CN109141440A - A kind of indoor positioning guidance system and guidance method - Google Patents
A kind of indoor positioning guidance system and guidance method Download PDFInfo
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- CN109141440A CN109141440A CN201811364836.4A CN201811364836A CN109141440A CN 109141440 A CN109141440 A CN 109141440A CN 201811364836 A CN201811364836 A CN 201811364836A CN 109141440 A CN109141440 A CN 109141440A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
A kind of indoor positioning guidance system, the signal element including being attached on people, the signal acquiring unit in ground/flooring further include processing center, terminal, pilot unit；Wherein: the signal acquiring unit can recognize the signal element in certain distance；The processing center is used to obtain the information of the signal element around signal acquiring unit；The terminal is used to inform the location information of signal element；The pilot unit is used for nunciator's route direction.What the application can be convenient knows the location of signal element, therefore may be implemented to be accurately positioned, the positioning being particularly suitable in building.GPS signal is very weak in building, and has solid space structure, and traditional GPS positioning can not work.In the application, by being all disposed with signal acquiring unit on the ground of ground/flooring namely every floor, location information can be quickly obtained and quickly positioned.In addition, people inputs after destination at the terminal, route guidance information can be obtained.
Description
Technical field
The invention belongs to intelligent positioning guiding technique fields, and in particular to a kind of indoor positioning guidance system, while this hair
It is bright to further relate to a kind of indoor guidance method.
Background technique
Object positioning is always one of the research field of intelligence science and technology.In the prior art, the positioning based on GPS positioning is led
It is extensive to technical application, such as various navigation softwares, child intelligence bracelet, child intelligence wrist-watch, it is this kind of to be determined based on GPS positioning
Position guiding technique when outdoor open area uses precision height, positioned in Indoor environment it is very poor, while its sensitivity also by
It is influenced to weather.
In recent years, old man wanders away, children loss, child are robbed the news warp such as abducted it is commonly reported that, wherein especially
Child, which wanders away to be abducted, affects each family and the public, needs strongly to be taken precautions against and avoided.In view of these situations, it is fixed to have
The wearable device of bit function also occurs, these threading device structures with positioning function are complicated, in threading later excessively
It is obvious, and most of positioning accuracies indoors are poor.There are also can threading equipment be suitable for indoor use, but general only there is spy
Determine the positioning function in place, such as only across the doorframe for being provided with sensing device when can be sensed, without universal positioning
Function, this kind of positioning device are commonly used as access control system, number system etc..
In addition, in the interior of some buildings, such as supermarket, market, in office building building, also few interiors are led
To system, when people will go to specific Administrative Area therein, shops, or to find it is more troublesome when specific kinds of goods and
It is time-consuming.
Therefore, based on above there is also some problems, the present invention to indoor positioning guidance system in the prior art into
Further design and research are gone.
Summary of the invention
For the above deficiency in the prior art, the present invention provides a kind of indoor positioning guidance system, while the present invention
A kind of indoor guidance method is further related to, the precision of indoor positioning and guiding can be significantly improved.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals.
A kind of indoor positioning guidance system, the signal element including being attached on people, the signal in ground/flooring obtain
Unit is taken, further includes processing center, terminal, pilot unit；Wherein: the signal acquiring unit can recognize the letter in certain distance
Number unit；The processing center is used to obtain the information of the signal element around signal acquiring unit；The terminal is for informing
The location information of signal element；The pilot unit is used for nunciator's route direction.
In the application, based on the interactive identification between signal element and signal acquiring unit, it may be convenient to know signal
The location of unit, therefore may be implemented to be accurately positioned, the positioning being particularly suitable in building.GPS signal in building
It is very weak, and the solid space structure with upper and lower multilayer, traditional GPS positioning can not work.In the application, by ground/
It is all disposed with signal acquiring unit on the ground of flooring namely every floor, location information can be quickly obtained and quickly positioned.This
Outside, people inputs after destination at the terminal, can obtain route information, more enough convenient guiding.
Preferably, the signal acquiring unit is the self-contained unit being distributed in ground/flooring, preferred embodiment is uniform
Distribution is in the soleplate.
Preferably, the signal acquiring unit is the floor tile/ceramic tile/marmorean lower section being distributed on ground/flooring,
Raise can be convenient after floor tile/ceramic tile/marble be installed on maintenance；Or it is distributed in floor tile/ceramic tile/marmorean seam sky
At gap, which can be in the case where not destroying ground original structure, reload signal acquiring unit.
Preferably, the signal acquiring unit is set on equipment belt, which is set in ground/flooring, convenient for system
One wiring installation, it is easy to operate.
Preferably, the signal acquiring unit is the floor tile/ceramic tile/marmorean lower section being distributed on ground/flooring,
Raise can be convenient after floor tile/ceramic tile/marble be installed on maintenance；Or it is distributed in floor tile/ceramic tile/marmorean seam sky
At gap, which can be in the case where not destroying ground original structure, reload signal acquiring unit.
Preferably, the signal element is to cover the ring on ankle or be attached to attached on shoes/socks/trousers
Part, can be easily assemblied on shoes/socks/trousers when entering localization region, and the liftoff plate of the installation site is close,
Signal acquiring unit only needs the power of very little that can recognize signal element, and energy consumption cost is low, while positioning accuracy is very high.
Preferably, the signal element is foot ring or foot chain, the foot ring or foot chain are elastic force coil structures, are similar to rubber
The structure of circle is inserted in ankle after opening, very convenient.
Preferably, the signal element is foot ring or foot chain, the foot ring or foot chain have removable assembling end,
Similar to the structure of current bracelet, wrist-watch, bangle, bar and end can connect cyclization is installed and is removed conveniently.
Preferably, the signal element is patch, which is attached on shoes/socks/trousers by viscous layer, is pacified
Fill and remove very convenient, while concealment is high after installing, and is such as attached to shoes/socks/trousers inside.
Preferably, the signal element is patch, which is attached on shoes/socks/trousers by velcro.Peace
Fill and remove very convenient, while concealment is high after installing, and is such as attached to shoes/socks/trousers inside.
Preferably, the processing center is computer and/or server.
Preferably, the terminal is one of broadcast, mobile phone, plate, screen or a variety of.
Preferably, the pilot unit is the guiding route information on smart phone or tablet computer, similar to being based on
The outdoor navigation feature of GPS.
Preferably, the pilot unit is the earphone with voice broadcast function or puts outside, it can tell people should with voice
How to walk.
Preferably, the pilot unit is the Direction Signs on ground, people is by seeing that Direction Signs can follow
The instruction of the Direction Signs is walked.
Preferably, the Direction Signs can indicate turning, straight trip, Stop message.
Preferably, the Direction Signs are display screen, which can show route information in bottom plate.
Preferably, the identification between the signal element and signal acquiring unit is based on Radio Frequency Identification Technology or near field is logical
Letter technology, the two technology are all closely to position, low in energy consumption, accurate positioning.
Preferably, the signal element is equipped with RFID tag, the signal acquiring unit is RFID identification device.
RFID tag is small in size, at low cost, is well suited for being integrated into foot ring, foot chain, on patch modulated structure, and RFID identification device volume is small,
Power is low, is particularly suitable for the induction of small distance range, therefore position positioning accuracy is high.
Preferably, the signal element is equipped with NFC chip, the signal acquiring unit is NFC identification device.Volume
It is small, at low cost, accurate positioning.
Above is referred to the present invention in indoor positioning guidance system ensure that by the near field identification technology of small distance
The accuracy of position positioning, while at low cost, the positioning and guiding being particularly suitable in the interior space.Signal element is at low cost,
Installation and removal are convenient, will not shine normal activity at influence, good concealment, it is not easy to maliciously be extractd.
A kind of guidance method involved in the present invention, comprising the following steps: S100: the people for being attached with signal element enters
In ground/flooring equipped with signal acquiring unit；S200: signal acquiring unit is intermittent or duration identifies surrounding signal
The information of unit, and send this information to processing center；S300: processing center obtains the signal list around signal acquiring unit
The information of member, and the geography information based on signal acquiring unit, obtain the location information of signal element；S400: processing center obtains
The destination information of people is obtained, and route information is fed back into people.
In this method, signal acquiring unit intermittence identify the information of surrounding signal element be conducive to save can it is good,
Such as 10-20 seconds acquisition primary informations, duration identified that the information of surrounding signal element is conducive to the accuracy of positioning, after all
More than 10 seconds time can also move a certain distance.The two can optionally select to use, if people is more, the stream of people it is mobile compared with
Intermittent can identify when slow, people's flowing velocity can be identified fastly or when having emergency case generation with duration, and by navigation information
People is fed back to, guarantor can fast and accurately find destination.
Further, the guidance method is further comprising the steps of: S130: the people for being attached with signal element, which enters, is equipped with letter
In ground/flooring of number acquiring unit, and to issue position shared for terminal corresponding to the signal element of two people therein or more people
Request；S330: processing center obtains the information of the signal element around signal acquiring unit, and the ground based on signal acquiring unit
Information is managed, the location information of signal element is obtained, if processing center receives to be allowed mutually between the signal element of two people or more people
Position sharing request, then position shared information is sent to terminal.
This method step is suitable for appointment and looks for during people, such as two good friends better gathering and market respectively, then can lead to
The location information that request obtains other side is crossed, other side is conveniently and rapidly found, similar to the position based on GPS in current cell phone application
Set the functions such as shared.
Further, in the guidance method, the geography information of the signal acquiring unit includes elevation information and plane letter
Breath.Using with the solid space in building, such as Stall, second floor elevation information, the institute of the signal acquiring unit of specific coding
Information in position.
Further, one of further comprising the steps of or a variety of in the guidance method: S410: processing center is by road
Line information is shown on smart phone or tablet computer in the form of map and guiding route；S420: processing center believes route
Breath tells people in a manner of voice broadcast；S430: processing center shows route information in front of people in a manner of Warning Mark
In display screen on ground.The above are three kinds of navigation information feedback systems, and can be convenient nunciator, which side this walk toward.
Further, the identification between the signal element and signal acquiring unit is based on Radio Frequency Identification Technology or near field is logical
Letter technology, accurate positioning and at low cost, small power consumption.
Above is referred to the present invention in guidance method, by the near field identification technology of small distance can be good at carry out room
The accurate positionin in interior space, guiding accuracy are high.
Compared with prior art, the invention has the following advantages: providing a kind of indoor positioning guidance system and base
At low cost in the guidance method of the system, easy for operation, positioning and guiding are accurate, are particularly suitable for interior of building
Solid space positioning and guiding.
Detailed description of the invention
Fig. 1 is the module diagram in the positioning system in the present invention.
Fig. 2 is the scheme of installation of the signal acquiring unit between the different floors in indoor environment.
Fig. 3 is the scheme of installation of the signal acquiring unit between the different floors in another embodiment.
Fig. 4 is the schematic diagram on the ground for being equipped with signal acquiring unit in invention.
Fig. 5 is the enlarged drawing of a-quadrant in Fig. 4.
Fig. 6 is the enlarged diagram on the ground in another embodiment.
Fig. 7 is a kind of top view of the floor in embodiment.
Fig. 8 be a kind of embodiment in ground on display screen shown by Direction Signs schematic diagram.
Fig. 9 is the schematic diagram of the signal element of foot ring structure.
Figure 10 is the schematic diagram of the signal element of foot chain structure.
Figure 11 is the schematic diagram of the signal element of patch structure.
Figure 12 is the schematic diagram of the signal element of the patch structure of another shape.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
Referring to figs. 1 to Figure 12, a kind of indoor positioning guidance system involved in the present invention, including the signal being attached on people
Unit 1, the signal acquiring unit 5 in ground/flooring, further include processing center, terminal, pilot unit；Wherein: the letter
Number acquiring unit 5 can recognize the signal element 1 in certain distance；The processing center is for obtaining around signal acquiring unit
The information of signal element 1；The terminal is used to inform the location information of signal element；The pilot unit is used for nunciator's route
Direction.
In the application, the signal acquiring unit 5 can be the self-contained unit being distributed in ground/flooring；It can also set
In on equipment belt, which is set in ground/flooring.Specifically, the signal acquiring unit 5 is to be distributed in ground/flooring
On floor tile/ceramic tile/marble 31 lower section, or be distributed at floor tile/ceramic tile/marble 31 seam gaps 3.
In the application, the signal element 1 is to cover the ring on ankle or be attached on shoes/socks/trousers
Attachment.Such as, the signal element 1 is foot ring or foot chain, and the foot ring or foot chain are elastic force coil structures, or have it is removable can
The end of assembly；For another example, the signal element 1 is patch, which is attached on shoes/socks/trousers by viscous layer, or
Person is attached on shoes/socks/trousers by velcro.
In the application, the pilot unit can one of following several forms or a variety of: the pilot unit is intelligence
Guiding route information on energy mobile phone or tablet computer；The pilot unit is the earphone with voice broadcast function or puts outside；
The pilot unit is the Direction Signs on ground, which can indicate the information such as turning, straight trip, stopping, the party
In case, specifically, the Direction Signs are display screen.
In the application, the processing center is computer and/or server.The terminal is broadcast, mobile phone, plate, screen
One of curtain is a variety of.Identification between the signal element 1 and signal acquiring unit 5 is based on Radio Frequency Identification Technology or near field
The communication technology.Specifically, the signal element is equipped with RFID tag 2, the signal acquiring unit is RFID identification device；Or
Person, the signal element are equipped with NFC chip, and the signal acquiring unit is NFC identification device.
A kind of guidance method involved in the present invention, comprising the following steps: S100: the people for being attached with signal element enters
In ground/flooring equipped with signal acquiring unit；S200: signal acquiring unit is intermittent or duration identifies surrounding signal
The information of unit, and send this information to processing center；S300: processing center obtains the signal list around signal acquiring unit
The information of member, and the geography information based on signal acquiring unit, obtain the location information of signal element, the signal acquiring unit
Geography information include elevation information and plane information；S400: processing center obtains the destination information of people, and by route information
Feed back to people.
In addition, localization method of the invention can also include following subdivided step.
S130: the people for being attached with signal element enters in ground/flooring equipped with signal acquiring unit, and therein two
Terminal corresponding to the signal element of people or more people issues position sharing request；S330: processing center obtains signal acquiring unit
The information of the signal element of surrounding, and the geography information based on signal acquiring unit, obtain the location information of signal element, if place
Reason center receives the position sharing request allowed mutually between the signal element of two people or more people, then sends position shared information
To terminal.
It elaborates below in conjunction with specific embodiment to the present invention.
Embodiment one
By 1 set of signal element of the foot chain structure in Figure 10 on the ankle of people, by the body of the RFID tag 2 in signal element 1
Part identification code is input in cell phone application, perhaps remembers the identity code or the RFID tag 2 is changed to name at the terminal
Word or code name are good, the one-to-one correspondence of RFID tag 2 and I are realized, then into market.There is upper and lower multilayer in market,
As shown in figure 3, having wall 41 and corridor 4 in Fig. 3, the floor in corridor 4 is equipped with equipment belt, which obtains equipped with signal
Unit 5 namely RFID identification device are taken, which can sense the RFID tag around it within the scope of small distance
2, and the identity information of the RFID tag 2 is updated into processing center.User can check that its is corresponding by cell phone application
Indoor positioning is realized in the position of RFID tag.Since each of place RFID identification device also has correspondingly not
With address information, therefore can be by the location information of the information inspection of the update in processing center to real-time update, such as: one
At the building doorway KFC, three buildings elevator entrances, four buildings men's room doorways etc., can be shown in the space map on APP.
When some shop that user needs to be directed in market, such as the shop D3 in Fig. 7, (in Fig. 8, D1-D10 is not
Same shop is distributed in corridor two sides, is equipped with signal acquiring unit 5 in corridor, while being additionally provided with pilot unit 7, the guiding list
Member 7 is the display screen embedded in ground, can show the direction of the traveling), relevant route can be shown in cell phone application at this time, together
When display screen on the ground in can prompt, such as straight trip, turn left, turn right, reaching information.Make since processing center can position
The position of user, therefore the display screen that can be set to only before user prompts.Under the guidance method, make
User can quickly find the shop D3.
The signal element 1 of foot ring structure is assembled by fastening type structure, easy for installation, after leaving market, is removed and is returned to
Market.
Embodiment two
By 1 set of signal element of the foot ring structure in Fig. 9 on the ankle of people, by the identity of the RFID tag 2 in signal element 1
Identification code is input in cell phone application, perhaps remembers the identity code or the RFID tag 2 is changed to name at the terminal
Or code name is good, the one-to-one correspondence of RFID tag 2 and I is realized, then into market.There is upper and lower multilayer in market, such as
Shown in Fig. 3, there is wall 41 and corridor 4 in Fig. 3, the floor in corridor 4 is equipped with equipment belt, which is equipped with signal acquisition
Unit 5 namely RFID identification device, the RFID identification device can sense the RFID tag 2 around it within the scope of small distance,
And the identity information of the RFID tag 2 is updated into processing center.User can check that its is corresponding by cell phone application
Indoor positioning is realized in the position of RFID tag.Since each of place RFID identification device also has correspondingly not
With address information, therefore can be by the location information of the information inspection of the update in processing center to real-time update, can be with
It is shown in space map on APP.
When some shop that user needs to be directed in market, such as the shop D3 in Fig. 7, (in Fig. 8, D1-D10 is not
Same shop is distributed in corridor two sides, is equipped with signal acquiring unit 5 in corridor, while being additionally provided with pilot unit 7, the guiding list
Member 7 is the display screen embedded in ground, can show the direction of the traveling), relevant route can be shown in cell phone application at this time, together
When display screen on the ground in can prompt, such as straight trip, turn left, turn right, reaching information, use can also be told by earphone
Person.Since processing center can position the position of user, a display screen only before user can be set to
It is prompted.Under the guidance method, user can quickly find the shop D3.
The signal element 1 of foot chain structure passes through button-shaped Standard, easy for installation, comfortable wearing, as mother and child
After leaving market, removes and return to market.
The signal element 1 of patch structure shown in Figure 11 and Figure 12 can be pasted onto shoes/socks by glue-line or velcro
Easy for installation on son/trousers, application method is identical with embodiment one, two, not reinflated narration.
Embodiment three
Two friends, which make an appointment, comes market gathering, has all taken signal element 1 respectively, can send letter between friend mutually at this time
The identity code of number unit 1, set into the line position that carries out going forward side by side by request in APP it is shared, similar in current cell phone application
Position based on GPS is shared, they can conveniently and rapidly find other side at this time, save the time.
In above embodiments, changes RFID tag and RFID identification device into NFC chip respectively and NFC identification device also can
Realize good positioning function.
In addition, as Figure 4-Figure 6, the signal acquiring unit 5 is to be distributed on ground/flooring in embodiment of above
Floor tile/ceramic tile/marble 31 lower section, or be distributed at floor tile/ceramic tile/marble 31 seam gaps 3, installation and dimension
Shield is convenient, and power supply is linked into power grid by electric wire to be realized, display screen can be traditional LED display, can show one
A little Direction Signs, as shown in Figure 8.Also, the positioning system and localization method in the application are also applied for railway station, underground
In the building such as square, school instruction building, practicability is wide.
The heart is computer or server in processes in the application, and computer in the prior art may be implemented.In the application
Electric connection mode, the interactive mode of specific procedure be routine techniques in the prior art, be not described in detail in the application.
As can be seen that the application uses the chip identification technology of low cost low-power consumption from above embodiments, simultaneously will
Product is arranged in foot, substantially reduces induction spacing, reduces energy consumption, increases the accuracy of positioning.And threading is convenient,
Do not influence normal activity.Signal element can provide use in inlet by market, can also buy long-time service.
The above, the present invention provides a kind of indoor positioning guidance system and based on the guidance method of the system, cost
Low, easy for operation, positioning and guiding are accurate, are particularly suitable for the solid space positioning and guiding of interior of building.
Protection scope of the present invention includes but is not limited to embodiment of above, and protection scope of the present invention is with claims
Subject to, replacement, deformation, the improvement that those skilled in the art that any pair of this technology is made is readily apparent that each fall within of the invention
Protection scope.
Claims (10)
1. a kind of indoor positioning guidance system, which is characterized in that including be attached on people signal element, be set to ground/flooring
In signal acquiring unit, further include processing center, terminal, pilot unit；Wherein:
The signal acquiring unit can recognize the signal element in certain distance；
The processing center is used to obtain the information of the signal element around signal acquiring unit；
The terminal is used to inform the location information of signal element；
The pilot unit is used for nunciator's route direction.
2. a kind of indoor positioning guidance system according to claim 1, which is characterized in that the signal acquiring unit is point
Self-contained unit of the cloth in ground/flooring.
3. a kind of indoor positioning guidance system according to claim 1, which is characterized in that the signal acquiring unit is set to
On equipment belt, which is set in ground/flooring.
4. a kind of indoor positioning guidance system according to claim 1, which is characterized in that the signal element is to cover in foot
Ring on ankle or the attachment being attached on shoes/socks/trousers.
5. a kind of indoor positioning guidance system according to any one of claims 1 to 4, which is characterized in that the signal list
Identification between member and signal acquiring unit is based on Radio Frequency Identification Technology or near-field communication technology.
6. a kind of indoor positioning guidance system according to claim 5, which is characterized in that the signal element is equipped with
RFID tag, the signal acquiring unit are RFID identification device.
7. a kind of indoor positioning guidance system according to claim 5, which is characterized in that the signal element is equipped with
NFC chip, the signal acquiring unit are NFC identification device.
8. a kind of guidance method, which comprises the following steps:
S100: the people for being attached with signal element enters in ground/flooring equipped with signal acquiring unit；
S200: signal acquiring unit is intermittent or duration identifies the information of surrounding signal element, and the information is sent
To processing center；
S300: processing center obtains the information of the signal element around signal acquiring unit, and the ground based on signal acquiring unit
Information is managed, the location information of signal element is obtained；
S400: processing center obtains the destination information of people, and route information is fed back to people.
9. a kind of guidance method according to claim 8, which is characterized in that further comprising the steps of:
S130: the people for being attached with signal element enters in ground/flooring equipped with signal acquiring unit, and two people therein or
Terminal corresponding to the signal element of more people issues position sharing request；
S330: processing center obtains the information of the signal element around signal acquiring unit, and the ground based on signal acquiring unit
Information is managed, the location information of signal element is obtained, if processing center receives to be allowed mutually between the signal element of two people or more people
Position sharing request, then position shared information is sent to terminal.
10. a kind of guidance method according to claim 9, which is characterized in that one of further comprising the steps of or more
Kind:
S410: processing center shows route information on smart phone or tablet computer in the form of map and guiding route；
S420: processing center tells route information to people in a manner of voice broadcast；
S430: processing center is shown route information in the display screen in front of the people on ground in a manner of Warning Mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811364836.4A CN109141440A (en) | 2018-11-13 | 2018-11-13 | A kind of indoor positioning guidance system and guidance method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811364836.4A CN109141440A (en) | 2018-11-13 | 2018-11-13 | A kind of indoor positioning guidance system and guidance method |
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| Publication Number | Publication Date |
|---|---|
| CN109141440A true CN109141440A (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811364836.4A Withdrawn CN109141440A (en) | 2018-11-13 | 2018-11-13 | A kind of indoor positioning guidance system and guidance method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375743A (en) * | 2019-07-25 | 2019-10-25 | 中国工商银行股份有限公司 | Navigation equipment, air navigation aid and electronic equipment |
-
2018
- 2018-11-13 CN CN201811364836.4A patent/CN109141440A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375743A (en) * | 2019-07-25 | 2019-10-25 | 中国工商银行股份有限公司 | Navigation equipment, air navigation aid and electronic equipment |
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Application publication date: 20190104 |