmark portable terminal is specially:
Portable terminal to be positioned obtains the latitude and longitude information of self current location, and converts the latitude and longitude information of described position to the terrestrial coordinate system coordinate;
Portable terminal to be positioned is asked difference operation to described terrestrial coordinate system coordinate and described differential corrections value, obtains the latitude and longitude information of the current location of portable terminal to be positioned.
3, a kind of differential corrections value-acquiring method of portable terminal current location is characterized in that, described method comprises the steps:
Obtain the latitude and longitude information of portable terminal self current location;
Calculate the differential corrections value of benchmark portable terminal current location according to the accurate latitude and longitude information of the latitude and longitude information of the described current location of obtaining and the current location that prestores.
4, method as claimed in claim 3 is characterized in that, also comprises before the step of the described latitude and longitude information of obtaining self current location:
Receive the difference Location Request that portable terminal to be positioned sends.
5, method as claimed in claim 3 is characterized in that, the step of calculating the differential corrections value of benchmark portable terminal current location according to the accurate latitude and longitude information of the latitude and longitude information of the described current location of obtaining and the current location that prestores is specially:
Convert the longitude and latitude of the described current location of obtaining to the terrestrial coordinate system coordinate, described terrestrial coordinate system coordinate is for measuring coordinate;
Convert the accurate longitude and latitude of the current location that prestores to the terrestrial coordinate system coordinate, described terrestrial coordinate system coordinate is an accurate coordinates;
Calculate the difference between described measurement coordinate and the accurate coordinates, obtain the differential corrections value of benchmark portable terminal current location.
6, as each described method of claim 3 to 5, it is characterized in that described method further comprises the steps:
Described differential corrections value is back to portable terminal to be positioned.
7, method as claimed in claim 6 is characterized in that, the described mode that described differential corrections value is back to portable terminal to be positioned comprises the mode that adopts short message, mail or data chainning.
8, a kind of portable terminal is characterized in that, described portable terminal comprises:
Difference Location Request module is used for sending the difference positioning request information to the benchmark portable terminal, so that the benchmark portable terminal obtains the differential corrections value of self current location according to described difference Location Request, and returns described differential corrections value;
Position information acquisition module is used to obtain the portable terminal current position information;
The positional information correcting module, the current location information that the described position information acquisition module of differential corrections value correction that is used for returning according to the benchmark portable terminal is obtained.
9, a kind of portable terminal is characterized in that, described portable terminal comprises:
The positioning signal receiver module is used to receive the latitude and longitude information to the current location of described portable terminal real-time positioning gained;
Memory module is used to store the accurate latitude and longitude information of described portable terminal current location;
The modified value computing module, be used for calculating the differential corrections value of described portable terminal current location according to the latitude and longitude information of described portable terminal current location to described portable terminal real-time positioning gained and the accurate latitude and longitude information of the current location that described portable terminal prestores.
10, a kind of mobile terminal positioning system is characterized in that, described system comprises:
Portable terminal to be positioned is used for sending the difference Location Request to the benchmark portable terminal, and when receiving the differential corrections value that the benchmark portable terminal returns, according to the latitude and longitude information of this differential corrections value correction self current location;
The benchmark portable terminal, be used for when receiving the difference Location Request of described portable terminal transmission to be positioned, obtain the latitude and longitude information of self current location, calculate the differential corrections value of current location according to the accurate latitude and longitude information of the latitude and longitude information of the current location of obtaining and the current location that prestores, and the differential corrections value that calculates is back to described portable terminal to be positioned.
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| CNA2008100679708A CN101299065A (en) | 2008-06-19 | 2008-06-19 | Method and system for positioning mobile terminal |
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| CNA2008100679708A CN101299065A (en) | 2008-06-19 | 2008-06-19 | Method and system for positioning mobile terminal |
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| CNA2008100679708A Pending CN101299065A (en) | 2008-06-19 | 2008-06-19 | Method and system for positioning mobile terminal |
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| CN101883318A (en) * | 2010-06-23 | 2010-11-10 | 宇龙计算机通信科技(深圳)有限公司 | Method and mobile terminal for updating region related information according to geographical position changes |
| CN102547598A (en) * | 2010-12-16 | 2012-07-04 | 上海博泰悦臻电子设备制造有限公司 | Call center, searching method of target spot of call center and target spot searching system |
| CN102567385A (en) * | 2010-12-29 | 2012-07-11 | 上海博泰悦臻电子设备制造有限公司 | Point-of-interest information search device, system and method |
| CN102736059A (en) * | 2011-04-06 | 2012-10-17 | 神基科技股份有限公司 | Wireless sharing device and positioning method thereof |
| CN103033825A (en) * | 2012-12-26 | 2013-04-10 | 江苏科技大学 | Positioning calculating method of global navigation satellite system (GNSS) receiver |
| CN103532999A (en) * | 2012-07-05 | 2014-01-22 | 腾讯科技（深圳）有限公司 | Data transmission method, mobile device and background service system |
| CN104459740A (en) * | 2014-11-12 | 2015-03-25 | 广东工业大学 | High-precision position differential positioning method of positioning terminal |
| CN105046447A (en) * | 2015-08-20 | 2015-11-11 | 国家电网公司 | Information acquisition method, device and terminal of electric power facility |
| CN105516251A (en) * | 2015-11-26 | 2016-04-20 | 阿坝师范学院 | Positioning calibration method and position service pushing system thereof |
| CN105631040A (en) * | 2011-09-09 | 2016-06-01 | 联想(北京)有限公司 | Information processing method and equipment |
| WO2017008766A1 (en) * | 2015-07-16 | 2017-01-19 | 海能达通信股份有限公司 | Communication method and device for realizing information compression, and communication apparatus |
| CN106950575A (en) * | 2017-05-25 | 2017-07-14 | 千寻位置网络有限公司 | A kind of method for improving ground strengthening system service reliability |
| CN107809744A (en) * | 2017-11-29 | 2018-03-16 | 北京世纪晨数据技术有限责任公司 | A kind of vehicle transport device, positioner and method |
| CN107835948A (en) * | 2016-05-31 | 2018-03-23 | 华为技术有限公司 | Localization method and device |
| CN109960965A (en) * | 2017-12-14 | 2019-07-02 | 翔升（上海）电子技术有限公司 | Methods, devices and systems based on unmanned plane identification animal behavior |
| CN110599612A (en) * | 2019-07-22 | 2019-12-20 | 广州南方卫星导航仪器有限公司 | Method, device and storage medium for automatic toll collection without stopping on highway |
| WO2021147543A1 (en) * | 2020-01-21 | 2021-07-29 | 中移(上海)信息通信科技有限公司 | User terminal positioning method, device, and system |
| CN113514069A (en) * | 2021-03-23 | 2021-10-19 | 重庆兰德适普信息科技有限公司 | Real-time automatic driving positioning method and system |
| CN113825087A (en) * | 2020-06-02 | 2021-12-21 | 中国移动通信有限公司研究院 | Position information sending method and equipment |
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- 2008-06-19 CN CNA2008100679708A patent/CN101299065A/en active Pending
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| CN101883318A (en) * | 2010-06-23 | 2010-11-10 | 宇龙计算机通信科技(深圳)有限公司 | Method and mobile terminal for updating region related information according to geographical position changes |
| CN102547598A (en) * | 2010-12-16 | 2012-07-04 | 上海博泰悦臻电子设备制造有限公司 | Call center, searching method of target spot of call center and target spot searching system |
| CN102567385A (en) * | 2010-12-29 | 2012-07-11 | 上海博泰悦臻电子设备制造有限公司 | Point-of-interest information search device, system and method |
| CN102567385B (en) * | 2010-12-29 | 2016-08-10 | 上海博泰悦臻电子设备制造有限公司 | Point-of-interest information search device, system and method |
| CN102736059A (en) * | 2011-04-06 | 2012-10-17 | 神基科技股份有限公司 | Wireless sharing device and positioning method thereof |
| CN105631040A (en) * | 2011-09-09 | 2016-06-01 | 联想(北京)有限公司 | Information processing method and equipment |
| CN103532999B (en) * | 2012-07-05 | 2019-03-12 | 腾讯科技（深圳）有限公司 | Data transmission method, mobile device and background service system |
| CN103532999A (en) * | 2012-07-05 | 2014-01-22 | 腾讯科技（深圳）有限公司 | Data transmission method, mobile device and background service system |
| CN103033825A (en) * | 2012-12-26 | 2013-04-10 | 江苏科技大学 | Positioning calculating method of global navigation satellite system (GNSS) receiver |
| CN104459740A (en) * | 2014-11-12 | 2015-03-25 | 广东工业大学 | High-precision position differential positioning method of positioning terminal |
| WO2017008766A1 (en) * | 2015-07-16 | 2017-01-19 | 海能达通信股份有限公司 | Communication method and device for realizing information compression, and communication apparatus |
| CN105046447A (en) * | 2015-08-20 | 2015-11-11 | 国家电网公司 | Information acquisition method, device and terminal of electric power facility |
| CN105516251B (en) * | 2015-11-26 | 2020-04-10 | 阿坝师范学院 | Positioning calibration method and position service pushing system thereof |
| CN105516251A (en) * | 2015-11-26 | 2016-04-20 | 阿坝师范学院 | Positioning calibration method and position service pushing system thereof |
| CN107835948B (en) * | 2016-05-31 | 2020-11-10 | 华为技术有限公司 | Positioning method and device |
| CN107835948A (en) * | 2016-05-31 | 2018-03-23 | 华为技术有限公司 | Localization method and device |
| CN106950575A (en) * | 2017-05-25 | 2017-07-14 | 千寻位置网络有限公司 | A kind of method for improving ground strengthening system service reliability |
| CN107809744A (en) * | 2017-11-29 | 2018-03-16 | 北京世纪晨数据技术有限责任公司 | A kind of vehicle transport device, positioner and method |
| CN107809744B (en) * | 2017-11-29 | 2023-09-15 | 北京世纪晨数据技术有限责任公司 | Vehicle transferring device, positioning device and method |
| CN109960965A (en) * | 2017-12-14 | 2019-07-02 | 翔升（上海）电子技术有限公司 | Methods, devices and systems based on unmanned plane identification animal behavior |
| CN110599612B (en) * | 2019-07-22 | 2023-01-13 | 广州南方卫星导航仪器有限公司 | Method, equipment and storage medium for highway non-stop automatic charging |
| CN110599612A (en) * | 2019-07-22 | 2019-12-20 | 广州南方卫星导航仪器有限公司 | Method, device and storage medium for automatic toll collection without stopping on highway |
| WO2021147543A1 (en) * | 2020-01-21 | 2021-07-29 | 中移(上海)信息通信科技有限公司 | User terminal positioning method, device, and system |
| CN113825087A (en) * | 2020-06-02 | 2021-12-21 | 中国移动通信有限公司研究院 | Position information sending method and equipment |
| CN113825087B (en) * | 2020-06-02 | 2023-05-09 | 中国移动通信有限公司研究院 | Position information sending method and device |
| CN113514069A (en) * | 2021-03-23 | 2021-10-19 | 重庆兰德适普信息科技有限公司 | Real-time automatic driving positioning method and system |
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