CN102645666B - Method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location - Google Patents
Method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location Download PDFInfo
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- CN102645666B CN102645666B CN201210145116.5A CN201210145116A CN102645666B CN 102645666 B CN102645666 B CN 102645666B CN 201210145116 A CN201210145116 A CN 201210145116A CN 102645666 B CN102645666 B CN 102645666B
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Abstract
The invention discloses a method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location, which is used for achieving the seamless mobile guiding from outside to inside and from inside to outside by means of organically coordinating the outdoor GPS location with the indoor UWB location. According to the method for switching the indoor UWB location and the outdoor GPS location, on the basis of the geographic coordinate of wideband global satellite (WGS) 84, by means of a custom local coordinate system serving as a space reference for a mobile guiding system, coordinates of an indoor control point can be calculated according to the coordinates of an outdoor known point, so that under the unified coordinated system, according to location coordinates of tourists and coordinates of entrances and exits, by means of obtaining action modes such as speeds, moving directions and the like of the tourists and judging whether the tourists enter into the broadcast switching areas, the GPS location and the UWP location can be real-timely switched, and the self-adaptation method for switching the indoor UWB location and the outdoor GPS location is nature, timely and reliable.
Description
Technical field
The present invention relates to a kind of indoor and outdoor and switch localization method, relate to the indoor and outdoor location and navigation technology fields such as Geographic Information System (GIS) technology, GPS location technology, ultra broadband (UWB) indoor positioning technology and voice multimedia technology.
Background technology
At present, general regional area (indoor) localization method adopting comprises UWB location, infrared ray location, radio-frequency (RF) identification location, bluetooth location, Wi-Fi location, ZigBee location etc. in the world.Wherein, UWB(Ultra Wide Band) be ultra broadband, its uses and is greater than 0.5GHz or is greater than the bandwidth of centre frequency 20%, by faint pulse signal, communicates, largest data transfer speed can reach tens Mbit/s～hundreds of Mbit/s, has solved the power problems of mobile terminal when having guaranteed high data rate transfer.UWB indoor positioning need be in indoor laying principal and subordinate sensor localization base station, by master reference with from the precise synchronization of sensor, be engaged in sensor base station coordinates known in self-defining coordinate system, adopt AOA and/or TDOA method to calculate label position, its positioning precision reaches as high as 15cm.UWB is positioned at positioning precision, power consumption, communications speed, networking time, emissive power and integrated level and there is huge advantage reliability aspect, has been applied at present in the projects such as Aero-Space, logistics distribution, processing and manufacturing.
Outdoor positioning mainly adopts gps satellite (containing A-GPS, DGPS etc.) location, the mobile subscriber terminal of this locator meams has that volume is little, orientation range is wide, location is free, without the support of additional hardware equipment and positioning precision advantages of higher, be the locator meams of often using in current outdoor guide system on a large scale, representing a direction of outdoor guide system development.
Along with the development of mobile Internet and indoor and outdoor location and navigation technology, the indoor and outdoor of new generation of integrate guide to visitors, shopping guide, navigating, lead the functions such as joy moves guide system and is just being subject to extensive concern.Only have outdoor location trigger message to report or only have indoor button to select triggering report mode different from traditional guide system, mobile guide system of new generation can be realized from outdoor to indoor, the seamless guide service from indoor to outdoor again.Realizing in indoor and outdoor position fixing process, how to build nature, in time, indoor and outdoor locating self-adaption changing method is to need the main key issue that solves reliably.At present, Patents seldom relates to foregoing, also loses and takes the UWB of visitor's behavior pattern and the Patents of GPS indoor and outdoor locating self-adaption changing method into account.
(application number is invention disclosed patent " a kind of seamless positioning method and device " in 2010: 20101020152.6) comprehensive utilization RTD location technology, UWB location technology and the inertial navigation technology based on MEMS carry out integrated, according to the power of positioning signal, select suitable locator meams, thereby realize the location of indoor and outdoors.But only by the method that judges positioning signal source regioselective, in the situation that multisignal source coexists, will have limitation, and also not fully take into account the coordinate-system reunification under various different locator meamss, this reduces the availability of the method.
Invention disclosed patent in 2011 " changes the system and method for its desktop application theme ", and (application number is: 201110177746.6) by built-in UWB wireless location label the residing geographic position of consumer positioning on mobile terminal according to the position of mobile terminal, automatically switch to the application of themes that meets this position, for user provides user's experience effect of facilitation, hommization.The method realizes the indirect communication of mobile terminal and UWB label under UWB indoor positioning condition, but in conjunction with outdoor positioning, does not consider that integrated location and coordinate-system transform, do not consider the self-adaptation switching problem of indoor and outdoor location.
Summary of the invention
In order to overcome the deficiencies in the prior art, realizing from outdoor to indoor, the Seamless Mobile guide to visitors from indoor to outdoor again, the invention provides a kind of UWB and GPS indoor and outdoor location changing method, at the outdoor GPS of mobile guide system, locate between indoor UWB location and switch location, unified visitor's position coordinates and gateway coordinate, the self-adaptation of carrying out between outdoor GPS location and indoor UWB location according to visitor's behavior pattern is switched, comprise from outdoor be switched to indoor, from indoor, be switched to outdoor two steps;
Wherein, to be switched to indoor flow process as follows from outdoor:
(1) Current GPS position coordinates is designated as to P
gi, the coordinate position of the entrance door bottom mid point nearest apart from current location is designated as entrance P
e, the buffer area of the door bottom place line segment nearest apart from current location is designated as location switch area A
t, P
gito P
eair line distance be D
i, by D
0distance Judgment threshold values while being designated from outdoor to indoor switching is to judge visitor whether forehand is calculated to enter into indoor sign; Obtain the coordinate P of Current GPS
gi, will be designated as position, entrance P from the coordinate position of the nearest door bottom mid point of current location
e;
(2) calculate P
giwith P
eair line distance D
i;
(3) compare P
giwith P
eair line distance D
iwith reservation threshold D
0size, if D
i>D
0return to step (2), otherwise forward next step to;
(4) judge continuously D
i, D
i+1, D
i+2value, if D
i>D
i+1>D
i+2be false, return to step (3), otherwise judge that visitor is current just in distance B
0inside, progressively near indoor positioning region, system is carried out next step;
(5) continue to judge that whether current location is at location switch area A
tamong, if do not existed, return to (4), otherwise carry out next step;
(6) now judge that visitor has entered indoor, system is opened UWB locating module and is switched to UWB indoor positioning pattern, closes GPS to save power supply simultaneously;
(7) the outdoor automatic switchover to indoor positioning completes;
Wherein, to be switched to outdoor flow process as follows from indoor:
(a) UWB current position coordinates is designated as to P
ui, from current location recently the coordinate position of the bottom mid point of door be designated as P
o, from the buffer area of place, the bottom line segment of the nearest outlet portal of current location, be designated as location switch area A
t', P
uito P
oair line distance be D
i, by D
0' Distance Judgment threshold values while being designated from indoor to outdoor switching, be to judge whether visitor is just intending to leave indoor sign; Obtain the coordinate P of current UWB location
ui, the coordinate position of the bottom mid point from the nearest door of current location is designated as to exit point P
o;
(b) calculate P
uipoint is to P
oair line distance D
i;
(c) compare P
uiwith P
oair line distance D
iwith reservation threshold D
0' size, if D
i>D
0' return to step (b), otherwise forward next step to;
(d) if now do not open GPS positioning equipment, system ready is opened GPS positioning equipment, prepares to receive in advance gps satellite signal;
(e) judge continuously D
i, D
i+1, D
i+2value, if D
i>D
i+1>D
i+2be false, return to step (c), otherwise judge that visitor is current just in distance B
0' in progressively walk out indoor positioning region, system is carried out next step;
(f) continue to judge that whether current location is at location switch area A
t' among, if do not existed, return to (e), otherwise carry out next step;
(g) visitor walks out outdoorly, and system automatically switches to GPS station-keeping mode, closes UWB location;
(h) the indoor automatic switchover to outdoor positioning completes.
In technique scheme, described unified visitor's position coordinates and gateway coordinate, refer to the geographic coordinate based on WGS84, adopts the georeferencing of self-defined local coordinate system as mobile guide system, by outdoor known point coordinate, obtain indoor reference mark coordinate, specific works flow process is as follows:
(A) initialization handbook equipment, is connected to CORS system;
(B) on state control point, measure the latitude and longitude coordinates of this point;
(C) because the latitude and longitude coordinates of state control point is known, the known coordinate value of controlling point with measured value and state contrasts, if measuring accuracy does not meet regulation requirement, forwards to (B), otherwise forwards next step to;
(D) the state's control point actual coordinate recording is adopted based on GCS_WGS_1984 spheroid, self-defined projective parameter is set and is converted to projection coordinate;
(E) with the known projection coordinate of state's measuring point, compare with the projection coordinate that above-mentioned (D) obtains, if measuring accuracy does not meet regulation requirement, forward (B) to, otherwise forward next step to;
(F) the state's control point Measured Coordinates that meets accuracy requirement is carried out to translocation, obtain indoor reference mark coordinate;
(G) unified coordinate system end-of-job.
The present invention is directed to existing mobile guide system or only have outdoor GPS guide to visitors or only have indoor digital button to select guide's mode of reporting, outdoor GPS location and indoor UWB location organic coordination are got up, by setting up the adaptive method for switching of indoor and outdoor location, realized from outdoor to indoor, the Seamless Mobile guide to visitors from indoor to outdoor again.The present invention is under unified coordinate system, according to visitor present position coordinate and gateway coordinate, by obtaining the behavior patterns such as visitor's speed, direction of motion, and judge whether visitor enters into report switch area so that switching in real time GPS locates and UWB locator meams, build a kind of nature, timely, reliable indoor and outdoor locating self-adaption changing method.
Accompanying drawing explanation
Fig. 1 is Method And Principle schematic diagram of the present invention.
Fig. 2 is indoor and outdoor locating self-adaption changing method realization flow schematic diagram.
Fig. 3 is that the indoor reference mark coordinate based on WGS84 geographic coordinate obtains schematic flow sheet.
Projective parameter when Fig. 4 is self-defined coordinate conversion is set schematic diagram.
Fig. 5 is UWB indoor locating system artwork.
Embodiment
The present invention need to use following existing method: open method one: point whether in polygon evaluation algorithm (Zhang Hong, warm Yongning, Liu Aili. Geographic Information System algorithm basis [M]. Science Press, 2006:26 page); Open method two: coordinate complex transformation algorithm (Zhang Hong, warm Yongning, Liu Aili. Geographic Information System algorithm basis [M]. Science Press, 2006:48 page); Open method three: the projection of Gauss-Krieger resolve algorithm (Zhang Hong, warm Yongning, Liu Aili. Geographic Information System algorithm basis [M]. Science Press, 2006:65 page); Open method four: point whether in polygon evaluation algorithm (Zhang Hong, warm Yongning, Liu Aili. Geographic Information System algorithm basis [M]. Science Press, 2006:26 page).
Described in this patent, indoor and outdoor locating self-adaption switches, the outdoor GPS that refers to mobile guide system locates the process of in good time switching locator meams between indoor UWB location, it comprises two contents that aspect is switched from outdoor to indoor, from indoor to outdoor, and Method And Principle of the present invention as shown in Figure 1.
Wherein, to be switched to indoor flow process as follows from outdoor:
Current GPS position coordinates is designated as to P
gi, the coordinate position of the entrance door bottom mid point nearest apart from current location is designated as entrance P
e, the buffer area of the door bottom place line segment nearest apart from current location is designated as location switch area A
t, P
gito P
eair line distance be D
i, by D
0distance Judgment threshold values while being designated from outdoor to indoor switching, with judge visitor, whether forehand is calculated enters into indoor sign, and as shown in Fig. 2 (a), concrete method flow is as follows:
(1) obtain the coordinate P of Current GPS
gi, will be designated as position, entrance P from the coordinate position of the nearest door bottom mid point of current location
e;
(2) calculate P
giwith P
eair line distance D
i;
(3) compare P
giwith P
eair line distance D
iwith reservation threshold D
0size, if D
i>D
0return to step (2), otherwise forward next step to;
(4) judge continuously D
i, D
i+1, D
i+2value, if D
i>D
i+1>D
i+2be false, return to step (3), otherwise judge that visitor is current just in distance B
0inside, progressively near indoor positioning region, system is carried out next step;
(5) continue to judge that whether current location is at location switch area A
tamong, if do not existed, return to (4), otherwise carry out next step;
(6) now judge that visitor has entered indoor, system is opened UWB locating module and is switched to UWB indoor positioning pattern, closes GPS to save power supply simultaneously;
(7) the outdoor automatic switchover to indoor positioning completes;
Wherein, to be switched to outdoor flow process as follows from indoor:
UWB current position coordinates is designated as to P
ui, from current location recently the coordinate position of the bottom mid point of door be designated as P
o, from the buffer area of place, the bottom line segment of the nearest outlet portal of current location, be designated as location switch area A
t', P
uito P
oair line distance be D
i, by D
0' Distance Judgment threshold values while being designated from indoor to outdoor switching, whether just intending to leave indoor sign with judge visitor, as shown in Fig. 2 (b), concrete method flow is as follows:
(a) obtain the coordinate P that current UWB locates
ui, the coordinate position of the bottom mid point from the nearest door of current location is designated as to exit point P
o;
(b) calculate P
uipoint is to P
oair line distance D
i;
(c) compare P
uiwith P
oair line distance D
iwith reservation threshold D
0' size, if D
i>D
0' return to step (b), otherwise forward next step to;
(d) system ready is opened GPS positioning equipment (if now not opening), prepares to receive in advance gps satellite signal;
(e) judge continuously D
i, D
i+1, D
i+2value, if D
i>D
i+1>D
i+2be false, return to step (c), otherwise judge that visitor is current just in distance B
0' in progressively walk out indoor positioning region, system is carried out next step;
(f) continue to judge that whether current location is at location switch area A
t' among, if do not existed, return to (e), otherwise carry out next step;
(g) visitor walks out outdoorly, and system automatically switches to GPS station-keeping mode, closes UWB location;
(h) the indoor automatic switchover to outdoor positioning completes.
The described indoor and outdoor elements of a fix and the gateway coordinate calculated line distance passed through, need to solve indoor reference mark coordinate by outdoor coordinate, to realize outdoor coordinate and indoor local coordinate, is unified volume coordinate system.The present invention is based on the geographic coordinate of WGS84, adopt the georeferencing of self-defined local coordinate system as mobile guide system, by outdoor known point coordinate, solve indoor reference mark coordinate, the workflow following (as shown in Figure 3) of the method:
(A) initialization handbook equipment, is connected to CORS system;
(B) on state control point, measure the latitude and longitude coordinates of this point;
(C) because the latitude and longitude coordinates of state control point is known, the known coordinate value of controlling point with measured value and state contrasts, if measuring accuracy does not meet regulation requirement, forwards to (B), otherwise forwards next step to;
(D) the state's control point actual coordinate recording is adopted based on GCS_WGS_1984 spheroid, self-defined projective parameter is set and is converted to projection coordinate;
(E) with the known projection coordinate of state's measuring point, compare with the projection coordinate that above-mentioned (D) obtains, if measuring accuracy does not meet regulation requirement, forward (B) to, otherwise forward next step to;
(F) the state's control point Measured Coordinates that meets accuracy requirement is carried out to translocation, obtain indoor reference mark coordinate;
(G) unified coordinate system end-of-job;
The present invention solves the coordinate-system reunification of the integrated guide system of indoor and outdoor, need to use self-defining projection coordinate system, and as shown in Figure 4, the correlation parameter of this coordinate system is as follows:
Geographical Coordinates Parameter:
[1]Name:GCS_WGS_1984
[2]Angular?Unit:Degree(0.017453292519943299)
[3]Prime?Meridian:Greenwich(0.000000000000000000)
[4]Datum:D_WGS_1984
[5]Spheroid:WGS_1984
[6]Semimajor?Axis:6378137.000000000000000000
[7]Semiminor?Axis:6356752.314245179300000000
[8]Inverse?Flattening:298.257223563000030000
Projection coordinate's parameter:
[1]Projection:GaussKruger
[2]FalseEasting:500000.000000
[3]FalseNorthing:0.000000
[4]CentralMeridian:120.000000
[5]ScaleFactor:1.000000
[6]LatitudeofOrigin:0.000000
[7]Linear?Unit:Meter
Below in conjunction with specific embodiment, the present invention is described in further detail.
The basic demand of mobile guide's equipment in this example: WindowsMobile5.0/6.0/6.1/6.5 operating system; Recommend 480 × 800 pixels (or 240 × 320 pixels) resolution; At least that monokaryon cpu frequency is higher than 528MHz; Internal memory is not less than 512MB ROM+256MB RAM; Support MicroSD card extension storage, USB v2.0 and GPS navigation function.
The GPS chip that mobile guide's equipment of the present invention carries provides GPS position acquisition module, the secondary development of the ArcGISMobile10 software of Geographic Information System (GIS) module based on ESRI company realizes, by relevant interface, directly drive GPS chipset, obtain the information such as the current longitude and latitude of visitor position.The UWB indoor locating system the present invention relates to, based on prior art, adopts the positioning product of Ubisense company, by the real-time surveillance tag indoor location of engine of positioning software, and position is sent to specific mobile guide's equipment.
By reference to the accompanying drawings 2, accompanying drawing 3 and accompanying drawing 4, the case study on implementation of this patent mainly comprises several aspects such as indoor and outdoor Organization of Data and preparation, the unification of indoor and outdoor coordinate-system, the switching of indoor and outdoor locating self-adaption.
The Desktop desktop application platform of the organization and preparation of data by existing ArcGIS is as instrument, by room area planimetric map and the outdoor area respectively digitizing relevant with this room area, after subject to registration, by the Move tool of ArcToolbox, create the moving map that is applicable to mobile guide's equipment in order to using.
The process that indoor and outdoor coordinate-system is unified is to determine the process of the Fixed Initial Point coordinate that meets accuracy requirement in fact, and system realizes as follows:
(1) use Topcon device measuring state to control the actual coordinate of some A-3954, A-4115, through surveying the precision of two reference mark on directions X, reach centimetre-sized, precision is in the Y direction decimeter grade, within the positioning error that the present invention allows should be controlled at decimeter grade scope;
(2) according to described reference mark coordinate, outdoor point is incorporated into indoor point, translocation obtains interior sensor coordinate and other reference mark coordinate;
(3) by described outdoor and indoor reference mark coordinate, described indoor and outdoor data are carried out to registration, and issue into by instrument the moving map data that mobile guide system is used;
(4) coordinate-system Rational Unified Process finishes;
Indoor and outdoor locating self-adaption of the present invention switches, refer to by system according to the user residing band of position at that time, between GPS location and UWB location, select automatically, in good time, efficiently needed locator meams, its implementation procedure following (supposition user conducts a sightseeing tour from outdoor beginning):
(1), according to the coordinate P ' of customer location P and known entrance, calculate both distance B (unit: rice);
(2) by D and reservation threshold D
0(D
0=10 meters) relatively, if D>D
0set up, turn back to step (1), otherwise carry out next step;
(3) judge continuously the value of D and compare their size, if at D
0interior D value is more and more less, thinks that user is about to enter indoor, and system enters next step, otherwise turns back to step (2);
(4) judge that whether user is at location switch area A
tamong (radius R=2 meter, buffer zone), if do not existed, return to step (3), otherwise it is indoor to judge that user has entered, system switches to UWB location, closes GPS module simultaneously;
(5) when user is when indoor, equally relatively distance B and outlet portal reservation threshold D
0' (D
0'=2 meter) value, if D>D
0' set up, continue indoor guide to visitors, otherwise GPS positioning equipment is opened in preparation;
(6) at D
0' in successively at indoor judging distance D, if the distance B <D of continuous 3 users and outlet portal
0', and meet D
n<D
n-1set up (n=1,2,3), carries out next step, otherwise return to (5);
(7) judge that whether indoor user is at location switch area A
t' among (radius R=1 meter, buffer zone), if do not existed, return to step (6), otherwise it is indoor to judge that user has left, system is switched to outdoor GPS station-keeping mode, closes UWB locating module;
(8) complete indoor and outdoor location handoff procedure one time.
Claims (2)
1. a UWB and GPS indoor and outdoor location changing method, at the outdoor GPS of mobile guide system, locate between indoor UWB location and switch location, it is characterized in that: unified visitor's position coordinates and gateway coordinate, the self-adaptation of carrying out between outdoor GPS location and indoor UWB location according to visitor's behavior pattern is switched, comprise from outdoor be switched to indoor, from indoor, be switched to outdoor two steps;
Wherein, to be switched to indoor flow process as follows from outdoor:
(1) Current GPS position coordinates is designated as to P
gi, the coordinate position of the entrance door bottom mid point nearest apart from current location is designated as entrance P
e, the buffer area of the door bottom place line segment nearest apart from current location is designated as location switch area A
t, P
gito P
eair line distance be D
i, by D
0distance Judgment threshold values while being designated from outdoor to indoor switching is to judge visitor whether forehand is calculated to enter into indoor sign; Obtain the coordinate P of Current GPS
gi, will be designated as position, entrance P from the coordinate position of the nearest door bottom mid point of current location
e;
(2) calculate P
giwith P
eair line distance D
i;
(3) compare P
giwith P
eair line distance D
iwith reservation threshold D
0size, if D
i>D
0return to step (2), otherwise forward next step to;
(4) judge continuously D
i, D
i+1, D
i+2value, if D
i>D
i+1>D
i+2be false, return to step (3), otherwise judge that visitor is current just in distance B
0inside, progressively near indoor positioning region, system is carried out next step;
(5) continue to judge that whether current location is at location switch area A
tamong, if do not existed, return to (4), otherwise carry out next step;
(6) now judge that visitor has entered indoor, system is opened UWB locating module and is switched to UWB indoor positioning pattern, closes GPS to save power supply simultaneously;
(7) the outdoor automatic switchover to indoor positioning completes;
Wherein, to be switched to outdoor flow process as follows from indoor:
(a) UWB current position coordinates is designated as to P
ui, from current location recently the coordinate position of the bottom mid point of door be designated as P
o, from the buffer area of place, the bottom line segment of the nearest outlet portal of current location, be designated as location switch area A
t', P
uito P
oair line distance be D
i, by D
0' Distance Judgment threshold values while being designated from indoor to outdoor switching, be to judge whether visitor is just intending to leave indoor sign; Obtain the coordinate P of current UWB location
ui, the coordinate position of the bottom mid point from the nearest door of current location is designated as to exit point P
o;
(b) calculate P
uipoint is to P
oair line distance D
i;
(c) compare P
uiwith P
oair line distance D
iwith reservation threshold D
0' size, if D
i>D
0' return to step (b), otherwise forward next step to;
(d) if now do not open GPS positioning equipment, system ready is opened GPS positioning equipment, prepares to receive in advance gps satellite signal;
(e) judge continuously D
i, D
i+1, D
i+2value, if D
i>D
i+1>D
i+2be false, return to step (c), otherwise judge that visitor is current just in distance B
0' in progressively walk out indoor positioning region, system is carried out next step;
(f) continue to judge that whether current location is at location switch area A
t' among, if do not existed, return to (e), otherwise carry out next step;
(g) visitor walks out outdoorly, and system automatically switches to GPS station-keeping mode, closes UWB location;
(h) the indoor automatic switchover to outdoor positioning completes.
2. method according to claim 1, it is characterized in that: described unified visitor's position coordinates and gateway coordinate, refer to the geographic coordinate based on WGS84, adopt the georeferencing of self-defined local coordinate system as mobile guide system, by outdoor known point coordinate, obtain indoor reference mark coordinate, specific works flow process is as follows:
(A) initialization handbook equipment, is connected to CORS system;
(B) on state control point, measure the latitude and longitude coordinates of this point;
(C) because the latitude and longitude coordinates of state control point is known, the known coordinate value of controlling point with measured value and state contrasts, if measuring accuracy does not meet regulation requirement, forwards to (B), otherwise forwards next step to;
(D) the state's control point actual coordinate recording is adopted based on GCS_WGS_1984 spheroid, self-defined projective parameter is set and is converted to projection coordinate;
(E) with the known projection coordinate of state's measuring point, compare with the projection coordinate that above-mentioned (D) obtains, if measuring accuracy does not meet regulation requirement, forward (B) to, otherwise forward next step to;
(F) the state's control point Measured Coordinates that meets accuracy requirement is carried out to translocation, obtain indoor reference mark coordinate;
(G) unified coordinate system end-of-job.
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|---|---|---|---|
| CN201210145116.5A CN102645666B (en) | 2012-05-11 | 2012-05-11 | Method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210145116.5A CN102645666B (en) | 2012-05-11 | 2012-05-11 | Method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location |
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| CN102645666B true CN102645666B (en) | 2014-04-30 |
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