CN102137329A - Positioning method and device - Google Patents
Positioning method and device Download PDFInfo
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- CN102137329A CN102137329A CN201110049340XA CN201110049340A CN102137329A CN 102137329 A CN102137329 A CN 102137329A CN 201110049340X A CN201110049340X A CN 201110049340XA CN 201110049340 A CN201110049340 A CN 201110049340A CN 102137329 A CN102137329 A CN 102137329A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
Abstract
The invention discloses a positioning method and device, belonging to the technical field of positioning. The method comprises the steps of: requesting position information of a first device to a network data center by the first device, receiving the position information of the first device, returned by the network data center according to an identifier of the first device; and sending the position information by the first device to ensure that a second device in a coverage range of the first device receives the position information and completes the positioning according to the position information. The device comprises an obtaining module and a sending module. The invention realizes the positioning of the second device by means of the first device, solves the problems of inaccurate or failed positioning of a GPS (Global Positioning System) or incapability of positioning due to no existence of a GPS signal in the prior art, and can complete normal use and inaccurate positioning of the GPS device.
Description
Technical field
The present invention relates to field of locating technology, particularly a kind of localization method and equipment.
Background technology
GPS (Global Position System, global positioning system) claims GPS (Global Position System) again, is a round orbiter navigation system of middle distance.It can be for earth surface overwhelming majority area (98%) provides accurate in locating, tests the speed and the high precision time standard, can satisfy to be positioned at the whole world Anywhere or the accurate continuously needs of determining three-dimensional position, three-dimensional motion and time of the military user of terrestrial space.This system comprises 24 gps satellites in the space; Ground 1 master station, 3 data injection stations and 5 monitoring stations and as the GPS receiver of user side.Minimum need are 3 satellites wherein, just can determine residing on earth position of user side and height above sea level rapidly; The satellite number that can be connected to is many more, and the position that decoding is come out is just accurate more.Characteristics such as that the GPS measurement has is round-the-clock, high accuracy, automation, high benefit.
But, enter underground or when shielding good mansion, the satellite-signal variation that receives perhaps can't receive satellite-signal for handheld device at all, thereby cause the GPS location inaccurate, even complete failure.
Summary of the invention
In order to solve the problem that GPS is forbidden or lost efficacy in the location in the prior art, the embodiment of the invention provides a kind of localization method and equipment.Described technical scheme is as follows:
A kind of localization method, described method comprises:
First equipment is to the positional information of network data center request self, receives the positional information of described first equipment that described network data center returns according to described first equipment mark;
Described first equipment sends described positional information, makes that second equipment in the described first equipment coverage receives described positional information and finishes the location according to described positional information.
A kind of first equipment, described first equipment comprises:
Acquisition module is used for the positional information to described first equipment of network data center request, receives the positional information of described first equipment that described network data center returns according to described first equipment mark;
Sending module is used to send described positional information, makes that second equipment in the described first equipment coverage receives described positional information and finishes the location according to described positional information.
The beneficial effect of the technical scheme that the embodiment of the invention provides is: the positional information and the transmission of obtaining self by first equipment from network data center, make second equipment in the equipment coverage of winning receive this positional information and finish the location according to this positional information, realized the location of second equipment to self, especially when second equipment be GPS equipment and Current GPS signal difference or when not receiving, can finish location by first equipment to second equipment, it is inaccurate to have solved in the prior art GPS location, or lost efficacy, or the problem that can't locate because of no gps signal, can finish the normal use of GPS equipment and accurate location.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the invention, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the localization method flow chart that the embodiment of the invention 1 provides;
Fig. 2 is the localization method flow chart that the embodiment of the invention 2 provides;
Fig. 3 is the localization method flow chart that the embodiment of the invention 3 provides;
Fig. 4 is the positioning equipment structure chart that the embodiment of the invention 4 provides.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment 1
Referring to Fig. 1, present embodiment provides a kind of localization method, comprising:
101: the first equipment is to the positional information of network data center request self;
102: the positional information of first equipment that the receiving network data center is returned according to first equipment mark;
Equipment sent this positional information in 103: the first, made second equipment in the equipment coverage of winning receive this positional information and finish the location according to this positional information.
Wherein, first equipment can be the base BASE of DECT (Digital Enhance Cordless Telephone, Digital Enhanced Cordless Telecommunications) equipment, perhaps is WIFI (Wireless Fidelity, Wireless Fidelity) gateway.First equipment mark can be PSTN (Public Switched TelephoneNetwork, the PSTN) number of DECT equipment, the perhaps IP of WIFI gateway (Internet Protocol, Internet protocol) address.This PSTN number generally includes: national number, prefix and telephone number.Second equipment is finished the location according to this positional information of receiving and is meant that thereby second equipment finishes the location with this positional information as the positional information of self.
In the present embodiment, for the arbitrary equipment in the first equipment coverage, it is identical with the positional information of first equipment that its positional information is all thought, therefore, the location of this arbitrary equipment is equivalent to location to first equipment, and the positional information of first equipment that obtains can be considered as the positional information of this arbitrary equipment.For example, certain shields in the good mansion and has disposed DECT equipment, this DECT equipment has obtained the positional information of self and has broadcasted from network side, then portable terminal of certain one deck or iPad in this mansion, the perhaps GPS equipment in certain taxi etc. in the underground parking, the positional information that all can orient self from this broadcasting is the positional information of this DECT equipment.
Second equipment in the present embodiment is generally GPS equipment, and support DECT function or WIFI function, this position of this second equipment as own place, location, can when no gps signal or gps signal are relatively poor, start DECT BASE or WIFI gateway monitoring mechanism automatically, the broadcast of monitoring DECT BASE or WIFI gateway, monitoring has the channel of this type of broadcast message, thereby obtains own position information, finishes the location.
Second equipment in the present embodiment can also be the equipment of no GPS chip, comprise the family expenses panel computer of supporting DECT function or WIFI function, as iPad, then pass through said method, can finish the location of the equipment of this no GPS chip, further can also be by the first equipment use location related service, after getting access to longitude and latitude information by first equipment, can accurately determine a corresponding point in the electronic chart on iPad, around correspondingly can in this map, inquiring about this point any shopping is arranged, food and drink etc., thereby the expense of having saved the GPS chip, and avoided in the effectively situation generation of use location related service of current location.
Alternatively, first equipment sends described positional information, comprising:
The described positional information of first device broadcasts; Perhaps first equipment sends described positional information to second equipment after receiving the request of second equipment.
Alternatively, when reporting position request message that first equipment, second equipment that receives is sent, second equipment mark and above-mentioned positional information are sent to network data center, make network side can know the positional information of second equipment, to realize the tracking of network side second device location.
Positional information in the present embodiment comprises: the longitude of first equipment and latitude information.
The said method that present embodiment provides, obtain the positional information of self and broadcast from network data center by first equipment, make second equipment in the equipment coverage of winning receive this positional information and its positional information as second equipment is finished the location, realized the location of second equipment to self, especially when second equipment be GPS equipment and Current GPS signal difference or when not receiving, can finish location by first equipment to second equipment, it is inaccurate to have solved in the prior art GPS location, or lost efficacy, or the problem that can't locate because of no gps signal, can finish the normal use of GPS equipment and accurate location.
Embodiment 2
Referring to Fig. 2, present embodiment provides a kind of localization method, realizes the location by DECT equipment, specifically comprises:
The base of 201:DECT equipment is by DTMF (Dual Tone Multi Frequency, double-tone are frequently) signaling or FSK (Frequency-Shift Keying, frequency shift keying) signaling, to the positional information of network data center request self.
Wherein, the base of DECT equipment can obtain positional information when the DECT device start, also can the arbitrary moment after startup obtain positional information, and the embodiment of the invention is not done concrete qualification to this.
202: network data center is determined the positional information of the base of this DECT equipment according to the PSTN number of this DECT equipment, and returns the base that this positional information is given this DECT equipment.
The PSTN number that includes DECT equipment in the request message that the base of DECT equipment is sent, this PSTN number generally includes: national number, prefix and telephone number.For example, 008601012345678.Network data center can be determined the address of the base of DECT equipment according to this PSTN number, as long-range center, Chaoyang District, BeiJing, China city mansion, further can determine the longitude and the latitude information of this mansion.The positional information that the base of DECT equipment obtains generally includes: the longitude of the base of DECT equipment and latitude information.
This positional information that send at the base receiving network data center of 203:DECT equipment, and broadcast this positional information.
Alternatively, the base of DECT equipment can be according to preset period, this positional information that receives of periodic broadcasting.Wherein, preset period can be provided with and change as required, and as broadcasting in each 1 second once or the like, the embodiment of the invention is not done concrete qualification to this.
Second equipment in the 204:DECT equipment coverage receives this broadcasting, and this positional information is wherein finished the location as the positional information of second equipment.
Wherein, 203 and 204 also can replace by following steps:
This positional information that send at the base receiving network data center of DECT equipment, after the Location Request that second equipment in receiving DECT equipment coverage is sent, send this positional information to second equipment, second equipment receives this positional information, and its positional information as second equipment is finished the location.
Further, said method can also comprise:
205: when reporting position request message that DECT equipment second equipment that receives is sent, this second equipment mark and the above-mentioned positional information of having obtained are sent to network data center, with positional information the reporting of realizing second equipment to network side.
For example, network data center need be followed the tracks of the position of certain taxi, GPS equipment is equipped with in this taxi, the current underground parking that just is being parked in certain mansion, because the shielding of this mansion is good, this GPS equipment can't receiving satellite signal, therefore self can't realize the GPS location, but disposed DECT equipment in this mansion, and got access to the positional information of himself, then the GPS equipment in the taxi can send a request message to the base of DECT equipment in active, the request reporting position information is given network side, then the base of DECT equipment can send to network data center with positional information and this GPS equipment mark of self after receiving this request, to realize network data center the position of this taxi is followed the tracks of.
Second equipment in the present embodiment is the equipment of the arbitrary support DECT function in the DECT equipment coverage, and include but not limited to: the panel computer iPad of mobile device, no GPS chip or DECT equipment etc., the embodiment of the invention is not done concrete qualification to this.
The said method that present embodiment provides, base by DECT equipment obtains the positional information of self and broadcasts from network data center, second equipment in the DECT equipment coverage that makes is received this positional information and its positional information as second equipment is finished the location, realized the location of second equipment to self, especially when second equipment be GPS equipment and Current GPS signal difference or when not receiving, can finish location by DECT equipment to second equipment, it is inaccurate to have solved in the prior art GPS location, or lost efficacy, or the problem that can't locate because of no gps signal, can finish the normal use of GPS equipment and accurate location, needing can to realize the region all standing of the equipment of location-based service.
Embodiment 3
Present embodiment provides a kind of localization method, as different from Example 2, realizes the location by the WIFI gateway, referring to Fig. 3, specifically comprises:
The 301:WIFI gateway connects by IP, to the positional information of network data center request self.
Wherein, the WIFI gateway can obtain positional information when starting, also can the arbitrary moment after startup obtain positional information, and the embodiment of the invention is not done concrete qualification to this.
302: network data center is determined the positional information of WIFI gateway and is returned to the WIFI gateway according to the IP address of this WIFI gateway.
The IP address that includes the WIFI gateway in the request message that the WIFI gateway is sent, network data center can be determined the address of WIFI gateway according to this IP address, further can determine the longitude and the latitude information of WIFI gateway.The positional information that the WIFI gateway obtains generally includes: the longitude of WIFI gateway and latitude information.
The positional information that send at 303:WIFI gateway receiving network data center, and broadcast this positional information.
Alternatively, the WIFI gateway can be according to preset period, this positional information that receives of periodic broadcasting.Wherein, preset period can be provided with and change as required, and present embodiment is not done concrete qualification to this.
Second equipment in the 304:WIFI gateway coverage receives this positional information, and this positional information is finished the location as the positional information of second equipment.
Wherein, 303 and 304 also can replace by following steps:
This positional information that send at WIFI gateway receiving network data center, after the Location Request that second equipment in receiving WIFI gateway coverage is sent, send this positional information to second equipment, second equipment receives this positional information, and its positional information as second equipment is finished the location.
In the present embodiment, after second equipment is finished the location, if when network side need be known the second equipment current position information, wish that then second equipment can initiatively report current position information, therefore, further, said method can also comprise:
305: when reporting position request message that WIFI gateway second equipment that receives is sent, this second equipment mark and the above-mentioned positional information of having obtained are sent to network data center, with positional information the reporting of realizing second equipment to network side, thereby can realize the tracking of network side, the positional information of second equipment so that network side upgrades in time to second device location.
Second equipment in the present embodiment is the equipment of the arbitrary support WIFI function in the WIFI gateway coverage, and include but not limited to: mobile device, panel computer iPad or DECT equipment etc., the embodiment of the invention is not done concrete qualification to this.
For example, second equipment is for supporting the mobile device of GPS and WIFI, and this mobile device preferentially uses the GPS function to position, when GPS passage no signal or dtr signal, then switch to the broadcast that comprises positional information of WIFI channel monitoring WIFI gateway, thereby can finish the location of self.
In the present embodiment, second equipment further can also be by cloud services such as the use location related service of WIFI gateway or weather, Yellow Pages, avoided current location effectively the situation of use location related service or cloud service take place.For example, second equipment is the DECT cordless telephone, and has cloud services such as weather, Yellow Page, but owing to can't detect the position of self, needs the user that the current position of DECT cordless telephone manually is set, the relevant cloud service in ability use location; The said method that uses present embodiment to provide, by first equipment, can be under the situation that does not increase the GPS chip, automatic adapting position related application, use location related service or cloud service.
The said method that present embodiment provides, obtain the positional information of self and broadcast from network data center by the WIFI gateway, second equipment in the WIFI gateway coverage that makes is received this positional information and its positional information as second equipment is finished the location, realized the location of second equipment to self, especially when second equipment be GPS equipment and Current GPS signal difference or when not receiving, can finish location by the WIFI gateway to second equipment, it is inaccurate to have solved in the prior art GPS location, or lost efficacy, or the problem that can't locate because of no gps signal, can finish the normal use of GPS equipment and accurate location, needing can to realize the region all standing of the equipment of location-based service.
Embodiment 4
Referring to Fig. 4, present embodiment provides a kind of first equipment, comprising:
Sending module 402 is used to send this positional information, makes second equipment in the equipment coverage of winning receive this positional information and finish the location according to this positional information.
Wherein, thus second equipment finish the location according to this positional information of receiving and be meant that second equipment finishes the location with this positional information as the positional information of self.
Under a kind of execution mode, above-mentioned first equipment is the base of DECT equipment, and acquisition module 401 can comprise:
First acquiring unit is used for by dtmf signaling or FSK signaling, to the positional information of network data center request DECT equipment, and the positional information of the base of this DECT equipment that the receiving network data center is returned according to the PSTN number of this DECT equipment.
Under another kind of execution mode, above-mentioned first equipment is the WIFI gateway, and acquisition module 401 can comprise:
Second acquisition unit is used for connecting by IP, to the positional information of network data center request WIFI gateway, and the positional information of the WIFI gateway that the receiving network data center is returned according to the IP address of WIFI gateway.
In the present embodiment, sending module 402 can comprise:
Radio unit is used to broadcast described positional information;
Perhaps, transmitting element is used for sending described positional information to second equipment after first equipment receives the request of second equipment.
The said equipment that present embodiment provides can also comprise further:
Reporting module during the reporting position request message that is used for sending when second equipment that receives, sends to network data center with second equipment mark and above-mentioned positional information.
Positional information in the present embodiment comprises: the longitude of first equipment and latitude information.
First equipment in the present embodiment specifically can be the base or the WIFI gateway of DECT equipment, can implement the method among above-mentioned arbitrary method embodiment on this first equipment, and its specific implementation process sees method embodiment for details, repeats no more here.
Second equipment in the present embodiment is the arbitrary equipment in the first equipment coverage, and include but not limited to: mobile device, panel computer iPad or DECT equipment etc., the embodiment of the invention is not done concrete qualification to this.
Present embodiment obtains the positional information of self and broadcasts from network data center by first equipment, make second equipment in the equipment coverage of winning receive this positional information and its positional information as second equipment is finished the location, realized the location of second equipment to self, especially when second equipment be GPS equipment and Current GPS signal difference or when not receiving, can finish location by first equipment to second equipment, it is inaccurate to have solved in the prior art GPS location, or lost efficacy, or the problem that can't locate because of no gps signal, can finish the normal use of GPS equipment and accurate location, needing can to realize the region all standing of the equipment of location-based service.
Need to prove at last, one of ordinary skill in the art will appreciate that all or part of flow process that realizes in the foregoing description method, be to instruct relevant hardware to finish by computer program, described program can be stored in the computer read/write memory medium, this program can comprise the flow process as the embodiment of above-mentioned each side method when carrying out.Wherein, described storage medium can be magnetic disc, CD, read-only storage memory body (ROM) or stores memory body (RAM) etc. at random.
Each functional unit in the embodiment of the invention can be integrated in the processing module, also can be that the independent physics in each unit exists, and also can be integrated in the module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, also can adopt the form of software function module to realize.If described integrated module realizes with the form of software function module and during as independently production marketing or use, also can be stored in the computer read/write memory medium.The above-mentioned storage medium of mentioning can be a read-only memory, disk or CD etc.Above-mentioned each device or system can carry out the method among the correlation method embodiment.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. a localization method is characterized in that, described method comprises:
First equipment is to the positional information of network data center request self, receives the positional information of described first equipment that described network data center returns according to described first equipment mark;
Described first equipment sends described positional information, makes that second equipment in the described first equipment coverage receives described positional information and finishes the location according to described positional information.
2. method according to claim 1 is characterized in that, first equipment is to the positional information of network data center request self, receives the positional information of described first equipment that described network data center returns according to described first equipment mark, comprising:
The base of Digital Enhanced Cordless Telecommunications DECT equipment is by double-tone frequently dtmf signaling or frequency shift keying fsk signaling, to the positional information of the base of the described DECT equipment of network data center request;
Receive the positional information of the base of the described DECT equipment that described network data center returns according to the common exchanging telephone network PSTN number of described DECT equipment.
3. method according to claim 1 is characterized in that, first equipment is to the positional information of network data center request self, receives the positional information of described first equipment that described network data center returns according to described first equipment mark, comprising:
Wireless Fidelity WIFI gateway connects by Internet protocol IP, to the positional information of the described WIFI gateway of network data center request;
Receive the positional information of the described WIFI gateway that described network data center returns according to the IP address of described WIFI gateway.
4. method according to claim 1 is characterized in that, described first equipment sends described positional information, comprising:
The described positional information of described first device broadcasts;
Perhaps, described first equipment sends described positional information to described second equipment after receiving the request of described second equipment.
5. method according to claim 1 is characterized in that, described method also comprises:
When receiving the reporting position request message that described second equipment sends, described second equipment mark and described positional information are sent to described network data center.
6. according to the described method of arbitrary claim in the claim 1 to 5, it is characterized in that described positional information comprises: the longitude of described first equipment and latitude information.
7. an equipment is characterized in that, described first equipment comprises:
Acquisition module is used for the positional information to described first equipment of network data center request, receives the positional information of described first equipment that described network data center returns according to described first equipment mark;
Sending module is used to send described positional information, makes that second equipment in the described first equipment coverage receives described positional information and finishes the location according to described positional information.
8. equipment according to claim 7 is characterized in that, described first equipment is the base of Digital Enhanced Cordless Telecommunications DECT equipment, and described acquisition module comprises:
First acquiring unit, be used for by double-tone frequency dtmf signaling or frequency shift keying fsk signaling, to the positional information of the base of the described DECT equipment of network data center request, receive the positional information of the base of the described DECT equipment that described network data center returns according to the common exchanging telephone network PSTN number of described DECT equipment.
9. equipment according to claim 7 is characterized in that, described first equipment is Wireless Fidelity WIFI gateway, and described acquisition module comprises:
Second acquisition unit is used for connecting by Internet protocol IP, to the positional information of the described WIFI gateway of network data center request, receives the positional information of the described WIFI gateway that described network data center returns according to the IP address of described WIFI gateway.
10. equipment according to claim 7 is characterized in that, described sending module comprises:
Radio unit is used to broadcast described positional information;
Perhaps, transmitting element is used for sending described positional information to described second equipment after described first equipment receives the request of described second equipment.
11. equipment according to claim 7 is characterized in that, described equipment also comprises:
Reporting module is used for when receiving the reporting position request message that described second equipment sends described second equipment mark and described positional information being sent to described network data center.
12., it is characterized in that described positional information comprises: the longitude of described first equipment and latitude information according to the described equipment of arbitrary claim in the claim 7 to 11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110049340XA CN102137329A (en) | 2011-03-01 | 2011-03-01 | Positioning method and device |
| PCT/CN2012/071729 WO2012116630A1 (en) | 2011-03-01 | 2012-02-28 | Positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110049340XA CN102137329A (en) | 2011-03-01 | 2011-03-01 | Positioning method and device |
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| CN102137329A true CN102137329A (en) | 2011-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110049340XA Pending CN102137329A (en) | 2011-03-01 | 2011-03-01 | Positioning method and device |
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| CN (1) | CN102137329A (en) |
| WO (1) | WO2012116630A1 (en) |
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| WO2012116630A1 (en) * | 2011-03-01 | 2012-09-07 | 华为终端有限公司 | Positioning method and device |
| CN102904974A (en) * | 2012-09-28 | 2013-01-30 | 腾讯科技（深圳）有限公司 | Method for obtaining location of terminal, related device and system |
| CN103841519A (en) * | 2014-03-25 | 2014-06-04 | 北京极科极客科技有限公司 | Method and device for accurately positioning geographic positions through network sniffing |
| CN103874064A (en) * | 2012-12-17 | 2014-06-18 | 联想(北京)有限公司 | Position information protecting method and electronic equipment |
| CN104077904A (en) * | 2013-03-29 | 2014-10-01 | 三星电子株式会社 | Display apparatus and control method thereof |
| CN104185145A (en) * | 2014-08-25 | 2014-12-03 | 陕西科技大学 | Device and method for sharing position on public transportation |
| CN104320762A (en) * | 2014-10-28 | 2015-01-28 | 成都飞通科技有限公司 | Method for positioning web camera through mobile terminal |
| CN104702626A (en) * | 2015-03-31 | 2015-06-10 | 北京奇艺世纪科技有限公司 | Method and device for positioning device |
| US9154910B2 (en) | 2012-09-28 | 2015-10-06 | Tencent Technology (Shenzhen) Company Limited | Terminal location obtaining method, device, and system |
| CN105684376A (en) * | 2013-09-28 | 2016-06-15 | 迈克菲公司 | Location services on a data exchange layer |
| CN106772233A (en) * | 2016-12-30 | 2017-05-31 | 青岛海信移动通信技术股份有限公司 | Localization method, relevant device and system |
| CN110062365A (en) * | 2014-05-13 | 2019-07-26 | 华为技术有限公司 | Localization method and communication equipment |
| WO2022001728A1 (en) * | 2020-06-30 | 2022-01-06 | 安徽华米信息科技有限公司 | Motion data acquisition method and apparatus, smart wearable device and storage medium |
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| CN111795697B (en) * | 2020-07-13 | 2022-05-10 | 北京梧桐车联科技有限责任公司 | Equipment positioning method and device, electronic equipment and storage medium |
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| WO2012116630A1 (en) | 2012-09-07 |
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