CN101329393A - Big dipper / GPS double-module shipborne terminal and coordination scheduling method thereof - Google Patents
Big dipper / GPS double-module shipborne terminal and coordination scheduling method thereof Download PDFInfo
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- CN101329393A CN101329393A CNA2008101176138A CN200810117613A CN101329393A CN 101329393 A CN101329393 A CN 101329393A CN A2008101176138 A CNA2008101176138 A CN A2008101176138A CN 200810117613 A CN200810117613 A CN 200810117613A CN 101329393 A CN101329393 A CN 101329393A
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Abstract
The invention discloses a Beidou/GPS dual-mode shipboard terminal which integrates the GPS and the Beidou and a positioning and time correcting coordinated scheduling method thereof. The GPS/Beidou dual-mode shipboard terminal comprises an antenna, a low-noise amplifier, a power amplifier, a GPS module, a Beidou module and a comprehensive data control module. The Beidou/GPS dual-mode shipboard terminal carries out the periodic timing detection of the GPS and the Beidou modules, or carries out the detection according to a command of a user or a ground control center to judge the current working state of the GPS and the Beidou modules, thereby carrying out the coordinated scheduling of the working states of the GPS and the Beidou modules and ensuring the obtainment of the accurate positioning information. The GPS/Beidou dual-mode shipboard terminal and the coordinated scheduling method thereof can not only realize the real-time obtainment of the high-precision positioning information, but also can enhance the environment adaptability and the reliability of the shipboard terminal.
Description
Technical field
The present invention relates to the satellite positioning navigation technical field, the coordinated scheduling method when relating in particular to a kind of Big Dipper/GPS bimodulus Shipborne terminal and location thereof, school.
Background technology
The applicable satellite navigation system of China comprises gps satellite navigational system and Beidou satellite navigation system at present.Gps system has the good advantage of bearing accuracy high real-time, and its shortcoming is that the GPS Shipborne terminal can only receive gps signal, lacks the interactivity of information.The dipper system of China's independent research can realize the location and function such as communicate by letter, and user terminal can send location or communication request by certain frequency, thereby obtains locating information, and communicates with other-end, but real-time is subjected to the frequency restriction.
Advantage for compatible two kinds of satellite systems, enlarge the scope of applying, then need a kind of Big Dipper/GPS bimodulus Shipborne terminal and coordinated scheduling method thereof, realize high precision, interactive satellite navigation reliably location in order to common coordination, coordinated scheduling in the time of the school can being realized simultaneously and information mutual.
Summary of the invention
Technical matters to be solved by this invention is, coordinated scheduling method when a kind of Big Dipper/GPS bimodulus Shipborne terminal and location thereof, school are provided, the duty that is used to coordinate between the Big Dipper/GPS bimodulus positioning system is coordinated, and obtains the high locating information of the good degree of accuracy of implementation.
The invention provides a kind of Big Dipper/GPS bimodulus Shipborne terminal, comprise GPS module, Big Dipper module and the integrated data control module that is used to control above-mentioned GPS and Big Dipper module, wherein:
The GPS module is used for the GPS real-time positioning, gives the integrated data control module with locating information;
Big Dipper module, the locating information that is used for the big-dipper satellite that will be received sends to the integrated data control module; Also be used to receive the steering order or the data message of integrated data control module, to instruct or information is issued big-dipper satellite by Big Dipper communication link, be forwarded to other Big Dipper user or ground control centre, and be used to receive the ground control centre of big-dipper satellite forwarding or other Big Dipper user's instruction or data message;
The integrated data control module is used to detect the GPS module and whether Big Dipper module is normal, when selecting locating information and school according to both states.
Further, described integrated data control module is if judge that the GPS module is normal, and the work of Big Dipper module is undesired, then receives the locating information of GPS, the locating information of GPS handled sending to other application apparatus and use, this moment, system clock adopted gps clock to carry out synchronously.
Further; described integrated data control module maybe can not be used if judgement GPS module is undesired; and Big Dipper module is normal; then utilize the Big Dipper to position; reception Big Dipper location; this Big Dipper locating information handled sending to other application apparatus and use, this moment, system clock adopted big dipper clock to carry out synchronously.
Further, described integrated data control module according to carrying the indication information of locating successfully or failing in the reception locating information, judges whether successfully to obtain the GPS locating information when receiving the GPS locating information.
Further, described integrated data control module is used to the GPS integrity information that utilizes the ground control centre to provide further, according to the broad sense difference method integrity is judged:
If surpass a certain error threshold, judge that then the Current GPS module is undesired;
If less than a certain error threshold, judge that the Current GPS module is normal, system adopts gps clock to carry out synchronously.
Further, described integrated data control module, be that GPS and Big Dipper module are carried out regularly detection of periodicity, or detect according to the instruction of user or ground control centre, to judge the duty of Current GPS and Big Dipper module, thereby the duty according to GPS and Big Dipper module is carried out coordinated scheduling, guarantees to obtain accurate in locating information.
The present invention also provides the coordinated scheduling method of a kind of Big Dipper/GPS bimodulus Shipborne terminal, comprises the steps:
When the starting up, respectively GPS and Big Dipper module are carried out initialization and system verification;
Obtain the GPS module and whether lock whether normal status information of successful status information and Big Dipper module;
According to the status information of GPS and Big Dipper module, when selective system locating information and school: if GPS and the equal operate as normal of Big Dipper module determine that then the GPS locating information is the locating information of system, and definite gps clock are a system clock.
Further, described status information according to GPS and Big Dipper module is in the step when selective system locating information and school, if GPS and the equal operate as normal of Big Dipper module, GPS location integrity information according to obtaining from the ground control centre, utilize the broad sense difference method that integrity information is judged:
If surpass a certain error threshold, judge that then the Current GPS module is undesired;
If less than a certain error threshold, judge that then the Current GPS module is normal, this moment, system clock adopted gps clock to carry out synchronously.
Further, described status information according to GPS and Big Dipper module, in step when selective system locating information and school, if the GPS module is confirmed to locate successfully according to the GPS locating information, and Big Dipper cisco unity malfunction, then enter the single mode of operation of GPS, determine the locating information of current employing GPS, export by serial ports as locator data.
Further, described status information according to GPS and Big Dipper module, in step when selective system locating information and school, be periodically or according to the instruction of user or ground control centre, status information and state that GPS and Big Dipper module are obtained detect, and carry out the locating information that coordinated scheduling determines to adopt GPS or Big Dipper locating module.
Coordinated scheduling method when a kind of Big Dipper/GPS bimodulus Shipborne terminal that is integrated with GPS and Big Dipper module provided by the invention and location thereof, school, GPS and Big Dipper module are carried out regularly detection of periodicity, or detect according to the instruction of user or ground control centre, obtain the GPS module respectively and whether lock whether normal status information of successful status information and Big Dipper module; According to the status information of GPS and Big Dipper module, when selective system locating information and school: if GPS and the equal operate as normal of Big Dipper module determine that then the GPS locating information is the locating information of system, and definite gps clock are a system clock.The present invention both can realize obtaining in real time the function of hi-Fix information, can strengthen the environmental suitability and the reliability of Shipborne terminal again.
Description of drawings
Fig. 1 is the schematic diagram of GPS/ Big Dipper bimodulus Shipborne terminal.
Fig. 2 is the concrete structure block diagram of GPS/ Big Dipper bimodulus Shipborne terminal.
Fig. 3 is the coordinated scheduling workflow diagram of GPS/ Big Dipper bimodulus Shipborne terminal.
The technical scheme of embodiment
For making the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in further detail below in conjunction with accompanying drawing.
A kind of schematic diagram and concrete structure block diagram that is integrated with the bimodulus Shipborne terminal of the GPS and the Big Dipper, respectively as depicted in figs. 1 and 2.This GPS/ Big Dipper bimodulus Shipborne terminal comprises antenna and low noise amplifier and power amplifier, GPS module and Big Dipper module, and the integrated data control module.
The GPS module is used for the GPS real-time positioning, and locating information is sent to the integrated data control module;
Big Dipper module, be used to receive the steering order or the data message of integrated data control module, to instruct or information is issued big-dipper satellite by Big Dipper communication link, be forwarded to other Big Dipper user or ground control centre, and be used to receive the ground control centre of big-dipper satellite forwarding or other Big Dipper user's instruction or data message, also the locating information with big-dipper satellite sends to the integrated data control module;
The integrated data control module is used to detect the GPS module and whether Big Dipper module is normal, when selecting locating information and school according to both states, comprises following several situation:
A, if the GPS module is normal, and Big Dipper module cisco unity malfunction then receives the locating information of GPS, this locating information is handled sending to other application apparatus and use, this moment, system clock adopted gps clock to carry out synchronously;
B, if the GPS module is undesired maybe can not use, then utilize Big Dipper module to send Location Request, receive Big Dipper locating information, this locating information is handled sending to other application apparatus and use, this moment, system clock adopted big dipper clock to carry out synchronously;
The GPS module can not be used and be meant that GPS can't lock in place information, promptly can carry the indication information of locating successfully or failing in its locating information, makes the integrated data control module can determine whether successfully to obtain the GPS locating information;
C, when the GPS operate as normal can lock the GPS locating information, the integrated data control module can be utilized the integrity information that provides of ground control centre, judge the integrity that receives gps signal, determine whether the GPS information of current reception is intact accurate, promptly judge whether normal; If surpass a certain error threshold, then decidable Current GPS module is undesired, and locating information cannot be used; If less than a certain error threshold, then decidable Current GPS module is normal, and locating information can be used;
D, all normal as if GPS module and Big Dipper module, then with the locating information of GPS module as positional information, after the processing of GPS locating information, positional information can be sent to miscellaneous equipment (user's display device, navigator, panalarm etc.) uses, positional information big-dipper satellite be can also be sent to by Big Dipper module, ground control centre or other user are transmitted to again; Simultaneously, can be according to ground control centre or other user's instruction, the content of need selecting reports; This moment, system clock adopted gps clock to carry out synchronously.
The integrated data control module, can regularly carry out the periodicity detection to GPS module and Big Dipper module, also can detect according to the instruction of user or ground control centre, judge the work at present state of GPS and Big Dipper module, and carry out coordinated scheduling according to its duty, guarantee to obtain best locating information.
The coordinated scheduling workflow diagram of above-mentioned GPS/ Big Dipper bimodulus Shipborne terminal as shown in Figure 3, the step of its coordinated scheduling method is as follows:
Step 201: starting up GPS/ Big Dipper bimodulus Shipborne terminal, carry out initialization and system verification to GPS and Big Dipper module respectively.
Whether normal step 202: the integrated data control module is obtained the GPS module and whether is locked successful status information, and Big Dipper module status information.
Step 203: the integrated data control module is carried out coordinated scheduling according to the state of GPS and Big Dipper module:
If the GPS module is confirmed to locate successfully from receive the GPS locating information, and Big Dipper module cisco unity malfunction enters single GPS mode of operation, possesses navigation feature, then goes to step 204;
If the GPS module is confirmed the location failure from receive the GPS locating information, and Big Dipper module can not operate as normal, then goes to step 202;
If the GPS module is confirmed the location failure from receive the GPS locating information, and Big Dipper module operate as normal then goes to step 205;
If the GPS module is confirmed to locate successfully from receive the GPS locating information, and Big Dipper module operate as normal then goes to step 206.
Step 204: the integrated data control module is determined the locating information of current employing GPS module, exports by serial ports as locator data.
Step 205: the integrated data control module determines that current employing Big Dipper module obtains locating information, sends Location Request when the location, and Big Dipper module sends to big-dipper satellite with Location Request, and receives locating information; The integrated data control module with the locating information that obtains as current locating information, pattern when Shipborne terminal adopts Big Dipper school automatically simultaneously, send information with time be " Big Dipper " system time.
Step 206: when GPS module operate as normal can lock the GPS locating information, and Big Dipper module also just often, the integrated data control module can obtain the GPS integrity information that the ground control centre sends, according to the broad sense difference method this integrity is judged, determined the integrity of current reception GPS information.If surpass a certain error threshold, decidable Current GPS module is undesired; If less than a certain error threshold, judge that then the Current GPS module is normal, this moment, system clock adopted gps clock to carry out synchronously.
Step 207: meet the demands if the GPS module obtains the gps signal integrity, the integrated data control module with the Current GPS locating information as system's locating information, report ground control centre or user by big-dipper satellite, pattern when Shipborne terminal adopts the GPS school automatically simultaneously, system clock adopts gps clock to carry out synchronously, terminal send information with time be the gps system time.
Integrated data control module obtaining in the step 202 to GPS and Big Dipper module status information, and carry out coordinated scheduling according to GPS and Big Dipper module status in the step 203, determine that adopting the step of which locating module locating information is periodically to carry out, and also can carry out according to the instruction of user or ground control centre.
For step 203, when the state of GPS and Big Dipper module changes, can select suitable processing mode to handle according to both combinations of states, promptly GPS/ Big Dipper bimodulus Shipborne terminal can be selected best locating information automatically according to the current state of self.Because GPS and Big Dipper module adopt active/standby mode on the one hand, can be when a locating module can not be located and Shipborne terminal can utilize another locating module to obtain locating information, thereby, guarantee that in most of the cases the user can obtain locating information from Shipborne terminal; Even two equal cisco unity malfunctions of locating module, integrated data control module still can periodically detect the state of two locating modules, treat any locating module recover normal after, then can in time obtain locating information.
In GPS and Big Dipper module all during operate as normal, the present invention preferentially adopts real-time is good, precision is high GPS locating information as alliance information, gps time as system time, further also the integrity of GPS locating information is judged simultaneously, further guaranteed the accuracy of GPS locating information; On the other hand, the GPS locating information can be reported the ground control centre by big-dipper satellite, realize the interactive communication of locating information by Big Dipper module; During on the other hand as if the need navigation, can also issue navigation data etc. by the ground control centre to Shipborne terminal by big-dipper satellite.
Further, at the Big Dipper and GPS all during operate as normal, the GPS locating information periodically can be packed, send to big-dipper satellite by Big Dipper module by certain frequency, the non real-time packet that will comprise real-time positioning information sends to ground control centre or other boats and ships user.
In sum, GPS/ Big Dipper bimodulus Shipborne terminal of the present invention and coordinated scheduling method thereof both can realize obtaining in real time the function of hi-Fix information, can strengthen the environmental suitability and the reliability of Shipborne terminal again.
Described herein only is preferred exemplifying embodiment of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Therefore, allly relate to any modification of within innovation of the present invention and principle, being done, be equal to replacement, improve and upgrade or the like, all should be included within protection scope of the present invention.
Claims (10)
1. the Big Dipper/GPS bimodulus Shipborne terminal is characterized in that, comprises GPS module, Big Dipper module and the integrated data control module that is used to control above-mentioned GPS and Big Dipper module, wherein:
The GPS module is used for the GPS real-time positioning, gives the integrated data control module with locating information;
Big Dipper module, the locating information that is used for the big-dipper satellite that will be received sends to the integrated data control module; Also be used to receive the steering order or the data message of integrated data control module, to instruct or information is issued big-dipper satellite by Big Dipper communication link, be forwarded to other Big Dipper user or ground control centre, and be used to receive the ground control centre of big-dipper satellite forwarding or other Big Dipper user's instruction or data message;
The integrated data control module is used to detect the GPS module and whether Big Dipper module is normal, when selecting locating information and school according to both states.
2. the Big Dipper as claimed in claim 1/GPS bimodulus Shipborne terminal is characterized in that,
Described integrated data control module is if judge that the GPS module is normal, and the work of Big Dipper module is undesired, then receive the locating information of GPS, the locating information of GPS is handled sending to other application apparatus and use, this moment, system clock adopted gps clock to carry out synchronously.
3. the Big Dipper as claimed in claim 1/GPS bimodulus Shipborne terminal is characterized in that,
Described integrated data control module maybe can not be used if judgement GPS module is undesired; and Big Dipper module is normal; then utilize the Big Dipper to position; reception Big Dipper location; this Big Dipper locating information handled sending to other application apparatus and use, this moment, system clock adopted big dipper clock to carry out synchronously.
4. the Big Dipper as claimed in claim 1/GPS bimodulus Shipborne terminal is characterized in that,
Described integrated data control module according to carrying the indication information of locating successfully or failing in the reception locating information, judges whether successfully to obtain the GPS locating information when receiving the GPS locating information.
5. as claim 1 or the 4 described Big Dippeves/GPS bimodulus Shipborne terminal, it is characterized in that,
Described integrated data control module is used to the GPS integrity information that utilizes the ground control centre to provide further, according to the broad sense difference method integrity is judged:
If surpass a certain error threshold, judge that then the Current GPS module is undesired;
If less than a certain error threshold, judge that the Current GPS module is normal, system adopts gps clock to carry out synchronously.
6. as claim 1 or the 4 described Big Dippeves/GPS bimodulus Shipborne terminal, it is characterized in that,
Described integrated data control module, be that GPS and Big Dipper module are carried out regularly detection of periodicity, or detect according to the instruction of user or ground control centre, to judge the duty of Current GPS and Big Dipper module, thereby the duty according to GPS and Big Dipper module is carried out coordinated scheduling, guarantees to obtain accurate in locating information.
7. the coordinated scheduling method of the Big Dipper/GPS bimodulus Shipborne terminal is characterized in that:
When the starting up, respectively GPS and Big Dipper module are carried out initialization and system verification;
Obtain the GPS module and whether lock whether normal status information of successful status information and Big Dipper module;
According to the status information of GPS and Big Dipper module, when selective system locating information and school:
If GPS and the equal operate as normal of Big Dipper module determine that then the GPS locating information is the locating information of system, and definite gps clock are a system clock.
8. coordinated scheduling method as claimed in claim 7 is characterized in that:
Described status information according to GPS and Big Dipper module, in step when selective system locating information and school, if GPS and the equal operate as normal of Big Dipper module, the GPS location integrity information according to obtaining from the ground control centre, utilize the broad sense difference method that integrity information is judged:
If surpass a certain error threshold, judge that then the Current GPS module is undesired;
If less than a certain error threshold, judge that then the Current GPS module is normal, this moment, system clock adopted gps clock to carry out synchronously.
9. coordinated scheduling method as claimed in claim 7 is characterized in that,
Described status information according to GPS and Big Dipper module, in step when selective system locating information and school, if the GPS module is confirmed to locate successfully according to the GPS locating information, and Big Dipper cisco unity malfunction, then enter the single mode of operation of GPS, determine the locating information of current employing GPS, export by serial ports as locator data.
10. coordinated scheduling method as claimed in claim 7 is characterized in that,
Described status information according to GPS and Big Dipper module, in step when selective system locating information and school, be periodically or according to the instruction of user or ground control centre, status information and state that GPS and Big Dipper module are obtained detect, and carry out the locating information that coordinated scheduling determines to adopt GPS or Big Dipper locating module.
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| CN101975958A (en) * | 2010-09-15 | 2011-02-16 | 东莞市泰斗微电子科技有限公司 | Data updating method for double-mode or multi-mode positioning satellite signal receiving system |
| CN102156289A (en) * | 2011-03-09 | 2011-08-17 | 陕西诺维信息技术有限公司 | Dual-mode positioning time-service type receiver for compass satellite and global positioning system (GPS) satellite |
| CN102209401A (en) * | 2011-05-25 | 2011-10-05 | 西安华运天成通讯科技有限公司 | Portable Beidou communication emergency terminal hardware structure with low power consumption |
| CN102981172A (en) * | 2012-12-05 | 2013-03-20 | 西安航空电子科技有限公司 | Dual-mode positioning method capable of identifying teammates |
| CN103076617A (en) * | 2011-12-27 | 2013-05-01 | 东莞市泰斗微电子科技有限公司 | Satellite navigation system, corresponding navigation method and receiving device |
| CN103399323A (en) * | 2013-08-05 | 2013-11-20 | 无锡鹏讯科技有限公司 | Vehicle-mounted intelligent terminal |
| CN103646446A (en) * | 2013-12-20 | 2014-03-19 | 徐州徐工施维英机械有限公司 | Method, recorder and system for monitoring vehicle driving, and concrete mixer truck |
| CN104281048A (en) * | 2014-08-26 | 2015-01-14 | 重庆九洲星熠导航设备有限公司 | Vehicle-mounted Beidou dual-mode satellite communication and positioning timing system and method |
| CN105307199A (en) * | 2015-09-11 | 2016-02-03 | 北京国泰信通科技有限公司 | GPS/Beidou dual-mode smart amplifying multi-path allocation system with monitoring function |
| CN105403899A (en) * | 2015-12-23 | 2016-03-16 | 中国船舶重工集团公司第七一〇研究所 | GPS and Beidou positioning switching system |
| CN105858004A (en) * | 2016-03-23 | 2016-08-17 | 深圳市讯拓科盛电子科技有限公司 | Intelligent Internet-of-Things dustbin management system |
| CN106054219A (en) * | 2015-04-17 | 2016-10-26 | 卡西欧计算机株式会社 | Electronic device and positioning control method |
| CN108897020A (en) * | 2018-05-14 | 2018-11-27 | 南开大学 | A kind of calculation method that Beidou is mutually calibrated with GPS geographical location information |
| CN109782320A (en) * | 2019-03-13 | 2019-05-21 | 中国人民解放军海军工程大学 | Transport queue localization method and system |
| CN113179123A (en) * | 2018-11-07 | 2021-07-27 | 长沙天仪空间科技研究院有限公司 | Satellite resource coordination system |
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| CN101975958B (en) * | 2010-09-15 | 2012-10-03 | 东莞市泰斗微电子科技有限公司 | Data updating method for double-mode or multi-mode positioning satellite signal receiving system |
| CN101975958A (en) * | 2010-09-15 | 2011-02-16 | 东莞市泰斗微电子科技有限公司 | Data updating method for double-mode or multi-mode positioning satellite signal receiving system |
| CN102156289A (en) * | 2011-03-09 | 2011-08-17 | 陕西诺维信息技术有限公司 | Dual-mode positioning time-service type receiver for compass satellite and global positioning system (GPS) satellite |
| CN102209401A (en) * | 2011-05-25 | 2011-10-05 | 西安华运天成通讯科技有限公司 | Portable Beidou communication emergency terminal hardware structure with low power consumption |
| CN103076617B (en) * | 2011-12-27 | 2016-06-22 | 泰斗微电子科技有限公司 | A kind of method utilizing the Big Dipper 2 generation satellite navigation system to be navigated |
| CN103076617A (en) * | 2011-12-27 | 2013-05-01 | 东莞市泰斗微电子科技有限公司 | Satellite navigation system, corresponding navigation method and receiving device |
| CN102981172A (en) * | 2012-12-05 | 2013-03-20 | 西安航空电子科技有限公司 | Dual-mode positioning method capable of identifying teammates |
| CN103399323A (en) * | 2013-08-05 | 2013-11-20 | 无锡鹏讯科技有限公司 | Vehicle-mounted intelligent terminal |
| CN103646446A (en) * | 2013-12-20 | 2014-03-19 | 徐州徐工施维英机械有限公司 | Method, recorder and system for monitoring vehicle driving, and concrete mixer truck |
| CN103646446B (en) * | 2013-12-20 | 2015-12-30 | 徐州徐工施维英机械有限公司 | For method, registering instrument, system and truck mixer that monitoring vehicle travels |
| CN104281048B (en) * | 2014-08-26 | 2017-04-12 | 重庆九洲星熠导航设备有限公司 | Vehicle-mounted Beidou dual-mode satellite communication and positioning timing system and method |
| CN104281048A (en) * | 2014-08-26 | 2015-01-14 | 重庆九洲星熠导航设备有限公司 | Vehicle-mounted Beidou dual-mode satellite communication and positioning timing system and method |
| CN106054219A (en) * | 2015-04-17 | 2016-10-26 | 卡西欧计算机株式会社 | Electronic device and positioning control method |
| CN105307199A (en) * | 2015-09-11 | 2016-02-03 | 北京国泰信通科技有限公司 | GPS/Beidou dual-mode smart amplifying multi-path allocation system with monitoring function |
| CN105307199B (en) * | 2015-09-11 | 2020-02-07 | 北京国泰信通科技有限公司 | GPS/Beidou dual-mode intelligent amplification multi-path distribution system with monitoring function |
| CN105403899A (en) * | 2015-12-23 | 2016-03-16 | 中国船舶重工集团公司第七一〇研究所 | GPS and Beidou positioning switching system |
| CN105858004A (en) * | 2016-03-23 | 2016-08-17 | 深圳市讯拓科盛电子科技有限公司 | Intelligent Internet-of-Things dustbin management system |
| CN108897020A (en) * | 2018-05-14 | 2018-11-27 | 南开大学 | A kind of calculation method that Beidou is mutually calibrated with GPS geographical location information |
| CN113179123A (en) * | 2018-11-07 | 2021-07-27 | 长沙天仪空间科技研究院有限公司 | Satellite resource coordination system |
| CN113179123B (en) * | 2018-11-07 | 2022-10-04 | 长沙天仪空间科技研究院有限公司 | Satellite resource coordination system |
| CN109782320A (en) * | 2019-03-13 | 2019-05-21 | 中国人民解放军海军工程大学 | Transport queue localization method and system |
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