CN101084696A - Determining a mobile station position based on pertinent location fingerprint data - Google Patents
Determining a mobile station position based on pertinent location fingerprint data Download PDFInfo
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- CN101084696A CN101084696A CNA2005800440706A CN200580044070A CN101084696A CN 101084696 A CN101084696 A CN 101084696A CN A2005800440706 A CNA2005800440706 A CN A2005800440706A CN 200580044070 A CN200580044070 A CN 200580044070A CN 101084696 A CN101084696 A CN 101084696A
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Abstract
A system, method and device are provided for determining the position of a mobile station through the identification of an approximate position of the mobile station. Thereafter received signal strength (RSSI) fingerprint data for the approximate position is requested and retrieved. The fingerprint data and received signal strength data collected at the mobile station are compared in connection with fixing the position of the mobile station.
Description
The related application cross reference
The application's case is advocated the priority based on the 60/622nd, No. 884 temporary patent application case in the application that coexists of filing an application on October 27th, 2004.
Technical field
Background technology
In the past few years, personnel, vehicle employee etc. are positioned, especially position, become the problem that becomes more and more important by the mobile phone medium.Federal Communications Committee (FCC) has evoked the very big interest that people determine mobile telephone position by it to the decree that must set up wireless enhancing 911 systems (E911) in November, 2005.
There are multiple technologies can be used for and proposed and (for example be used for travelling carriage, mobile phone, PDA(Personal Digital Assistant), portable computer, beep-pager etc. with telecommunications functions with telecommunications functions) position determines, from using global positioning system (GPS) to solution based on telephone network.Fingerprint provides the another kind of method of determining the position of travelling carriage.
The radiofrequency signal feature collection that is associated with respectively distinguishing in the signal transmission region is in database.Each signal characteristic grouping in one district is called a fingerprint.Usually, the position that compares to determine described travelling carriage by RF data sample and described database of fingerprint data with the travelling carriage collection.The position of described travelling carriage be defined as being positioned at and the finger print data of described RF data sample with maximum correlation put corresponding zone.
Described comparison is undertaken by the server of preserving described finger print data.If in travelling carriage, finish described comparison according to conventional practice, then have to lot of data is downloaded on the described travelling carriage from based on network database.Fingerprint set up need be from different base stations or cell site (for example, base transceiver station (BTS)) different time in every day takes multiple measurements, with the signal fluctuation (Rayleigh fading etc.) and network load (capacity) fluctuation of catching short-term, to try hard to catch each fingerprint calibration point of fingerprint database.Therefore, described fingerprint database being downloaded to described travelling carriage may be infeasible.
Ekahau company uses received signal volume indicator (RSSI) at the network planning and fingerprint aspect setting up.Collect the radio net sample point from different site locations.Each sample point comprises the RSSI data together with the correlation map coordinate that is stored in the database, follows the tracks of to be used in Wi-Fi network (802.11a/b/g) personnel, assets, equipment etc. being carried out the position.
Yet, this Ekahau system based on Wi-Fi is used for compact applications, run on wherein that program calculating location on the server is determined and be used to (for example to write down field data, the RSSI data) application program relatively with client terminal device (that is, laptop computer, PDA(Personal Digital Assistant), Wi-Fi label etc.) reciprocation.The position specified data of being returned can comprise speed, direction, building floor and the grid location of customer set up.For fairly large application, how tame U.S. cellular carrier uses near BTS and is determined the position of mobile phone by the rssi measurement that near BTS carries out.
Triangulation technique can cause carrying out double counting on the webserver, it can make system unnecessarily bear burdens, especially in the big network of the traffic.Although can not run into the many problems that are associated with other location recognition technology, fingerprint is set up need carry out quite a large amount of work aspect data collection, and metropolitan area dense at people's open height, high concentration is the most feasible.Yet fingerprint is set up the collection that has benefited from by the multi-path signal data of carrying out from the indirect signal path of transmitted from transmitter to receiver.People need utilize the benefit of fingerprint foundation in the mode of improving current RSSI position measurement technique.
Summary of the invention
Description of drawings
Fig. 1 is be organized into a travelling carriage of a grid configuration and a plurality of BTS graphic, wherein divides the token of searching that distributes by " T " indication of a subscripting for each grid.
Fig. 2 is the block diagram of an embodiment of communication system.
Fig. 3 is the block diagram of travelling carriage.
[003.2] functional-block diagram of Fig. 4 graphic extension location of mobile station navigation system.
Fig. 5 is the chart of the graphic extension data type that can keep in fingerprint database.
Fig. 6 is the flow chart that is used for the method for definite location of mobile station.
Embodiment
The invention provides a kind of be used for travelling carriage through improved location determining method, system and device, be particularly useful for presenting the populous zone of multi-path signal pattern.Familiar locations with these multi-path signal patterns comprises for example Chicago, Manhattan or San-Francisco financial districts.
In aspect a position is determined, finger print data is stored in the network data base, and relatively the relevant portion of described database is downloaded on the described travelling carriage with the residing approximate signal of the described travelling carriage of identification receiving area.Fingerprint database comprises the RSSI data.
With reference to figure 1, its graphic extension comprises the graphic of travelling carriage 2 (being assumed to be automobile telephone) and a plurality of emission receiving station BTS of grid 5 forms (as be organized into), wherein distributes a token of searching by " T " indication of subscripting for each grid subregion.Described subscript refers to the row and column of grid 5.
Each embodiment can use in conjunction with multiple different radio access channel system (comprising, for example code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), space division multiple access (SDMA) or similar system).
Under the situation that is cdma system, signal is propagated by frequency and is encoded.These features have signal can realize confidentiality and jamproof performance.Coding is to use the code of similar noise to finish, and described code is called pseudorandom scramble sign indicating number or pseudo noise.Although other mobile systems think that the multi-path signal feature is undesirable, yet for CDMA, can multi-path signal has some favourable aspect-use multi-path signal to improve quality of signals.Because the broadband nature of CDMA signal, so this is possible.Each BTS website 4 emissions one pseudo noise (PN) code with unique code sequence comprises the base station identity code (BASE-ID) that travelling carriage 2 can be distinguished in the BTS pilot signal on forward link (communication from BTS to the travelling carriage) pilot channel.Described pilot channel constantly transmits 7, and travelling carriage 2 uses described signal 7 to catch communication system.After travelling carriage 2 has been caught described system, use pilot signal 7 to carry out signal strength measurement.The intensity of the pilot signal of use from BTS to the travelling carriage is defined as correctly regulating the required power of signal transmission strength of travelling carriage.In addition, according to an aspect of the present invention, can use described pilot signal strength to discern emission BTS, to try hard to from the network data base (not shown) that comprises relevant RSSI database information, the determining relevant token of searching,, compare with the described RSSI data that are used for and measure at travelling carriage 2 places.
Can determine the relevant token information of searching from single BTS.For example, BTS 4A can be limited in the circle 12 (partly showing) that defines emission radius 10.Can will download in the travelling carriage 2 for the token data of searching in the circle 12 of given radius 10.Radius 10 can be predetermined length-a kind of parameter that is specially adapted to the multi-path signal environment and selects feature.Perhaps, the function that can be used as pilot signal strength customizes the length of radius 10.For example, signal strength signal intensity is big more, and then required radius length is more little because deducibility more approaches BTS, and can analyze quantity still less search token.
Travelling carriage 2 compares the token information of being downloaded of searching based on single BTS 4 with the RSSI data of measuring in its position, to estimate its position.Because each searches token T corresponding to a mapped location, so select the location that token can be defined as the position to search corresponding to this token of searching that has the most closely related property with measured RSSI data.Searching token grid 5 and can conclude that the quantity of searching token on the given area is many more from Fig. 1 will make mesh spacing tight more, and therefore determine the foundation that provides better for more accurate position.In an alternate embodiment, use the token data of searching from the pilot signal of two BTS being correlated with of determining to analyze.As shown in fig. 1, define a intersection 6 on the grid 5 from the crossing radius 10 of BTS 4A and BTS 4C respectively.Therefore, the involved area of district in 6 with comprise T
1,1, T
1,2, T
2,1, T
1,3And T
2,2To search token relevant.The token of searching in the intersection 6 is downloaded in the travelling carriage 2.By using two BTS to define the described relevant token of searching, compare with the token of searching in the emission radius of single BTS 4, can need to analyze to search the token number quantitative change few.Identical with described last embodiment, radius 10 can be predetermined length, perhaps its customizable function that is representative from the pilot signal strength of each BTS.Correspondingly, the length of each radius 10 that is associated with a given BTS 4 does not need identical.
In another alternate embodiment, can use additive method to determine the associative search token data that to analyze, and therefore determine the approximate location of described travelling carriage.For example, can use and set up another from the pilot signal of another the 3rd BTS (BTS 4B) in the mode that adopts advanced forward link triangulation (AFLT) and intersect the circle (not shown).By using AFLT, except that relative time of advent measured value, travelling carriage is also measured the RSSI of signals measured value near cellular basestation (tower), and uses these readings to come the approximate location of hand telephone is carried out triangulation.
In addition, also can pass through the cellular base stations tower of identification for the relevant RSSI finger print data that downloads to described travelling carriage based on sub-district ID (honeycomb identification code) information or the sub-district ID-that strengthens near described travelling carriage.The sub-district ID that strengthens is a kind of network technology that sub-district ID is combined with one or more added technique.Compare with basic sub-district ID, its accurate level improves.For example, in the GSM network, supply the described added technique of combination can comprise timing advance (it measures the distance of hand telephone apart from the base station, comprises whether described hand telephone is connected to nearest sub-district) and RSSI.
Following table 1 is summarised as and obtains the position approximation, according to shown in estimated performance aspect the mean accuracy determined in the position of method.The field of search of RSSI coupling is carried out in the definition of described precision, and reduces widely and offer described travelling carriage and by the quantity of its grid of checking.
Table 1
| Location approximation method | AFLT | The sub-district ID that strengthens | Sub-district ID |
| The mean accuracy that the position is determined | 100 to 200 meters | 150 to 1000 meters | 750 meters to the 3-5 km |
Fig. 2 is a block diagram, and it shows wherein the system that can carry out long range positioning to the travelling carriage 2 and the reciprocation of BTS4 and database 8 by travelling carriage 2 and BTS4.Reciprocation makes travelling carriage 2 and analyzes the signal strength data that receives from BTS and make relatively the exit of selected request of searching token-lead to BTS4 (having the strongest pilot signal strength indication) by double-head arrow 16 is represented.With to described database resident server 11 request relatively, same BTS4 can receive from database 8 search token information.Perhaps, the information of database 8 can be forwarded to travelling carriage 2 by another BTS (not shown), shown in dotted arrow 20.
In an alternate embodiment, except that base station identity code (BASE-ID), also can use other unique honeycomb identification codes discern with download pertinent fingerprint relevant be concerned about the zone.These identification codes comprise system identification (SID)/NID (NID)/BASE-ID and SID/ mobile switching centre identification code (MSC-ID)/BASE-ID.
Fig. 3 is the block diagram of travelling carriage 2.As shown in the figure, travelling carriage 2 comprises the approximate identification code part 30 in location, to download to the relevant portion of travelling carriage 2 according to described wherein a kind of location approximation method herein (that is, AFLT, strengthen Cell-ID etc.) in the approximate identification code part 30 identification fingerprint databases in location.RSSI part 32 and the processor 36 that is used to provide the radio communication part 34 of mobile communication and is used to handle the data in the travelling carriage 2 work together to determine the rssi measurement value at travelling carriage 2 places.The rssi measurement value, to the request of pertinent fingerprint and to location of mobile station determine carry out relatively with the software 42 that is kept in the memory 40.
Fig. 4 is the functional-block diagram of location of mobile station navigation system.As shown in the figure, location estimator 46 is discerned the approximate location of described travelling carriage according to one in the described method herein.Perhaps, can in network 54, make up location estimator.The pertinent fingerprint of the approximate location that 48 requests of fingerprint requester and acquisition location estimator 46 are discerned.The measured RSSI data that 50 pairs of fingerprint comparators are determined by RSSI indicating device 51 with compare from the finger print data relevant of network 54 with the fingerprint request of requester 48 by 48 receptions of fingerprint requester.
What fingerprint comparator 50 and selection and RSSI indicating device 51 measured RSSI data had a maximum correlation searches the token position of definite travelling carriage relatively.To select position with the described corresponding zone of token of searching as described travelling carriage.The locating and displaying of described travelling carriage is on locating and displaying device 52.Can latitude and longitude readings show described location.In addition, perhaps another is chosen as, and described location can comprise representational street address.Perhaps, the location may be shone upon and show to the locating and displaying step on numerical map.In another embodiment, described location can be offered the inner or outside application program of described travelling carriage further to handle and to show.
Fig. 5 is a chart, the type of the data that its graphic extension can keep in fingerprint database 8, and fingerprint database 8 is used for determining the position of described travelling carriage.As shown in the figure, database 8 can be preserved the tower clauses and subclauses of the identity of indication tower, to be used to define the zone of being concerned about of searching token.Fig. 5 shows the example of two tower clauses and subclauses.Yet, can use more a plurality of tower clauses and subclauses to define and search token area.Be the further described token area of searching of refinement, can write down between two towers and specify the determined intersecting area of radius that described appointment radius defines outside BTS antenna coverage or antenna range from each BTS by one.Yet, note, in database 8, keep single tower clauses and subclauses to help to consider that single tower is enough to define describedly searches the situation of token area and only receive relevant situation with single tower.The RSSI token that can in database 8, keep tower intersecting area or single tower to be defined.Also can in database 8, keep the location defined together with other measured values by latitude and longitude readings.
Fig. 6 is the flow chart that the demonstration location of mobile station is determined method.As shown in the figure, described travelling carriage is collected RSSI data, 60.After this, determine the approximate location of described travelling carriage, 62.Can determine the approximate location of described travelling carriage according to one in the described technology of preamble.For example, in one aspect in, described travelling carriage according to come comfortable receive on the pilot channel launch pilot signal pilot signal strength determine nearest BTS website.According to second and next the strongest pilot signal discern second and next nearest BTS tower.According to two or more the intersecting of overlapping receiving area of discerning the BTS website, the institute that defines the associative search token is concerned about regional and provides it to described travelling carriage.
In one aspect of the method, define to be identified as and search token data, 64 near the zone of described travelling carriage corresponding to one.The preferable RSSI data of at the described server place of searching token database of preservation these being searched token and being collected by described travelling carriage compare 66.Calculate the correlation of respectively searching in the delimited area of being concerned about between the token number strong point, 68.Select to have the token of searching of maximum correlation with collected RSSI data, 70, and itself and predetermined correlation threshold value compared 72.For example, if described 80% the correlation of searching between token and the collected RSSI data is promptly enough, then select the selected token of searching of the location, relevant position (street address, longitude and latitude indication etc.) of the described travelling carriage of indication, 74.If the selected token of searching of correlation maximum does not satisfy described threshold value, then collect RSSI data (60) and begin to restart described method from described travelling carriage, determine with the position of trying hard to obtain travelling carriage.Also contain herein and use with neighbor search and signal mode mate relevant many algorithm known recently.Can adopt these technology further to improve the positioning estimation value.Although carry out this explanation with reference to specific embodiment, should be appreciated that these embodiment only are the illustrative to the principle of the invention and application.Therefore, should be appreciated that, can carry out many modifications, and can design other and arrange that this does not deviate from the spirit and scope that claims defined of enclosing described exemplary embodiments.
Claims (21)
1, a kind of system that is used for the position of definite travelling carriage, it comprises:
Location estimator, it is used to discern the apparent position of described travelling carriage;
The fingerprint requester, it is used for visiting the location fingerprint data of asking and obtaining to be correlated with from the fingerprint database away from described travelling carriage by radio channel, and described relevant location fingerprint data are indicated the described apparent position of described travelling carriage; And
The fingerprint comparator, its RSSI data that are used for measuring in described travelling carriage place compare with described relevant location fingerprint data, to determine the position of described travelling carriage.
2, the system that is used for the position of definite travelling carriage as claimed in claim 1, it further comprises display, described display can be worked to indicate the position of described travelling carriage.
3, the system that is used for the position of definite travelling carriage as claimed in claim 1, wherein said radio channel visit is to provide by the technology that is selected from the radio channel access scheme group that is made up of CDMA, TDMA, FDMA, SDMA and its combination.
4, the system that is used for the position of definite travelling carriage as claimed in claim 1, wherein said remote fingerprint database comprises the RSSI data.
5, the system as claimed in claim 1, wherein said travelling carriage are the mobile communications devices that is selected from the group that is made up of mobile phone, the personal digital assistant with radio communication function, the portable computer with radio communication function and beep-pager.
6, a kind of travelling carriage, it comprises:
The approximate identification division in location, it can be worked to assign to download to described travelling carriage corresponding near the dependent part the described travelling carriage in the identification remote fingerprint database;
The RSSI part, it is used for carrying out rssi measurement at described travelling carriage place;
Memory;
Processor;
The software that is kept in the memory and moves in described processor, it is used for by the described relevant portion of described remote fingerprint database and the described rssi measurement that carries out at described travelling carriage place being compared to determine the position of described travelling carriage.
7, travelling carriage as claimed in claim 6, the approximate identification division in wherein said location is discerned in the remote fingerprint database near relevant portion corresponding to described travelling carriage by the advanced forward link triangulation method.
8, travelling carriage as claimed in claim 6, the approximate identification division in wherein said location is discerned the relevant portion of remote fingerprint database by measuring base station pilot signals intensity by discerning near the described travelling carriage base station site.
9, travelling carriage as claimed in claim 6, the approximate identification division in wherein said location is positioned near the described travelling carriage cellular base stations by the method for using Cell-ID by identification and discerns in the remote fingerprint database near relevant portion corresponding to described travelling carriage.
10, travelling carriage as claimed in claim 6, the approximate identification division in wherein said location is discerned in the remote fingerprint database near relevant portion corresponding to described travelling carriage by the method for using the Cell-ID that strengthens.
11, a kind of system that is used for the position of definite travelling carriage, it comprises:
Fingerprint database, it comprises the RSSI data;
Travelling carriage, it comprises the location estimator of the apparent position that is used to discern described travelling carriage;
The fingerprint requester, it is used for visiting the location fingerprint data of asking and obtaining to be correlated with from the fingerprint database away from described travelling carriage by radio channel, and described relevant location fingerprint data are indicated the apparent position of described travelling carriage; And
The fingerprint comparator, its RSSI data that are used for measuring in described travelling carriage place compare with described relevant location fingerprint data, to determine the position of described travelling carriage.
12, a kind of method that is used for the position of definite travelling carriage, it comprises:
Collect the RSSI data at described travelling carriage place;
Determine the approximate location of described travelling carriage;
From searching token data corresponding to the fingerprint of the described approximate location of described travelling carriage away from selection the database of described mobile position estimation;
Described fingerprint is searched token data to be compared with the described RSSI data of collecting at described travelling carriage place; And
Search the position that token data is determined described travelling carriage according to searching the described fingerprint that has a maximum correlation with described RSSI data.
13, the method for the position of definite travelling carriage as claimed in claim 12, it further comprises judges whether described maximum correlation satisfies predetermined threshold.
14, the method for the position of definite travelling carriage as claimed in claim 13 then repeats described method if wherein described maximum correlation can not satisfy described predetermined threshold.
15, the method for the position of definite travelling carriage as claimed in claim 12, wherein said fingerprint are searched token data and are comprised the RSSI data.
16, the method for the position of definite travelling carriage as claimed in claim 12, the approximate location of wherein determining described travelling carriage are by using the APLT method to finish.
17, the method for the position of definite travelling carriage as claimed in claim 12, the approximate location of wherein determining described travelling carriage are to finish by near the base station site of discerning the described travelling carriage by measuring base station pilot signals intensity.
18, the method for the position of definite travelling carriage as claimed in claim 12, the approximate location of wherein determining described travelling carriage are to finish by discerning near the cellular base stations antenna of described mobile position estimation.
19, the method for the position of definite travelling carriage as claimed in claim 12, it further comprises the location that shows described travelling carriage.
20, the method for the position of definite travelling carriage as claimed in claim 19, wherein the demonstration to described mobile position estimation comprises longitude and latitude reading.
21, the method for the position of definite travelling carriage as claimed in claim 19, wherein the demonstration to described mobile position estimation comprises the street locating information.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US62288404P | 2004-10-27 | 2004-10-27 | |
| US60/622,884 | 2004-10-27 | ||
| US11/000,702 | 2004-11-30 |
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| CN101084696A true CN101084696A (en) | 2007-12-05 |
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| CNA2005800440706A Pending CN101084696A (en) | 2004-10-27 | 2005-10-27 | Determining a mobile station position based on pertinent location fingerprint data |
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| CN101917763A (en) * | 2010-08-13 | 2010-12-15 | 北京邮电大学 | Node and method for positioning same |
| CN102111872A (en) * | 2009-12-23 | 2011-06-29 | 中国移动通信集团公司 | Location method and device based on fingerprint location technology |
| CN102947724A (en) * | 2010-04-22 | 2013-02-27 | 弗兰霍菲尔运输应用研究公司 | Apparatus and method for calibrating a radio positioning based position finding device |
| CN103298106A (en) * | 2012-02-24 | 2013-09-11 | 美国博通公司 | Wireless communication device capable of performing enhanced fingerprint mapping and location identification |
| CN103379427A (en) * | 2012-04-13 | 2013-10-30 | 华为技术有限公司 | Positioning method, device and system |
| WO2014000469A1 (en) * | 2012-06-28 | 2014-01-03 | 华为技术有限公司 | Real time location method and location server |
| CN105589057A (en) * | 2015-09-16 | 2016-05-18 | 杭州华三通信技术有限公司 | Positioning method and device for position information |
| WO2016110201A1 (en) * | 2015-01-06 | 2016-07-14 | 阿里巴巴集团控股有限公司 | Method, device and system for monitoring object behaviors |
| CN103517407B (en) * | 2012-06-28 | 2016-11-30 | 华为技术有限公司 | Real-time location method and location-server |
| CN106415306A (en) * | 2014-06-30 | 2017-02-15 | 英特尔公司 | Efficient location determination of wireless communication devices using hybrid localization techniques |
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| CN102111872A (en) * | 2009-12-23 | 2011-06-29 | 中国移动通信集团公司 | Location method and device based on fingerprint location technology |
| CN102111872B (en) * | 2009-12-23 | 2013-11-20 | 中国移动通信集团公司 | Location method and device based on fingerprint location technology |
| CN102947724A (en) * | 2010-04-22 | 2013-02-27 | 弗兰霍菲尔运输应用研究公司 | Apparatus and method for calibrating a radio positioning based position finding device |
| US9217787B2 (en) | 2010-04-22 | 2015-12-22 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Apparatus and method for calibrating a radio positioning based position finding device |
| CN101917763B (en) * | 2010-08-13 | 2014-06-25 | 北京智慧图科技发展有限责任公司 | Node and method for positioning same |
| CN101917763A (en) * | 2010-08-13 | 2010-12-15 | 北京邮电大学 | Node and method for positioning same |
| CN103298106A (en) * | 2012-02-24 | 2013-09-11 | 美国博通公司 | Wireless communication device capable of performing enhanced fingerprint mapping and location identification |
| CN103298106B (en) * | 2012-02-24 | 2016-01-06 | 美国博通公司 | The radio communication device strengthening fingerprint map and location recognition can be performed |
| CN103379427A (en) * | 2012-04-13 | 2013-10-30 | 华为技术有限公司 | Positioning method, device and system |
| CN103379427B (en) * | 2012-04-13 | 2016-06-15 | 华为技术有限公司 | A kind of localization method, equipment and system |
| CN103517407A (en) * | 2012-06-28 | 2014-01-15 | 华为技术有限公司 | Real-time locating method and locating server |
| WO2014000469A1 (en) * | 2012-06-28 | 2014-01-03 | 华为技术有限公司 | Real time location method and location server |
| CN103517407B (en) * | 2012-06-28 | 2016-11-30 | 华为技术有限公司 | Real-time location method and location-server |
| CN106415306A (en) * | 2014-06-30 | 2017-02-15 | 英特尔公司 | Efficient location determination of wireless communication devices using hybrid localization techniques |
| WO2016110201A1 (en) * | 2015-01-06 | 2016-07-14 | 阿里巴巴集团控股有限公司 | Method, device and system for monitoring object behaviors |
| CN105827337A (en) * | 2015-01-06 | 2016-08-03 | 阿里巴巴集团控股有限公司 | Method, device and system for object behavior monitoring |
| CN105827337B (en) * | 2015-01-06 | 2019-02-15 | 阿里巴巴集团控股有限公司 | A kind of object behavior monitoring method, apparatus and system |
| CN105589057A (en) * | 2015-09-16 | 2016-05-18 | 杭州华三通信技术有限公司 | Positioning method and device for position information |
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