CN111315011A - Medical robot positioning enhancement method and system based on 5G indoor distributed system - Google Patents

Medical robot positioning enhancement method and system based on 5G indoor distributed system Download PDF

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Publication number
CN111315011A
CN111315011A CN202010300308.3A CN202010300308A CN111315011A CN 111315011 A CN111315011 A CN 111315011A CN 202010300308 A CN202010300308 A CN 202010300308A CN 111315011 A CN111315011 A CN 111315011A
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medical robot
positioning
information
coordinate information
medical
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孟庆国
党泽兵
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Bionlink Beijing Technology Co ltd
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Priority to CN202210936940.6A priority Critical patent/CN115297543A/en
Priority to CN202010300308.3A priority patent/CN111315011A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/60—Context-dependent security
    • H04W12/69—Identity-dependent
    • H04W12/71—Hardware identity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
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Abstract

The invention discloses a medical robot positioning enhancement method based on a 5G indoor distributed system, which comprises the steps that a 5G positioning server receives a positioning service request sent by a first medical robot, positioning configuration information sent to the first medical robot is determined, the first medical robot measures according to the positioning configuration information to determine position coordinate information and generates corresponding absolute coordinate information through a first medical robot controller, meanwhile, the invention also discloses a medical robot positioning enhancement system based on the 5G indoor distributed system, the method can realize that a single medical robot communicates with a 5G network 5G positioning server to obtain the positioning service to determine the self position, then sends self position information to the robot controller and other medical robots, assists in establishing self absolute position coordinates and enables other medical robots to obtain the absolute position coordinates, derived application requirements based on absolute position information are supported.

Description

Medical robot positioning enhancement method and system based on 5G indoor distributed system
Technical Field
The invention belongs to the technical field of robot interaction, and particularly relates to a medical robot multi-hop data transmission method and system based on 5G communication.
Background
5G represents the latest technology in the field of mobile communication at present, and has the technical advantages of high speed, high reliability, low time delay and the like. Combining 5G with a medical robot would have a huge market space. At present, 5G is in a rapid construction period, indoor coverage is one of key points of construction, and how to accurately position the medical robot and obtain the absolute position coordinates of the medical robot is the key to whether the medical robot can be derived and applied indoors and whether the application of the medical robot can be expanded.
Accordingly, further developments and improvements are still needed in the art.
Disclosure of Invention
Aiming at various defects in the prior art, in order to solve the problems, a medical robot positioning enhancement method and a medical robot positioning enhancement system based on a 5G indoor distributed system are provided.
The invention provides the following technical scheme:
a medical robot positioning enhancement method based on a 5G indoor distributed system comprises the following steps:
the 5G positioning server receives a positioning service request sent by a first medical robot, determines positioning configuration information for the first medical robot according to the positioning service request, and sends the determined positioning configuration information to the first medical robot;
the first medical robot receives the positioning configuration information, searches for the identifier of the network equipment to be detected contained in the received positioning configuration information, measures the positioning reference signal sent by the network equipment corresponding to the identifier, and sends a positioning measurement result to the 5G positioning server;
the 5G positioning server receives the positioning measurement result, acquires the coordinates of the network equipment, determines the position coordinate information of the first medical robot and sends the position coordinate information to the first medical robot;
the first medical robot receives the position coordinate information, and sends the received position coordinate information and the obtained relative position information to the first medical robot controller by using the relative position information obtained based on sensing positioning;
the first medical robot controller generates corresponding absolute coordinate information using the received position coordinate information and relative position information.
Preferably, the location service request includes identification information or a digital signature of the first medical robot and a network device identifier corresponding to a serving cell of the first medical robot.
Preferably, the positioning configuration information includes at least three network device identifiers for positioning measurement and coordinate information thereof
Preferably, the specific method for receiving the positioning measurement result and acquiring the coordinate of the network device by the 5G positioning server to determine the position coordinate information of the first medical robot includes:
the 5G positioning server obtains the equivalent isotropic radiated power EIRP of the positioning reference signal sent by the network equipment through an interfaceiAnd coordinate information;
the 5G positioning server obtains the path loss between the first medical robot and the network equipment to be tested, and the specific method is Pathlossi＝EIRPi-RSRPiAccording to the free space propagation model Patholossi＝27.56+20lgDistancei(m) +20lgF (MHz), where F is a frequency at which the first medical robot communicates with the network device;
the 5G positioning server determines the Distance between the first medical robot and the network equipment to be testediThe specific method is Distancei＝10^(Pathlossi-27.56-20lgF)/20；
The position coordinates (x, y, z) of the first medical robot can be determined according to the following formula,
(x-x1)2+(y-y1)2+(z-z1)2＝Distance1 2
(x-x2)2+(y-y2)2+(z-z2)2＝Distance2 2
(x-x3)2+(y-y3)2+(z-z3)2＝Distance3 2
wherein x1，y1，z1Is a three-dimensional coordinate, x, of the first network device2、y2、z2Is the three-dimensional coordinate, x, of the second network device3，y3，z3Three-dimensional coordinates of the third network device.
Preferably, the measurement result includes an identifier of the network device and a receiving power value RSRP of a positioning reference signali。
Preferably, the specific method for obtaining the relative position information is as follows: the first medical robot determines the relative position information of the first medical robot in a preset electronic map by using the sensor for perception.
Preferably, the specific method for obtaining the absolute coordinate information is as follows: and determining the relative position information of each coordinate point on the electronic map according to the reference coordinate information of the electronic map, and further determining the reference of the electronic map according to the relative position information of the first medical robot on the electronic map and the coordinate information of the first medical robot, thereby generating corresponding absolute coordinate information.
Preferably, the first medical robot transmits second medical robot position identification information to the second medical robot, and the second medical robot determines the relative position information with the first medical robot according to the second medical robot position identification information by using the sensor and the communication device, thereby determining the coordinate information of the second medical robot.
Further, the second medical robot position identification information includes an apparatus identifier of the first medical robot, position coordinate information of the first medical robot, and a position coordinate information timestamp of the first medical robot.
A medical robot positioning enhancement system based on a 5G indoor distributed system comprises:
the first medical robot is configured to be in communication connection with the 5G positioning server, measure and calculate position coordinate information according to positioning configuration information provided by the 5G positioning server, is in communication connection with the first medical robot controller, and sends the position coordinate information and the relative position information to the first medical robot controller;
the 5G positioning server is configured to be in communication connection with the first medical robot and provide positioning configuration information for the first medical robot;
and a first medical robot controller configured to be in communication connection with the first medical robot, control the first medical robot, and generate absolute coordinate information using the position coordinate information and the relative position information transmitted by the first medical robot.
And the second medical robot is configured to be in communication connection with the first medical robot, and the second medical robot position identification information sent by the first medical robot is used for determining the self coordinate information.
Has the advantages that:
the invention provides a medical robot positioning enhancement method based on a 5G indoor distributed system, which can realize that a single medical robot communicates with a 5G network 5G positioning server, obtains positioning service to determine the self position, sends self position information to a robot controller and other medical robots, assists in establishing self absolute position coordinates and enables other medical robots to obtain the absolute position coordinates, and supports derived application requirements based on the absolute position information.
Drawings
Fig. 1 is a flowchart of a medical robot positioning enhancement method based on a 5G indoor distributed system in an embodiment of the present invention;
Detailed Description
In order to make the technical solutions of the present invention better understood, the following description of the technical solutions of the present invention with reference to the accompanying drawings of the present invention is made clearly and completely, and other similar embodiments obtained by a person of ordinary skill in the art without any creative effort based on the embodiments in the present application shall fall within the protection scope of the present application. In addition, directional terms such as "upper", "lower", "left", "right", etc. in the following embodiments are directions with reference to the drawings only, and thus, the directional terms are used for illustrating the present invention and not for limiting the present invention.
As shown in fig. 1, the present invention provides a medical robot positioning enhancement method based on a 5G indoor distributed system, including:
s100: the 5G positioning server receives a positioning service request sent by a first medical robot, the positioning service request comprises identification information or a digital signature of the first medical robot and a network equipment identification corresponding to a service cell of the first medical robot, positioning configuration information of the first medical robot is determined according to the positioning service request, the positioning configuration information comprises at least three network equipment identifications used for positioning measurement and coordinate information of the network equipment identifications, and the determined positioning configuration information is sent to the first medical robot.
S200: the first medical robot receives the positioning configuration information, searches for the identifier of the network equipment to be detected contained in the received positioning configuration information and measures the positioning reference signal sent by the network equipment corresponding to the identifier, and the specific measurement method comprises the following steps:
the 5G positioning server obtains the equivalent isotropic radiated power EIRP of the positioning reference signal sent by the network equipment through an interfaceiAnd coordinate information;
the 5G positioning server obtains the path loss between the first medical robot and the network equipment to be tested, and the specific method is Pathlossi＝EIRPi-RSRPiAccording to the free space propagation model Patholossi＝27.56+20lgDistancei(m) +20lgF (MHz), where F is a frequency at which the first medical robot communicates with the network device;
the 5G positioning server determines the Distance between the first medical robot and the network equipment to be testediThe specific method is Distancei＝10^(Pathlossi-27.56-20lgF)/20；
The position coordinates (x, y, z) of the first medical robot can be determined according to the following formula,
(x-x1)2+(y-y1)2+(z-z1)2＝Distance1 2
(x-x2)2+(y-y2)2+(z-z2)2＝Distance2 2
(x-x3)2+(y-y3)2+(z-z3)2＝Distance3 2
wherein x1，y1，z1Is a three-dimensional coordinate, x, of the first network device2、y2、z2Is the three-dimensional coordinate, x, of the second network device3，y3，z3Three-dimensional coordinates of the third network device.
After the measurement is finished, a positioning measurement result is sent to a 5G positioning server, wherein the measurement result comprises the identifier of the network equipment and the receiving power value RSRP of the positioning reference signali。
S300: the 5G positioning server receives the positioning measurement result, acquires the coordinates of the network equipment and determines the position coordinate information of the first medical robot, and the specific acquisition method comprises the following steps: the first medical robot determines the relative position information of the first medical robot in a preset electronic map by using the sensor for perception, and sends the relative position information to the first medical robot.
S400: the first medical robot receives the position coordinate information, and transmits the received position coordinate information and the obtained relative position information to the first medical robot controller by using the relative position information obtained based on the sensing positioning.
S500: the first medical robot controller generates corresponding absolute coordinate information by using the received position coordinate information and the relative position information, and the specific method comprises the following steps: and determining the relative position information of each coordinate point on the electronic map according to the reference coordinate information of the electronic map, and further determining the reference of the electronic map according to the relative position information of the first medical robot on the electronic map and the coordinate information of the first medical robot, thereby generating corresponding absolute coordinate information.
In some embodiments, the first medical robot sends second medical robot position identification information to the second medical robot, the second medical robot determines the coordinate information of the second medical robot by determining the relative position information with the first medical robot according to the second medical robot position identification information by using the sensor and the communication device, wherein the second medical robot position identification information comprises the device identifier of the first medical robot, the position coordinate information of the first medical robot, and the position coordinate information timestamp of the first medical robot.
The invention also provides a medical robot positioning enhancement system based on the 5G indoor distributed system, which comprises the following components:
the first medical robot is configured to be in communication connection with the 5G positioning server, measure and calculate position coordinate information according to positioning configuration information provided by the 5G positioning server, is in communication connection with the first medical robot controller, and sends the position coordinate information and the relative position information to the first medical robot controller;
the 5G positioning server is configured to be in communication connection with the first medical robot and provide positioning configuration information for the first medical robot;
and a first medical robot controller configured to be in communication connection with the first medical robot, control the first medical robot, and generate absolute coordinate information using the position coordinate information and the relative position information transmitted by the first medical robot.
And the second medical robot is configured to be in communication connection with the first medical robot, and the second medical robot position identification information sent by the first medical robot is used for determining the self coordinate information.
The technical scheme of the invention is explained in detail by the following specific examples, and the method comprises the following steps:
step 1: the first medical robot sends a positioning service request to a 5G positioning server, wherein the positioning service request comprises identification information or a digital signature of the first medical robot and a network equipment identification corresponding to a service cell of the first medical robot.
Step 2: and the 5G positioning server receives the positioning service request, authenticates according to the identification information or the digital signature of the first medical robot, and provides positioning service for the first medical robot after confirming that the first medical robot is a subscriber of the positioning service.
And step 3: the 5G positioning server determines positioning configuration information for the first medical robot according to the network equipment identifier corresponding to the service cell of the first medical robot, wherein the positioning configuration information comprises at least three network equipment identifiers and coordinate information which are configured for the first medical robot and used for performing positioning measurement, and preferably, the positioning measurement comprises the network equipment corresponding to the service cell of the first medical robot.
And 4, step 4: the 5G positioning server sends positioning measurement configuration information to the first medical robot, where the positioning measurement configuration information includes at least three identifiers of network devices to be measured, in this embodiment, network device 1 (x)1，y1，z1) Network device 2 (x)2，y2，z2) Network device 3 (x)3，y3，z3)。
And 5: the first medical robot receives the positioning measurement configuration information, searches according to the identifier of the network equipment to be measured contained in the positioning measurement configuration information, measures the positioning reference signal sent by the network equipment corresponding to the identifier, and sends a positioning measurement result to the 5G positioning server; the measurement result comprises the identification of the network equipment and the receiving power value RSRP of the positioning reference signaliIn this embodiment, the network device 1: 98dBm, network device 2: -102dBm, network device 3: -90 dBm.
Step 6: the 5G positioning server receives the positioning measurement result, acquires the coordinates of the network equipment, and determines the position coordinate information (x, y, z) of the first medical robot, and the specific method comprises the following steps:
the 5G positioning server obtains the equivalent isotropic radiated power EIRP of the positioning reference signal sent by the network equipment through an interfaceiAnd coordinate information, for example, the network device 1: 43dBm, coordinate (x)1，y1，z1) The network device 2: 43dBm, coordinate (x)2，y2，z2) And the network device 3: 43dBm, coordinate (x)3，y3，z3)
The 5G positioning server obtains the path loss between the first medical robot and the network equipment to be tested, and the specific method is Pathlossi＝EIRPi-RSRPiAccording to the free space propagation model Patholossi＝27.56+20lgDistancei(m) +20lgF (MHz), where F is a frequency at which the first medical robot communicates with the network device
The 5G positioning server determines the Distance between the first medical robot and the network equipment to be testediThe specific method is Distancei＝10^(Pathlossi-27.56-20lgF)/20
The position coordinates (x, y, z) of the first medical robot can be determined according to the following formula,
(x-x1)2+(y-y1)2+(z-z1)2＝Distance1 2
(x-x2)2+(y-y2)2+(z-z2)2＝Distance2 2
(x-x3)2+(y-y3)2+(z-z3)2＝Distance3 2
and 7: and the 5G positioning server sends the coordinate information (x, y, z) calculated and determined by the 5G positioning server to the first medical robot.
And 8: and the first medical robot receives the coordinate information and sends the coordinate information and the relative position information of the first medical robot on a preset electronic map to a first medical robot controller, wherein the relative position information is determined by the first medical robot through sensing of a sensor.
And step 9: the first medical robot controller receives the coordinate information of the first medical robot and the relative position information in the electronic map, determines the reference coordinate information of the electronic map according to the information, provides relative coordinate information (relative distance from the reference point) for each coordinate point on the electronic map at the same time, and generates corresponding absolute coordinate information.
Step 10: the first medical robot sends second medical robot position identification information to the second medical robot in a broadcasting mode, the second medical robot position identification information comprises equipment identification, coordinate information (x, y, z) and a timestamp of the coordinate information of the first medical robot, the second medical robot receives the equipment identification, the coordinate information and the timestamp of the coordinate information and determines that the coordinate information is effective when the difference value of the current time and the timestamp is smaller than a preset threshold, and the sensor and communication equipment are used for sensing and determining the relative position information between the first medical robot and the second medical robot, so that the coordinate information of the second medical robot is determined.
The present invention has been described in detail, and it should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

Claims (10)

1. A medical robot positioning enhancement method based on a 5G indoor distributed system is characterized by comprising the following steps:
the 5G positioning server receives a positioning service request sent by a first medical robot, determines positioning configuration information for the first medical robot according to the positioning service request, and sends the determined positioning configuration information to the first medical robot;
the first medical robot receives the positioning configuration information, searches for the identifier of the network equipment to be detected contained in the received positioning configuration information, measures the positioning reference signal sent by the network equipment corresponding to the identifier, and sends a positioning measurement result to the 5G positioning server;
the 5G positioning server receives the positioning measurement result, acquires the coordinates of the network equipment, determines the position coordinate information of the first medical robot and sends the position coordinate information to the first medical robot;
the first medical robot receives the position coordinate information, and sends the received position coordinate information and the obtained relative position information to the first medical robot controller by using the relative position information obtained based on sensing positioning;
the first medical robot controller generates corresponding absolute coordinate information using the received position coordinate information and relative position information.
2. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 1, wherein the positioning service request comprises identification information or a digital signature of the first medical robot and a network device identification corresponding to a service cell of the first medical robot.
3. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 1, wherein the positioning configuration information comprises not less than three network equipment identifications for positioning measurement and coordinate information thereof.
4. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 1, wherein the 5G positioning server receives the positioning measurement result, acquires the coordinates of the network device, and the specific method for determining the position coordinate information of the first medical robot is as follows:
the 5G positioning server obtains the equivalent isotropic radiated power EIRP of the positioning reference signal sent by the network equipment through an interfaceiAnd coordinate information;
the 5G positioning server acquires the path loss between the first medical robot and the network equipment to be testedThe specific method is Patholossi＝EIRPi-RSRPiAccording to the free space propagation model Patholossi＝27.56+20lgDistancei(m) +20lgF (MHz), where F is a frequency at which the first medical robot communicates with the network device;
the 5G positioning server determines the Distance between the first medical robot and the network equipment to be testediThe specific method is Distancei＝10^(Pathlossi-27.56-20lgF)/20；
The position coordinates (x, y, z) of the first medical robot can be determined according to the following formula,
(x-x1)2+(y-y1)2+(z-z1)2＝Distance1 2
(x-x2)2+(y-y2)2+(z-z2)2＝Distance2 2
(x-x3)2+(y-y3)2+(z-z3)2＝Distance3 2
wherein x1，y1，z1Is a three-dimensional coordinate, x, of the first network device2、y2、z2Is the three-dimensional coordinate, x, of the second network device3，y3，z3Three-dimensional coordinates of the third network device.
5. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 1, wherein the measurement result comprises an identifier of the network device and a receiving power value RSRP of a positioning reference signali。
6. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 1, wherein the specific obtaining method of the relative position information is as follows: the first medical robot determines the relative position information of the first medical robot in a preset electronic map by using the sensor for perception.
7. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 6, wherein the specific obtaining method of the absolute coordinate information is as follows: and determining the relative position information of each coordinate point on the electronic map according to the reference coordinate information of the electronic map, and further determining the reference of the electronic map according to the relative position information of the first medical robot on the electronic map and the coordinate information of the first medical robot, thereby generating corresponding absolute coordinate information.
8. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 7, wherein the first medical robot sends second medical robot position identification information to the second medical robot, and the second medical robot determines the coordinate information of the second medical robot by determining the relative position information with the first medical robot according to the second medical robot position identification information by using a sensor and a communication device.
9. The medical robot positioning enhancement method based on the 5G indoor distributed system according to claim 8, wherein the second medical robot position identification information comprises a device identifier of the first medical robot, position coordinate information of the first medical robot, and a time stamp of the position coordinate information of the first medical robot.
10. A medical robot positioning enhancement system based on a 5G indoor distributed system is characterized by comprising:
the first medical robot is configured to be in communication connection with the 5G positioning server, measure and calculate position coordinate information according to positioning configuration information provided by the 5G positioning server, is in communication connection with the first medical robot controller and sends the position coordinate information and the relative position information to the first medical robot controller, and is in communication connection with the second medical robot and sends second medical robot position identification information to the second medical robot.
And the 5G positioning server is configured to be in communication connection with the first medical robot and provide positioning configuration information for the first medical robot.
And a first medical robot controller configured to be in communication connection with the first medical robot, control the first medical robot, and generate absolute coordinate information using the position coordinate information and the relative position information transmitted by the first medical robot.
And the second medical robot is configured to be in communication connection with the first medical robot, and the second medical robot position identification information sent by the first medical robot is used for determining the self coordinate information.
CN202010300308.3A 2020-04-16 2020-04-16 Medical robot positioning enhancement method and system based on 5G indoor distributed system Pending CN111315011A (en)

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Publication number Priority date Publication date Assignee Title
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Publication number Priority date Publication date Assignee Title
US20100167758A1 (en) * 2008-11-19 2010-07-01 Panasonic Corporation Radio positioning system and coordinate configuring method
CN103517204A (en) * 2012-06-25 2014-01-15 华为技术有限公司 Method of positioning mobile terminal, and equipment
CN104535961A (en) * 2014-12-15 2015-04-22 中兴通讯股份有限公司 Wireless positioning implementing method and system and positioning position computing device

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Publication number Priority date Publication date Assignee Title
US20100167758A1 (en) * 2008-11-19 2010-07-01 Panasonic Corporation Radio positioning system and coordinate configuring method
CN103517204A (en) * 2012-06-25 2014-01-15 华为技术有限公司 Method of positioning mobile terminal, and equipment
CN104535961A (en) * 2014-12-15 2015-04-22 中兴通讯股份有限公司 Wireless positioning implementing method and system and positioning position computing device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024027507A1 (en) * 2022-07-30 2024-02-08 华为技术有限公司 Positioning method and related product

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Application publication date: 20200619