CN101545966B - Terminal for providing mobile position information service and method for providing service - Google Patents
Terminal for providing mobile position information service and method for providing service Download PDFInfo
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- CN101545966B CN101545966B CN2009100982150A CN200910098215A CN101545966B CN 101545966 B CN101545966 B CN 101545966B CN 2009100982150 A CN2009100982150 A CN 2009100982150A CN 200910098215 A CN200910098215 A CN 200910098215A CN 101545966 B CN101545966 B CN 101545966B
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Abstract
The invention discloses a terminal for providing mobile position information service and a method for providing the service. A basic positioning module determines X, Y and Z coordinate values of the terminal under a set reference coordinate system; an accessory positioning module determines a direction angle phi0 and an inclination angle theta0 of the terminal under the set reference coordinate system; and a microprocessor module calculates included angle values alpha, beta and gamma between terminal pointing vector and X, Y and Z axes according to the X, Y and Z coordinate values determined by the basic positioning module and simultaneously with the assistance of the direction angle phi0 and the inclination angle theta0 determined by the accessory positioning module. The X, Y and Z coordinate values point to an original point of the vector; and the three attitude angles of alpha, beta and gamma and the directional included angle of the pointing vector form all information pointing to the vector. The information is transmitted to a mobile network communication module through the microprocessor module; and the mobile network communication module is communicated with external terminal information through a network and transmits the information pointing to the vector to an external terminal so as to form more perfect and targeted information provided to a host of the mobile position information service.
Description
Technical field
The technical field that the present invention relates to electronic navigation does not relate to a kind ofly to be provided the terminal of mobile location information service and this service method is provided, and is applicable to mobile location information terminal technology and mobile location information service.
Background technology
Along with the development of mobile communication technology, LBS, English full name are Location Based Service, i.e. mobile location information service is arisen at the historic moment.LBS comprises two layers of meaning: at first be the mobile location information of confirming mobile device or user place; Next provides the various information service relevant with the shift position.Mobile location information on the ordinary meaning is with the residing X that is positioned under certain coordinate system of mobile subscriber terminal equipment, and Y coordinate figure mode provides.This coordinate system can be to be the GPS of benchmark with the earth, and positioning equipment is that satellite and GPS accept module; Also can be to be the base station positioning system of benchmark with the mobile communication transmitting base station, positioning equipment be mobile base station and hand phone; Can also be to be the local positioning system in zonule of benchmark with the application places, positioning equipment be wireless induction array and wireless transmitter module, RFID for example, radio frequency label.
Documents 1; As the Chinese invention patent of having announced " a kind of the mobile communication terminal of location-based service is provided and this service method is provided " patent No. is to relate to a kind of terminal that mobile location information is provided in 200510051405.9, and its structural drawing is shown in accompanying drawing 1.Device 20 is the gps signal receiver, and device 10 is a gps satellite.Device 10 and 20 has constituted the basic structure that mobile location information is provided, and the mobile location information that provides is the gps coordinate value, and the longitude and the latitude at terminal.Inferior mobile location information also can equivalence be the X of terminal in the three-dimensional system of coordinate that with the earth surface is reference, Y, Z coordinate figure.
Documents 2 is to relate to a kind of terminal that mobile location information is provided in 200610112641.1 like Chinese invention patent " RFID positioning transmitting receiving apparatus, the system and method " patent No. of having announced, and its structural drawing is shown in accompanying drawing 2. Device 34,35 is the RFID radio frequency label that is installed on the different article, and device 33 is the RF tag reader, and it is installed on the terminal.When the terminal near device 34 the time, device 33 can know that the terminal just is near the device 34 through the RFID radio frequency label; When the terminal near device 35 the time, device 33 can know that the terminal just is near the device 35 through the RFID radio frequency label.Suppose the location aware of device 34,35, can know the mobile location information at terminal so through this system, this information equivalence is being the X in the two-dimensional coordinate system of reference, Y coordinate figure in the terminal to install 34,35.
Documents 3 is to relate to a kind of terminal that mobile location information is provided in 200410071872.3 like Chinese invention patent " movable positioning terminal device " patent No. of having announced, and its structural drawing is shown in accompanying drawing 3.Device 50 is the GSM network, and it comprises device 41 location application and service system; Install 42 mobile base station systems.Device 60 is the terminal body based on the GSM network, and it comprises device 43SIM card module; Install the 44GSM transmitter module and install 45 digital signal processors.Device 70 is the location module, rises to comprise device 46 cell selecting list storage modules and install 47 position computation module.Said device 45 digital signal processors receive the startup positioning instruction; Carry out immediately based on the needed Data Receiving operation of GSM network positions; Measure the frequency of all permissions, calculate the average signal strength of each frequency, and list as position information set with respect to individual adjacent base station; With this position information set through aforesaid GSM RF receiving and transmission module and the antenna assembly 48 that is hinged with it; Be sent to the location application and the service system device 41 that insert the GSM network; Warp compares with the electronic chart that device 41 is had, and draws the concrete mobile location information in terminal.Its information equivalence in the terminal to install the X in the two-dimensional coordinate system that 42 mobile base station systems are reference, Y value.
Three kinds of above-mentioned technology, from the location theoretically, the mobile location information that obtains is the X of terminal in certain two-dimensional coordinate system, the X in Y coordinate figure or the three-dimensional system of coordinate, Y, Z coordinate figure.Main difference is the difference as the coordinate system reference, or the earth, or is loaded with the partial array of radio frequency label RFID, or is the mobile communication base station.Which kind of mode no matter, its limitation is that mobile location information is just handled the terminal as the geometric point in a two dimension or the three-dimensional system of coordinate, a geometric point has only three degree of freedom at the most, i.e. X, Y, Z coordinate figure.Yet along with the requirement of mobile location information service deepens constantly, its mobile location information that requires the terminal to provide is also abundant thereupon.Novel terminal is not only has three degree of freedom in the three dimensions, X, Y, a geometric point of Z coordinate figure, prior it be to have six-freedom degree, X, Y, Z coordinate figure in the three dimensions; Angle, a rigid body of beta, gamma.The multivariant spatial attitude of rigid body has characterized the user's at terminal sensing intention.The mobile location information that provides of terminal can be utilized so that a kind of novel mobile location information service to be provided thus.
Summary of the invention
Technical matters to be solved by this invention is the present situation to prior art, provides a kind of and has the terminal that novel mobile location information service is provided of multiple degrees of freedom sensing module and multiple degrees of freedom mobile location information double effects and this service method is provided.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: a kind ofly the terminal of mobile location information service is provided and this service method is provided; Comprise the terminal, the terminal includes basic fixed position module, accessory positioning module, microprocessor module and mobile network's communication module; The basic fixed position module is determined the terminal at the X that sets under the reference coordinate system, Y, Z coordinate figure; Accessory positioning module is determined the terminal at the deflection of setting under the reference coordinate system
And tiltangle
0The microprocessor module is according to the determined X of basic fixed position module, Y, Z coordinate figure, the auxiliary simultaneously deflection to confirm according to accessory positioning module
And tiltangle
0Calculate terminal pointing vector and X, Y, the angle value α between the Z axle, beta, gamma, X, Y, the Z coordinate figure, i.e. the initial point of pointing vector, and α, three attitude angle of beta, gamma, and the angular separation of pointing vector has constituted all information of pointing vector.This information is sent to mobile network's communication module by the microprocessor module; Mobile network's communication module is through network and exterior terminal information mutual communication, and the information of pointing vector is reached exterior terminal.
The measure of taking also comprises:
The basic fixed position module at above-mentioned terminal is mounted with the GPS GPS, and this basic fixed position module is obtained the true origin value (x of described terminal under the coordinate system that with the earth is reference through the satellite of GPS GPS
0, y
0, z
0) and coordinate sampling point value x
n, y
n, z
n, this coordinate sampling point value x
n, y
n, z
nAt least comprise the coordinate first point value x that samples
1, y
1, z
1With the coordinate second point value x that samples
2, y
2, z
2Coordinate sampling point value x
n, y
n, z
nRepresented true origin value (x of living at the terminal
0, y
0, z
0) near exist the mobile location information point that might be pointed to by the pointing vector at terminal.True origin value (x
0, y
0, z
0) and coordinate sampling point value x
n, y
n, z
nRelated Z direction coordinate figure can call the data with existing in existing electronic three-dimensional map, and by the directions X coordinate figure, Y direction coordinate figure retrieval indirectly obtains.
Prestowage has the three-dimensional electronic compass module in the above-mentioned terminal additional locating module, and this three-dimensional electronic compass module includes three geomagnetic sensor and three acceleration transducer.Through known specific mathematical computing, can obtain the terminal is being with reference to the deflection under the three-dimensional system of coordinate with the earth
And tiltangle
0
Initial point and true origin value (X with the pointing vector at above-mentioned terminal
0, Y
0, Z
0) identical, and this pointing vector 130 by with X, Y, the angle value α between the Z axle, beta, gamma decision, its computing formula is:
In conjunction with existing electronic three-dimensional map information, three-dimensional coordinate sampling point value x of each sampled point in three dimensions is extracted around it through the server of network from be in network in above-mentioned terminal
n, y
n, z
nThis coordinate sampling point value x
n, y
n, z
nAt least comprise the coordinate first point value x that samples
1, y
1, z
1With the coordinate second point value x that samples
2, y
2, z
2, and calculate the direction α of each sampled point with respect to the vector at terminal
1, β
1, γ
1And α
2, β
2, γ
2Until α
n, β
n, γ
nWherein computing formula does, if order
α then
1=arccos [(x
1-x
0)/r
1];
β
1＝arccos[(y
1-y
0)/r
1]；
γ
1＝arccos[(z
1-z
0)/r
1]；
α
2＝arccos[(x
2-x
0)/r
2]；
β
2＝arccos[(y
2-y
0)/r
2]；
γ
2＝arccos[(z
2-z
0)/r
2]；
α
n＝arccos[(x
n-x
0)/r
n]；
β
n＝arccos[(y
n-y
0)/r
n]；
γ
n＝arccos[(z
n-z
0)/r
n]。
With the direction vector α of each sampled point of the terminal surrounding that calculates with respect to the terminal
1, β
1, γ
1And α
2, β
2, γ
2Until α
n, β
n, γ
nWith the actual indicated direction vector α in terminal
0, β
0, γ
0Compare and mate; Be without loss of generality; If | α
2-α
0|≤Δ and | β
2-β
0|≤Δ and | γ
2-γ
0|≤Δ, Δ are a certain threshold value of setting in advance, think that then second sampled point is that the indication at terminal is intended to sampled point sequence numbering M=2.
Whole positional information P that above-mentioned terminal provides comprise true origin value X
0, Y
0, Z
0The angle of pointing vector and three coordinate axis
0, β
0, γ
0, and the indication at terminal is intended to pairing sampled point sequence numbering M, M=2, brief note P={X
0, Y
0, Z
0, α
0, β
0, γ
0, M}.
It is that the terminal reaches operator's module that the mobile location information service is provided with positional information P through network that this service method is provided; The position information process device of operator's inside modules receives positional information P, is converted into user's intent information then, offers the sampled point main body through network again.
The sampled point main body is given interactive service platform in operator module with indirect interactive information mode through network-feedback with the corresponding data of relevant this sampled point; Perhaps can pass to the terminal through network through direct interactive information mode.
If the terminal user has further feedback for the information that obtains in the above-mentioned steps; The interactive service platform that this feedback is sent out deaf to operator's module with indirect interactive information mode through network is passed to sampled point main body with indirect interactive information mode through network by interactive service platform again; Perhaps this feedback directly the interactive information mode reach the sampled point main body by the terminal through network.
Compared with prior art, the present invention includes the terminal, the terminal includes basic fixed position module, additional locating module, microprocessor module and mobile network's communication module; The basic fixed position module is determined the terminal at the X that sets under the reference coordinate system, Y, Z coordinate figure; Additional locating module is determined the terminal at the deflection of setting under the reference coordinate system
And tiltangle
0The microprocessor module is according to the determined X of basic fixed position module, Y, Z coordinate figure, the auxiliary simultaneously deflection to confirm according to additional locating module
And tiltangle
0Calculate terminal pointing vector and X, Y, the angle value α between the Z axle, beta, gamma, X, Y, the Z coordinate figure, i.e. the initial point of pointing vector, and α, three attitude angle of beta, gamma, and the angular separation of pointing vector has constituted all information of pointing vector.This information is sent to mobile network's communication module by the microprocessor module; Mobile network's communication module is through network and exterior terminal information mutual communication, and the information of pointing vector is reached exterior terminal.The invention has the advantages that: owing to adopted above technology, promptly the positional information that provides of terminal is by existing X
0, Y
0, Z
0Coordinate figure has expanded to and has comprised coordinate figure X
0, Y
0, Z
0Also has deflection simultaneously
And tiltangle
0And the indication at terminal is intended to whole positional informations of pairing sampled point sequence numbering M.And these positional informations that increase have embodied certain intent information of the effector at terminal; Based on this intent information; Can be as the host that mobile location information service is provided with improving more and information targetedly; Offering the user at terminal, and can further build the information exchange platform between terminal user and its sampled point main body pointed.
Description of drawings
Fig. 1 is the principle schematic of documents 1 in the prior art;
Fig. 2 is the principle schematic of documents 2 in the prior art;
Fig. 3 is the principle schematic of documents 3 in the prior art;
Fig. 4 is the structured flowchart at embodiment of the invention terminal;
Fig. 5 is the principle schematic at embodiment of the invention terminal;
Fig. 6 is the principle schematic of the method for the embodiment of the invention.
Embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
As shown in Figure 4, the embodiment of the invention, terminal 100, it comprises basic fixed position module 80, accessory positioning module 85, microprocessor module 90 and mobile network's communication module 95.Wherein, 80 of basic fixed position modules provide the terminal at the X that sets under the reference coordinate system, Y, and the Z coordinate figure, and accessory positioning module 85 can provide the deflection φ of terminal 100 under above-mentioned setting reference coordinate system
0And tiltangle
0The pointing vector and the X at the calculation of parameter terminal that 90 of microprocessor modules provide according to above-mentioned basic fixed position module 80 and accessory positioning module 85, Y, the angle of Z axle, beta, gamma, and be responsible for all positional informations are sent to mobile network's communication module 95.Mobile network's communication module 95 is issued other network terminals through the mobile network with above-mentioned positional information.
Present embodiment is achieved in that and combines accompanying drawing 5, loads GPS global positioning satellite module 80 in the terminal 100, and it is being with reference to the coordinate figure (X under the three-dimensional system of coordinate with the earth that this locating module 80 can obtain the terminal via satellite
0, Y
0, Z
0).What specify in this embodiment is that existing GPS will far be worse than to X the location of Y axle to the bearing accuracy of Z axle.So above-mentioned coordinate points (X
0, Y
0, Z
0), the sample point coordinate value (X that relates in the narration below also comprising
1, Y
1, Z
1) and (X
2, Y
2, Z
2) in the elements of a fix value of all Z directions, also can directly measure, but through calling the data with existing in the electronic three-dimensional map, by X, Y coordinate figure retrieval indirectly obtains through GPS.And the accurate Z axis data in the existing electronic three-dimensional map information is to obtain through the locator meams beyond the GPS.Relate to no longer repeated description of other three-dimensional coordinate point part below.
Load the three-dimensional electronic compass module in the terminal 100 simultaneously, include three geomagnetic sensor and three acceleration transducer in this module.Through known specific mathematical computing, can obtain the terminal is being with reference to the deflection φ under the three-dimensional system of coordinate with the earth
0And tiltangle
0
With the indicating device of terminal as a space vector 130, the initial point of this vector just is in coordinate position (X
0, Y
0, Z
0), and the direction of this vector is by the angle (α of this vector and three coordinate axis
0, β
0, γ
0) decision
γ
0=90 °-θ
0
In conjunction with electronic map information, each sampled point in three dimensions is extracted around it through the server of wireless network from be in network in the terminal, the English POI of sampled point, and the full text of POI is the D coordinates value of Point of Interest.In order to simplify demonstration, preceding two sampled points 110 and 120 have only been indicated among Fig. 5.Wherein the coordinate figure of 110 sampled points 1 is (X
1, Y
1, Z
1), the coordinate figure of 120 sampled points 2 is (X
2, Y
2, Z
2).
Calculate the direction (X of each sampled point with respect to the vector at terminal
1, Y
1, Z
1) and (X
2, Y
2, Z
2).Wherein, if order
Then
α
1＝arccos[(x
1-x
0)/r
1]
β
1＝arccos[(y
1-y
0)/r
1]
γ
1＝arccos[(z
1-z
0)/r
1]
α
2＝arccos[(x
2-x
0)/r
2]
β
2＝arccos[(y
2-y
0)/r
2]
γ
2＝arccos[(z
2-z
0)/r
2]
With the direction vector (α of each sampled point of the terminal surrounding that calculates with respect to the terminal
1, β
1, γ
1) and (α
2, β
2, γ
2) and the actual indicated direction vector (α in terminal
0, β
0, γ
0) compare and mate.Be without loss of generality, suppose if
| α
2-α
0|≤Δ and | β
2-β
0|≤Δ and | γ
2-γ
0|≤Δ, Δ are a certain threshold value of setting in advance, then think sampled point 2,120 for the indication at terminal is intended to sampled point M, M=2.
Whole positional information P that the terminal provides comprise coordinate figure X
0, Y
0, Z
0And the angle (α of pointing vector and three coordinate axis
0, β
0, γ
0), and the indication at terminal is intended to pairing sampled point sequence numbering M, in this is implemented in M=2, note P={X by abridging
0, Y
0, Z
0, α
0, β
0, γ
0, M}.
Explain that in conjunction with Fig. 6 that the method flow of novel location information service is provided among the present invention is following:
1, the terminal 100, and positional information P is reached operator's module 200 that the mobile location information service is provided through mobile radio network.Operator's module 200 inner position information process devices 210 receive positional information P, are converted into user's intent information then, offer sampled point main body 300 through network again.
2, sampled point main body 300 is given interactive service platform 220 in operator module 200 with indirect interactive information mode through network-feedback with the corresponding data of relevant this sampled point.Perhaps can pass to terminal 100 through network through direct interactive information mode.
If 3 terminals, 100 users have further feedback for the information that obtains in the above-mentioned steps; The interactive service platform 220 that this feedback is sent out deaf to operator's module 200 with indirect interactive information mode through network is passed to sampled point 300 with indirect interactive information mode through network by interactive service platform 220 again.Perhaps this feedback directly the interactive information mode reach sampled point 300 by terminal 100 through network.
The invention has the advantages that: owing to adopted above technology, promptly the positional information that provides of terminal is by existing X
0, Y
0, Z
0Coordinate figure has expanded to and has comprised coordinate figure X
0, Y
0, Z
0Also has deflection φ simultaneously
0And tiltangle
0And the indication at terminal is intended to whole positional informations of pairing sampled point sequence numbering M.And these positional informations that increase have embodied certain intent information of the effector at terminal; Based on this intent information; As the host that mobile location information service is provided can with improve more and with information targetedly; Offering the user at terminal, and can further build the information exchange platform between terminal user and its sampled point main body pointed.Most preferred embodiment of the present invention is illustrated, and various variations or the remodeling made by those of ordinary skills can not depart from the scope of the present invention.
Claims (7)
1. the terminal that the mobile location information service is provided comprises terminal (100), it is characterized in that: described terminal (100) include basic fixed position module (80), additional locating module (85), microprocessor module (90) and mobile network's communication module (95); Described basic fixed position module (80) is determined terminal (100) at the X that sets under the reference coordinate system, Y, Z coordinate figure; Described additional locating module (85) is determined terminal (100) at the deflection of setting under the reference coordinate system
And tiltangle
0Described microprocessor module (90) is according to the determined X of basic fixed position module (80), Y, Z coordinate figure, the auxiliary simultaneously deflection to confirm according to additional locating module (85)
And tiltangle
0Calculate terminal pointing vector and X, Y, the angle value α between the Z axle
0, β
0, γ
0x
0, y
0, z
0Coordinate figure, i.e. the true origin value of pointing vector, and α
0, β
0, γ
0Three attitude angle have constituted all information of pointing vector; This information is sent to mobile network's communication module (95) by microprocessor module (90); Mobile network's communication module (95) is through network and exterior terminal information mutual communication, and the information of pointing vector is reached exterior terminal.
2. a kind of terminal that the mobile location information service is provided according to claim 1; It is characterized in that: the basic fixed position module (80) of described terminal (100) is mounted with the GPS GPS, and this basic fixed position module (80) is obtained the true origin value (x of described terminal (100) under the coordinate system that with the earth is reference through the satellite of GPS GPS
0, y
0, z
0) and coordinate sampling point value (x
n, y
n, z
n), this coordinate sampling point value (x
n, y
n, z
n) comprise the coordinate first point value (x that samples at least
1, y
1, z
1) and the coordinate second point value (x that samples
2, y
2, z
2); Described true origin value (x
0, y
0, z
0) and coordinate sampling point value (x
n, y
n, z
n) related Z direction coordinate figure can call the data with existing in existing electronic three-dimensional map, and by the directions X coordinate figure, Y direction coordinate figure retrieval indirectly obtains.
3. a kind of terminal that the mobile location information service is provided according to claim 2; It is characterized in that: prestowage has the three-dimensional electronic compass module in described terminal (100) additional locating module (85); This three-dimensional electronic compass module includes three geomagnetic sensor and three acceleration transducer; Through known specific mathematical computing, can obtain terminal (100) is being with reference to the deflection under the three-dimensional system of coordinate with the earth
And tiltangle
0
4. a kind of terminal that mobile location information service is provided according to claim 3 is characterized in that: with the initial point and the true origin value (x of the pointing vector (130) of described terminal (100)
0, y
0, z
0) identical, and this pointing vector (130) by with X, Y, the angle value α between the Z axle
0, β
0, γ
0Decision, its computing formula is:
γ
0=90 °-θ
0
5. a kind of terminal that the mobile location information service is provided according to claim 4; It is characterized in that: combine existing electronic three-dimensional map information, three-dimensional coordinate sampling point value (x of each sampled point in three dimensions is extracted around it through the server of network from be in network in described terminal (100)
n, y
n, z
n); This coordinate sampling point value (x
n, y
n, z
n) comprise the coordinate first point value (x that samples at least
1, y
1, z
1) and the coordinate second point value (x that samples
2, y
2, z
2), and calculate the direction (α of each sampled point with respect to the vector at terminal
1, β
1, γ
1) and (α
2, β
2, γ
2); Wherein computing formula does, if order
α then
1=arccos [(x
1-x
0)/r
1];
β
1＝arccos[(y
1-y
0)/r
1]；
γ
1＝arccos[(z
1-z
0)/r
1]；
α
2＝arccos[(x
2-x
0)/r
2]；
β
2＝arccos[(y
2-y
0)/r
2]；
γ
2＝arccos[(z
2-z
0)/r
2]。
6. a kind of terminal that mobile location information service is provided according to claim 5 is characterized in that: with the terminal that calculates (100) on every side each sampled point with respect to the direction vector (α at terminal
1, β
1, γ
1) and (α
2, β
2, γ
2) until (α
n, β
n, γ
n) and the actual indicated direction vector (α in terminal
0, β
0, γ
0) compare and mate; Be without loss of generality, suppose if | α
2-α
0|≤Δ and | β
2-β
0|≤Δ and | γ
2-γ
0|≤Δ, Δ are a certain threshold value of setting in advance, think that then second sampled point (120) is intended to the M=2 among the pairing sampled point sequence numbering M for the indication at terminal.
7. a kind of terminal that the mobile location information service is provided according to claim 6, it is characterized in that: whole positional information P that described terminal (100) provide comprise true origin value (x
0, y
0, z
0), the angle (α of pointing vector and three coordinate axis
0, β
0, γ
0), and the indication of terminal (100) is intended to pairing sampled point sequence numbering M, M=2 wherein, brief note P={x
0, y
0, z
0, α
0, β
0, γ
0, M}.
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|---|---|---|---|
| CN2009100982150A CN101545966B (en) | 2009-04-30 | 2009-04-30 | Terminal for providing mobile position information service and method for providing service |
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|---|---|---|---|
| CN2009100982150A CN101545966B (en) | 2009-04-30 | 2009-04-30 | Terminal for providing mobile position information service and method for providing service |
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| CN103796301A (en) * | 2012-10-30 | 2014-05-14 | 北京清科时代科技有限公司 | Method of correcting positioning position error |
| CN106332272B (en) * | 2015-07-01 | 2020-02-18 | Oppo广东移动通信有限公司 | Positioning method and device |
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Non-Patent Citations (2)
| Title |
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| 李芝霞，史忠科.远程车辆定位系统的车载终端设计与实现.《测控技术》.2008,第27卷(第11期),58-60. * |
| 杨莘元,于楠.基于CDMA1X网络的车载定位终端的设计.《应用科技》.2007,第34卷(第7期),26-30. * |
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