CN102223597A - Mobile positioning device - Google Patents

Mobile positioning device Download PDF

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Publication number
CN102223597A
CN102223597A CN2010101477950A CN201010147795A CN102223597A CN 102223597 A CN102223597 A CN 102223597A CN 2010101477950 A CN2010101477950 A CN 2010101477950A CN 201010147795 A CN201010147795 A CN 201010147795A CN 102223597 A CN102223597 A CN 102223597A
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network
unit
positioning
chip
signal
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胡乐乐
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SHANGHAI QIDIAN INFORMATION TECHNOLOGY Co Ltd
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SHANGHAI QIDIAN INFORMATION TECHNOLOGY Co Ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00Reducing energy consumption in communication networks
    • Y02D30/70Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention provides a mobile positioning terminal LE (logic element); a master control unit controls a positioning measurement unit to carry out positioning measurement in a timing manner according to a positioning strategy, and controls a wireless communication unit to be accessed into a wireless network and to report the positioning measurement result, wherein the positioning measurement comprises inertial navigation measurement of a GPS (global positioning system) and wireless network parameter measurement. The LE also comprises a wireless sensing unit realized by adopting a short-distance wireless technology, and the matched wireless sensing unit can detect and read a stored LE identification number ID-1 automatically. In the terminal provided by the invention, no complex data processing is needed, the power consumption is low, various positioning value-added services can be favorably developed, and particularly, the positioning services with requirements of low power consumption and hidden nature to the LE can be favorably developed.

Description

A kind of moving positioning device
Technical field
The present invention relates to mobile positioning technique, relate in particular to the terminal installation that comprehensive utilization GPS technology, inertial navigation technology and wireless communication technology provide location measurement information.
Background technology
As one of characteristic service of wireless communication system, positioning service is subjected to the common concern of industry as a bright spot of mobile value-added service.At present, the main mobile operator of North America, Europe and the Asian-Pacific area has opened mobile location service.Location based service roughly is divided into following several types.
Public safety business: mainly be user location, to make things convenient for public safety department for it provides rapidly, rescue service accurately for the emergency call phone.The main representative of this type of business is 911 emergency call service that move of the U.S..
Follow the tracks of professional: the follow-up service to movable objects such as personnel, vehicles is provided, allows the user position of query aim regularly or on demand.Concrete application has children and old man's monitoring, pet tracking, vehicle anti-theft, logistics and taxi fleet's scheduling and management etc.
Location-based individual info service: for the user provides the integrated information service relevant with its current present position, classified informations such as local traffic, weather forecast, guide book for example are provided for the traveller, help near its hotel searching, parking lot, public place of entertainment etc.
Navigation Service: for the user provides by the guide service of current location to the destination, for example at traveller's route planning service and the guide service in the stroke (reminding turning, arrival notice etc. are provided).
All these Location based service all are based on the location technology realization, and the location technology of using in Location based service at present mainly contains following several:
Based on network cell-of-origin (COO) location technology, promptly based on the location technology of Cell ID, it is obtained the base station Cell information at the current place of user to obtain user's current location by network side, and its precision depends on the distribution of mobile base station and the size of coverage;
Triangulation technique based on the time of advent (TOA) or the time of advent poor (TDOA) principle, as AFLT (the Advanced Forward Link Trilateration) location technology of using in the cdma network, when positioning action, mobile phone/terminal is monitored the pilot frequency information of a plurality of base stations simultaneously, utilize the chip time delay to be determined near the distance of base station, calculate particular location with triangulation location at last;
Assistant GPS (A-GPS) technology based on the satellite-based radio-navigation systems.Tradition GPS technology is owing to too rely on terminal capabilities, is about to that satellite scan, catches, pseudo range signals receives and work such as location computing combines in terminal all over the body, and location sensitivity is low to reach aspect defectives such as terminal power consumption is big thereby cause.A-GPS is the position calculation work simplification of terminal, cooperatively interact by the location-server of network side and terminal and finish location work, with satellite scanner uni location computing etc. the most the hard work location-server of transferring to network one side from terminal one side finish.Positioning accuracy, sensitivity and cold start speed, the power consumption of reduction terminal of terminal have been improved.Particularly, the A-GPS technology is utilized a wide area gps satellite grid of reference of being made up of a plurality of high sensitivity GPS receivers, location information needed such as the almanac data of overhead all gps satellites in responsible round-the-clock monitoring overlay area, Doppler frequency shift, dynamic refresh is stored in the gps satellite database (satellite data and geographical position corresponding relation) in the locating platform.Terminal is only just circulated a notice of Position Approximate (belonging to which base station) by wireless network to locating platform when needs are located, obtain gps satellite information by locating platform then, thereby shorten the acquiring satellite time greatly, reduces power consumption significantly.By the location-server powerful operation capacity, thereby can adopt complicated location algorithm to improve positioning accuracy and sensitivity with the influence of unfavorable factors such as reducing a little less than the received signal;
The GPSONE technology is that QualCom company is the location technology of location-based mobile service development.It organically combines wireless auxiliary A-GPS and two kinds of location technologies of AFLT triangulation location, all can't finish under the situation of location separately at gps satellite signal and wireless network signal, the GPSONE system can make up this two kinds of information sources, as long as being arranged, a satellite and a cell site just can finish the location, solved the insurmountable problem of traditional GPS, realize degree of precision, high availability and quick location, improved the indoor positioning effect.In the environment that these two kinds of location technologies all can't be used, GPSONE can automatically switch to Cell ID sector locate mode, guarantees position success rate.
In addition, the targeting scheme RTLS that some utilize short distance wireless technical and triangulation technique to realize also appears in recent years, as WiFi navigation system, ZigBee navigation system etc., their working mechanism all is by disposing many locating base station, terminal to be positioned then goes out position coordinates by the signal strength signal intensity of measurement adjacent base station and by the location algorithm Model Calculation, location and precision that these technical schemes can only be used among a small circle room area particularly are not high, and applicable situation is limited.
For services such as public safety, location tracking, navigation, though the high still precision of location technology success rate based on CELL ID and base station radio measurement can not satisfy business need far away, therefore the location technology based on GPS is adopted in this class service mostly, as A-GPS or GPSONE.But there is very big problem in the availability of GPS technology in actual applications, can cause that such as can be subjected to the reflection to gps signal of the stopping of a lot of high buildings, locating terminal surrounding buildings at the urban environment gps signal measure error, many positions of positioning service that needs can't receive gps signal (as indoor environments such as the road under the overhead road of city, underground parking, station terminal or the like).For addressing the above problem, some new technologies are introduced into field of location services in recent years, just adopt gps receiver to add that dead reckoning (Dead-Reckoning) equipment finishes navigation feature jointly as common Vehicular navigation system, common dead reckoning equipment such as gyroscope, accelerograph, digital compass and wheel signal etc., the change in location of their energy measurement vehicles in the short relatively time, and gps receiver can be in the error range of determining the absolute position of measuring vehicle.The two has natural complementarity: dead reckoning equipment can on average fall the error in the gps receiver short time, and gps receiver can be calibrated dead reckoning equipment in long-time.But it is high bulky and cost an arm and a leg to be used for the traditional dead reckoning equipment precision of aerospace field, and is not suitable for general civilian vehicle navigation.Along with the progress of MEMS (micro electro mechanical system) (MEMS) technology in recent ten years, advantages such as the gyroscope of employing MEMS technology, the performance of little accelerometer device have obtained improving rapidly, and the MEMS device is little with its volume, cost is low, peripheral circuit is simple are that the design of navigation positioning system provides new selection.Except gps receiver and dead reckoning equipment, automatic navigator also is mounted with a digitized traffic route database---numerical map.Utilize the information of numerical map and measurement data by map match can determine well to wait the to navigate position of vehicle.Design good navigator and can be good at integrating measurement data, thereby further make good map match from gps receiver and dead reckoning equipment.For these measurement data of fine integration to reach satisfied navigation effect, industry usually adopts Kalman filter (Kalman filter) to come current measurement of balance and historical measurement data, with linear, do not have partially, minimum variance is that principle realizes optimal estimation, improves positioning accuracy and availability thereby reduce system noise as far as possible.
U.S. Pat 20080091351 proposes the method and system that a kind of inertia system of utilizing the MEMS device to constitute is adjusted automobile GPS navigation precision.Integrated Inertial Measurement Unit IMU, GPS receiver unit and the Kalman filter unit that constitutes by the MEMS device in the system, because how when effect of signals causes positioning accuracy to descend, the method that this patent proposes can utilize the IMU measurement data to improve the navigation accuracy of system at the GPS receiver.But the method and system that provides of this patent is applicable to that vehicle mounted guidance uses, microminiaturization, disguise and low-power consumption requirement when not satisfying public safety field and using.
U.S. Pat 20080143596 proposes the three-dimensional translational speed of a kind of MEMS of utilization device detection mobile phone and then for the GPS location Calculation provides supplementary, still can realize the mobile phone location can't catch enough gps satellite signals the time in that gps signal is not ideal enough like this.But this patent does not relate to the positioning service of concrete position-based information and satisfies the related technical solution of positioning service demand.
In sum, mobile positioning technique is obtained marked improvement through continuous development in recent years, but satisfy the requirement of high-quality Location based service, especially for some application such as the public safety fields such as location tracking of personnel positioning tracking, sensitivity or dangerous goods, existing market provides institute's technology and product that following deficiency is still arranged:
Existing location product size is considered disguised design more greatly and not, is difficult to satisfy miniaturization, microminiaturization and the disguised demand of above-mentioned application;
Existing location product does not design on low power dissipation design especially, is difficult to satisfy the low-power consumption demand when adopting powered battery in the above-mentioned application;
Existing location products ﹠ services are confined to obtain locating information, circular locating information or combining geographic information system (GIS) and electronic chart provides simple historical track writing function, lack tracking and early warning, utilize background system to value-added service functions such as the unified management of a large amount of locating terminals, the historical redundant information raising positioning accuracy of utilizing background system and success rates.
Therefore, market demand is a kind of can provide reliable positioning information and will satisfy low-power consumption, miniaturization and concealed demand.
Summary of the invention
The present invention proposes a kind of movable positioning terminal device, comprising:
1) GPS measuring unit is responsible for receiving gps signal and decoding output positioning measurement result to main control unit;
2) wireless sensing unit adopts short-distance wireless communication technology, utilizes the RFID label or is configured to simplify the identity recognition number ID-1 of the ZigBee module stores LE of function device RFD;
3) Inertial Measurement Unit IMU, be responsible for measuring in real time LE three reference axis to acceleration and angular speed, calculate athletic posture, course and the speed of a ship or plane of LE in view of the above and report main control unit;
4) wireless communication unit is responsible for the access to wireless communication network, reports wireless network parameter, sends positioning measurement result and receives control command according to the control command of main control unit;
5) main control unit is connected other functional units by control with data-interface, finish initialization, parameter configuration, the working state monitoring control of each unit, handle the measurement result that GPS unit, IMU unit report, finish by wireless communication unit and network side interaction message that positioning measurement result reports and control command receives and response.
The mobile communications network that described cordless communication network refers to provide wide area to cover comprises GSM network, GPRS network, EDGE network, CDMA2000 1x network, CDMA2000 EVDO network, WCDMA network, TD-SCDMA network and based on above-mentioned mobile network's evolvement network.
Location survey that described LE carries out and result report according to positioning strategy and regularly trigger, but described positioning strategy determines and the remote online modification that by the one group of parameter that is pre-configured among the LE positioning strategy comprises positional parameter, the time interval of regularly measuring and the time interval that reports that LE need regularly measure and report; The described time interval is a dynamic variable quantity relevant with the instant movement velocity of LE, and its Changing Pattern is that the high more time interval of speed is more little; LE enters resting state and turn-offs the peripheral circuit power supply during twice location survey.
The present invention has further proposed a kind of hardware implementations of described LE, the selection, signal annexation, handling process and the peripheral circuit that comprise main signal processing chip, this scheme realizes cdma wireless communication function, GPS measurement function and main control unit function based on the CDMA terminal chip group of QualCom company, acceleration sensor chip ADXL335 and gyroscope chip ADXRS150 based on ADI realize the inertia measurement function, realize the wireless sensing unit function based on the CC2431 chip of U.S. T I company.
Described LE can be triggered by button or network side enter alarm status, and the audio call of automatic-answering back device network side, foundation also keep this audio call but not to the voicefrequency circuit output signal.
LE identifier ID-1 is wherein surveyed and read to the wireless sensing unit that the wireless sensing unit of described LE can be mated automatically, the wireless sensing unit of described coupling refers to the wireless parameter of the wireless sensing unit configuration consistency of RFID reader or ZigBee full-function device FFD and they and LE, comprises operating frequency, network ID, data encryption mode.
Locating terminal LE data processing of the present invention is simple, low in energy consumption, can be used for carrying out the value-added service of multiple location, is particularly conducive to carry out those have low-power consumption, disguised requirement to LE positioning service.
After reading the detailed description of embodiment of the present invention in conjunction with the accompanying drawings, other characteristics of the present invention and advantage will become clearer.
Description of drawings
Fig. 1 is a positioning service system Organization Chart of using terminal installation LE of the present invention;
Fig. 2 is the functional block diagram of an embodiment of terminal installation LE of the present invention;
Fig. 3 is the functional block diagram of a LIU embodiment in localizer beacon unit in the positioning service system shown in Figure 1;
Fig. 4 is the hardware implementations of an embodiment of terminal installation LE of the present invention;
Fig. 5 is a kind of hardware implementations of LIU shown in Figure 3;
Fig. 6 is the register flow path schematic diagram of terminal installation LE of the present invention in positioning service system;
Fig. 7 is the interface protocol schematic diagram between terminal installation LE of the present invention and the orientation management platform;
Fig. 8 is the handling process schematic diagram of terminal installation LE reporting information of the present invention;
Fig. 9 is a principle schematic of estimating the LE Position Approximate by wireless parameter;
Figure 10 is the handling process schematic diagram of LIU reporting information in the positioning service system shown in Figure 1.
Embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with accompanying drawing.
Fig. 1 has provided the positioning service system Organization Chart of using terminal installation LE of the present invention, wherein orientation management platform S102 establishes a communications link by communication network S101 and a plurality of locating terminal device LE, gather the location measurement information that each LE reports, terminal historical track information in the binding data storehouse and location algorithm are determined and are write down the current position of each LE.Simultaneously, orientation management platform S102 also establishes a communications link by communication network S101 and localizer beacon LIU, receives LE identifying information that LIU reports and the current location of utilizing this LE of this information correction in real time.In addition, orientation management platform S102 also establishes a communications link by communication network S101 and authorized third party's positioning service merchant LBS and positioning service user LUE, to present position information and the value-added service information such as location alarm, historical track of LBS and LUE issue LE.Mobile communications network, wired broadband network, wireless broadband network or their combination that can provide wide area to cover is provided described communication network, and be clear succinct in order to explain here, is that example illustrates thought of the present invention with the cdma mobile communication network only.As shown in Figure 1, orientation management platform S102 establishes a communications link by the Short Message Service Gateway among the S101, packet data serving node PDSN (Packet Data Serving Node) and router and a plurality of LE, LIU and LUE and LBS.
Orientation management platform S102 adopts distributed, modular framework in the specific implementation, and visual application scale adopts a station server or multiple servers group to constitute flexibly.Comprising information gathering release unit, data processing unit, Database Unit and administrative unit, the function and the annexation of each unit are as follows:
The information gathering release unit is responsible for finishing communication between orientation management platform S102 and LE, LIU, LUE and the LBS based on ICP/IP protocol or note SMS, finishes the encapsulation and the opening of interaction message between them; Also be responsible for simultaneously from the reporting message of LE, extracting LE identifier, location measurement information and handing to data processing unit, from the message that LIU reports, extract identifier, LE information Recognition time and the LIU identifier information of LE and deliver data processing unit; In addition, the information gathering release unit also is responsible for issuing the LE positional information according to the instruction of administrative unit to mandate LBS and LUE.
Database Unit is the comprehensive of multiple logical data base, comprises terminal management database TM_DB, user management database CM_DB and Service Database TF_DB.The terminal management data of TM_DB storage comprise the current attitude of the conventional motor pattern of identifier, LE of all LE and current motor pattern, LE, the positioning service classification of LE, the location survey ability of LE configuration, and the identifier of LIU, the coordinate information of LIU deployed position, the distance of LIU identification LE etc.Identifier, authentication information, authorization service classification and grade etc. that the customer management data of CM_DB storage is drawn together LUE and LBS.The business datum of TF_DB storage comprises the commence business regional all previous location measurement information that reports of numerical map, geomorphological features information, mobile base station planning information, LE, LE historical position information, all previous LE identifying information that reports of LIU etc.
The responsible LE location survey data of delivering according to location algorithm process information collecting unit of data processing unit, the GIS-Geographic Information System of this LE historical movement track, previous moment motor pattern and the athletic posture and the LE region of binding data library unit record is determined this LE current position coordinates, current motor pattern and athletic posture and is write down the result.Be responsible for the LIU reporting information that the process information collecting unit is delivered simultaneously, the related information of this LIU and in time proofread and correct the LE current position coordinates in the Query Database in conjunction with these information.
Administrative unit is in charge of the renewal of registration, access authentication, working state monitoring statistics, upgrade maintenance and the relating attribute data of all LE, LIU, also is in charge of service fulfillment, business change and the professional service recorder of LBS and LUE.
Fig. 2 has provided the functional block diagram of an embodiment of LE.Wherein,
The GPS measuring unit is responsible for receiving gps signal and decoding is exported positioning measurement result to main control unit.The output signal of GPS is followed the NMEA-0183 protocol specification that the NMEA of National Marine Electronics Association (National MarineElectronics Association) works out, comprising GPS locator data time, longitude, latitude, used satellite number, highly, information such as observed GNSS number of satellite and numbering thereof, position, signal to noise ratio, ground digit rate, course, ground, date.
Wireless sensing unit adopts short-distance wireless communication technology, utilize the RFID label or be configured to simplify the identity recognition number ID-1 of the ZigBee module stores LE of function device RFD, when LE can be discerned and read wherein ID-1 during near localizer beacon LIU automatically by LIU.
Comprise acceleration transducer and angular-rate sensor on three directions of rectangular coordinate system X/Y/Z among the Inertial Measurement Unit IMU (Inertial Measurement Unit), be responsible for measuring in real time LE three reference axis to acceleration and angular speed, can calculate athletic posture, course and the speed of a ship or plane of LE in view of the above and report main control unit.
Thereby wireless communication unit is responsible for establishing a communications link by access communications network S101 and management platform S102, also can report some wireless network parameters simultaneously according to the control command of main control unit, comprise pseudo-random code phases biasing coefficient, pilot tone Active Set, pilot tone Candidate Set and pilot tone Neighbor Set for the described wireless network parameter of cdma network, these parameters are obtained from network side when wireless communication module inserts cdma network.
Main control unit is connected other functional units by control with data-interface, finish initialization, parameter configuration, the working state monitoring control of each unit, handle measurement result that GPS unit, IMU unit report and report management platform S102, receive by wireless communication unit simultaneously and the supervisory instruction of response management platform S102 by wireless communication unit.
Fig. 3 has provided the functional block diagram of an embodiment of LIU, wherein wireless sensing unit adopts short-distance wireless communication technologies such as RFID or ZigBee, when adopting the RFID technology, this wireless sensing unit is configured to the RFID reader, then is configured to ZigBee full-function device FFD when adopting the ZigBee technology.By adjusting the radio transmitted power and the supporting antenna of LIU wireless sensing unit, the investigative range of wireless sensing unit can be controlled at a suitable horizon range.Like this when disposing LE that RFID label or ZigBee simplify function device and enter its investigative range, as long as both sides have disposed consistent wireless parameter, as operating frequency, network ID, data encryption mode etc., LIU just can detect the identifier ID-1 of LE automatically and report main control unit.Communication unit then is responsible for by wired or wireless mode access communications network S101, and then establishes a communications link with orientation management platform S102.Main control unit is connected wireless sensing unit and communication unit by control with data-interface, finish initialization, parameter configuration, the working state monitoring control of each unit, receive LF result of detection that wireless sensing unit reports and report management platform S102, receive by communication unit simultaneously and the supervisory instruction of response management platform S102 by communication unit.LIU itself is also pre-configured and store unique identifier ID-2, the identity of sign oneself when being used for orientation management platform S102 interaction message.
In actual applications, locating terminal LE is installed on the vehicle or article that needs the location tracking, perhaps wears on one's body the personnel that follow the tracks of in the needs location, therefore in most cases needs to adopt powered battery, miniaturization, low power dissipation design to seem particularly important.Localizer beacon LIU then is deployed in some key positions in the positioning service district, uses as following the tracks of for the goods location, and LIU can be deployed in positions such as strategic road crossing, gateway, goods yard, parking lot import and export; And nurse is used for juvenile's safety, then can be deployed in places such as sub-district import and export, kindergarten doorway, station terminal and critical junction.The wireless exploration range information of the accurate location information of each LIU infield, its identity recognition number and this LIU all is stored in the Database Unit of orientation management platform S102, is used for data processing unit real-time correction to corresponding LE current location after receiving the reporting message of LIU.
Fig. 4 has further provided a kind of hardware implementations of LE, this scheme adopts the CDMA terminal chip solution of QualCom company to realize the function of main control unit and wireless communication unit, Asynchronous Serial Interface UART by master chip connects ZigBee module realization wireless sensing unit function simultaneously, connects acceleration transducer and realizes the IMU Elementary Function.As shown in Figure 4, the CDMA signal that antenna S401 receives is sent into RFL6000 through duplexer and is carried out the low noise processing and amplifying, after Surface Acoustic Wave Filter RxSAW filtering, send into RF receiver module RFR6000 then, the Rx ADC port that RFR6000 sends receiving signal demodulation into CDMA master chip MSM6050 to the Analog Baseband carries out the AD conversion, carries out the CDMA signal processing again after converting analog baseband signal to digital baseband signal.The gps satellite signal that antenna S402 receives is sent into RF receiver module RFR6000 equally through behind the bandpass filtering, the Rx ADC port that RFR6000 sends receiving signal demodulation into MSM6050 to the Analog Baseband carries out the AD conversion, further carries out the gps signal decoding processing again after converting analog baseband signal to digital baseband signal.The CDMA baseband signal that MSM6050 will need to send is sent into RF sending module RFT6100 by Tx DAC, carries out filtering TxSAW, power amplification PA and handle after Frequency-variable Modulation, by duplexer radio frequency transmit signal feed antenna S401 is sent at last.Power management chip PM6050 is responsible for the power supply and the Clock management of LE inside, comprises battery management, as power supply, charging, electric weight demonstration etc.; The conversion of supply voltage voltage raising and reducing; The back lighting management; Each chip operation power supply is provided; RF reception, tranmitting data register management, system hibernates Clock management or the like.MSM6050 connects PM6050, RFR6000 and RFT6100 by serial bus interface SBI, realizes the control and management to said chip.MSM6050 is embedded with the ARM7 microprocessor, and the main control unit that can be used as locating terminal LE uses.Be connected SDRAM and FLASH memory cell by its parallel data bus line, address bus and storage management port as LE.The load button of LE or keyboard are connected to the GPIO interface of MSM6050, and the audio codec interface connects peripheral voicefrequency circuit, and the audio frequency input/output function can be provided.Subscriber identification module UIM (User Ident ty Model) card circuit can be connected directly to the UART interface of MSM6050.The acceleration sensor outputs signals of realization IMU function is imported the GPIO interface of MSM6050 after analog-to-digital conversion, realize that the ZigBee module of wireless sensing function then is connected to the UART interface of MSM6050 by serial ports.The MEMS transducer can be selected acceleration transducer ADXL335 and the gyroscope ADXRS150 of the ANALOG DEVICES of ADI for use, can realize three axial acceleration analyses of X/Y/Z and angular velocity measurement.The ZigBee module can select for use the CC2431 chip of American TI Company to realize, CC2431 is embedded, and C8051 microprocessor, 2.4GHz meet radio-frequency (RF) transceiver, 128KB FLASH, the 8KB RAM of IEEE802.15.4 standard, realize ZigBee RFD functions of the equipments by load the ZigBee protocol stack in C8051.
LE hardware implementations shown in Figure 4 just can be used to realize LIU through reducing, promptly save circuit and the device relevant with GPS, acceleration transducer, input keyboard and audio interface, C8051 need change into and load the ZigBee protocol stack of realizing the FFD functions of the equipments among the CC2431 certainly.But the LIU that realizes according to this hardware plan is connected to backstage orientation management platform S102 by the cdma wireless network, if LIU need be connected to backstage orientation management platform by wired broadband network, then can adopt hardware plan as shown in Figure 5, wherein S3C4510B is the ARM7 microprocessor that Samsung company produces, it connects ZigBee module CC2431 by the UART interface, connect the 100M ethernet interface circuit by the Ethernet control interface, connect SDRAM and FLASH by the storage control interface, be equipped with peripheral circuits such as power supply and clock again and just constituted the LIU that supports the 100M Ethernet interface.
Need by the authentication of register flow path before locating terminal LE uses after new UIM card is installed first by orientation management platform S102, the mandate of acquisition legitimacy, concrete steps as shown in Figure 6:
S601:LE powers up startup;
Whether S602:LE detects is unregistered state, if for unregistered state then forward S603 to, otherwise finishes this flow process, changes over to and lands flow process;
S603:LE passes through wireless communication unit access communications network S101, and then establishes a communications link with orientation management platform S102;
S603:LE sends a request for registration to orientation management platform S102, comprising terminal number and UIM card information;
S604: orientation management platform S102 carries out verification to LE information, comprises whether this locating terminal numbering meets rule, whether locating terminal is registered, whether nullified at platform, if verification makes mistakes, finishes register flow path;
S605: orientation management platform S102 carries out verification to the UIM card information, comprises whether the UIM card is opened, whether state available, if verification makes mistakes, finishes register flow path;
S606: orientation management platform S102 carries out logic verify respectively to UIM card and terminal number, check whether this UIM card is bound with other terminal number, perhaps this terminal number whether with other UIM card binding, if having above-mentioned binding relationship then remove original binding.
S607: orientation management platform S102 returns registering result according to the checking result to LE, issues access pin, and creates the binding relationship of terminal number and UIM card;
S608: terminal change self login state is registered.
The locating terminal LE that has succeeded in registration also needs after powering up startup by landing the legitimacy of flow verification terminal and UIM card at every turn, guarantees that terminal can correctly insert the orientation management platform and carry out positioning service smoothly.
Orientation management platform S102 is by issuing the positioning strategy that configuration parameter is controlled LE to the locating terminal LE that has landed.Described positioning strategy determines according to the positioning service classification of this LE application, the conventional motor pattern of LE and the factors such as operational capability of LE, and positioning strategy comprises positional parameter that terminal need regularly measure and report, regularly measures and time interval of reporting, content such as corresponding change positioning strategy how when motion state is suddenlyd change.Such as using for vehicle positioning, orientation management platform S102 has write down the cruising velocity interval of the affiliated vehicle of this on-vehicle positioning terminal in advance, information such as daily routines scope, according to these information and in conjunction with the location tracking accuracy require and the positioning strategy of this LE of LE economize on electricity demand definable as follows: the LE movement rate of measuring as IUM is during less than 1m/s, LE carried out a GPS in per 10 seconds and measures and reported result, per 100 milliseconds of samplings are also write down IUM measurement result but are reported (be per 10 seconds report once) behind 100 results of accumulative total, report one time wireless network parameter in per 10 minutes; The LE movement rate of measuring as IUM is during more than or equal to 15m/s, LE per second kind is carried out a GPS and is measured and reported result, per 10 milliseconds of samplings are also write down IUM measurement result but are reported (being that per second reports once) behind 100 results of accumulative total, report one time wireless network parameter in per 1 minute; When the LE movement rate of IUM measurement is in 1m/s to 15m/s, gradually reduce the LE location survey and the time interval that reports from low to high according to movement rate.Adopt this positioning strategy, LE can take economize on electricity measures such as dormancy, shutoff peripheral circuit power supply during twice measurement reports, significantly reduce the average power consumption of LE, simultaneously guarantee that again the orientation management platform in time obtains enough locating information, assurance is guaranteed location quality of service to location and the track following precision of LE.
After being pressed, the specific button on the locating terminal LE promptly enters alarm status, this moment, LE sent alarm information to orientation management platform S102 immediately, orientation management platform S102 can initiate audio call to this LE after receiving alarm information in the movement locus of following the tracks of this LE, LE is to the automatic answer-back from orientation management platform S102, set up and keep this audio call but, monitor and write down any acoustic information of passing back from this LE then by orientation management platform S102 not to voicefrequency circuit output signal (promptly local keep voice output to mourn in silence).Obviously, these help the residing emergency of LE is distinguished and emergency processing from locating terminal LE on-the-spot voice information.The orientation management platform is according to the movement locus variation tendency of LE, when the attitude situation of change judges that in conjunction with the attribute data of LE LE may be in a state of emergency, also can trigger LE and enter alarm status, adopt handling processes such as same audio call, monitor log subsequently by issuing instruction message.
The interaction message that uses in the operation flow between above-mentioned locating terminal LE and the orientation management platform is by the Applied layer interface protocol encapsulation on the predefined SMS of being carried on, TCP or the UDP, as shown in Figure 7.TCP wherein and udp port can pre-configured or online modifications number as configurable parameter.Locating terminal LE and orientation management platform S102 by resolve and response from the other side's message, finish registration, land authentication, parameter configuration, locating information reports and function such as alarm management.Need to prove, below only describe reciprocal process between locating terminal LE and the orientation management platform S102 in detail with the register flow path of LE, for other such as land, parameter configuration, locating information reports and flow process such as alarm all can adopt similar mechanism, give unnecessary details no longer one by one at this.
Localizer beacon LIU equally need be by landing the legitimacy mandate of flow process acquisition orientation management platform behind electrifying startup.If what LIU used is that wireless access way (as passing through cdma network) connects the orientation management platform, also need use for the first time or change the UIM card after finish the authentication on the orientation management platform by register flow path and bind its UIM card and identifier.The orientation management platform is discerned LE parameters needed information by the parameter configuration flow process automatically with LIU, is handed down to LIU as the frequency of LE wireless sensing unit configuration, network identification mark, cipher mode etc.LIU searches the LE in the coverage automatically according to these configuration informations, in case detect the activity of LE, reports the LE detection information to the orientation management platform immediately, the LE identifier ID-1 that comprise detection time, detects, the signal strength signal intensity of target LE etc.Can adopt between localizer beacon LIU and the orientation management platform and above-mentioned LE and orientation management platform between similarly interaction message tunneling and operation flow finish LIU registration, land, function such as parameter configuration, LE detection information report.
For the locating information that LE reports for the m time, the handling process of orientation management platform as shown in Figure 8:
1) the locating information acquisition unit receives the timing reporting message from LE, extracts locating information wherein, comprises GPS location output information, IMU metrical information and wireless network parameter;
2) data processing unit at first carries out preliminary treatment to locating information, for next step location computing is prepared:
A) for GPS location output information (positioning time, longitude, latitude, used satellite number, highly, information such as observed GNSS number of satellite and numbering thereof, position, signal to noise ratio, ground speed, course, ground, date), need carry out the confidence level assessment to it, specific practice is as follows: definition GPS locating information confidence level C_L, it is by number of satellite N_S and satellite-signal signal to noise ratio SN in the output information of GPS location i, i=1,2 ... n calculates according to following formula,
C _ L = N _ S 4 * Π i 10 ( SN i - SN 0 ) 10
SN in the formula 0Be the required satellite-signal snr threshold of the correct restituted signal of GPS receiver of this LE configuration, unit is dB, and this numerical value is stored in orientation management platform data library unit in advance as the property parameters of LE.
B) calculate the LE instantaneous velocity vector and the course of each sampling instant that is comprised in this reported data according to the IMU measurement data.
C), then determine serving BS and the adjacent base station that LE is current by the wireless network planning information of storing in advance in the searching database according to wherein pseudo-random code phases biasing coefficient, pilot tone Active Set, pilot tone Candidate Set and pilot tone Neighbor Set data if comprise wireless network parameter in this reporting information.
3) according to the second step preliminary treatment gained data, further position computing, obtain reliable LE position coordinates.
A) adopt habitual Kalman (Kalman) filter structure of industry that the GPS locator data is carried out optimal estimation;
B) carry out dead reckoning (Dead-Reckoning) with the IMU measurement data, promptly instantaneous velocity and the course according to each sampling time point obtains the flight path of LE in this report cycle by integral operation;
C) estimate the approximate location of LE in conjunction with numerical map by LE Current Serving BTS and adjacent base station information; For example ideally shown in Figure 9, can judge the common area of coverage S904 that LE is positioned at three base stations by LE adjacent base station S901, the S902 of retrieve data library storage and position and the coverage of S903; Certainly actual wireless coverage situation is more complex, but still can obtain the covering of base station near actual conditions by common wireless network planning method, and then estimates the approximate location of LE.Described wireless network planning method comprises according to the topography and landform character of neighboring area, base station sets up radio waves propagation model, utilizes the wireless parameter (hanging height, transmitting power, receiving sensitivity etc. as antenna) of base station and the numerical map of neighboring area to adopt the wireless coverage situation of radio waves propagation model calculation base station neighboring area;
D) Query Database is determined the type of LE and current motor pattern, and it is standby to transfer LE athletic posture and track data before;
E) it is standby that Query Database is transferred the numerical map of LE peripheral region;
F) adopt information fusion technology that the above-mentioned locating information that a)-e) obtains is carried out integrated treatment,, comprise following measure in the hope of obtaining the location estimation of global optimum:
I. as GPS locating information confidence level C_L<C_L 0The time, give up the GPS locating information, directly adopt the dead reckoning result, start dead reckoning navigation timer T simultaneously, as T>T 0The time, send ALM; Otherwise adopt the Kalman filtering technique to a), b) output information carries out information fusion and handles, and obtains the optimal estimation of LE positional information; Described C_L 0And T 0Be the predefined threshold value of orientation management platform, and can revise at any time the requirement and the practical effect of precision according to corresponding positioning service;
Ii. the LE positional information that obtains for i, utilize numerical map to carry out matching operation, be about to LE current motor pattern, athletic posture before, track data, course variation and desired location and carry out the correlation comparison with near map feature, when the flight path of LE changes when relevant with the variation of vector road in the numerical map, so just can utilize path coordinate information in the numerical map further to revise current location and the flight path of LE, particularly move to the crossing when turning round along road as LE, map-matching algorithm can be proofreaied and correct the position coordinates of LE well;
Iii. confirm the positional information of LE and by c) consistency of the LE approximate location that obtains;
G) finish this flow process behind the output positioning result, comprise that the result is delivered to IMU dead reckoning unit carries out feedback compensation, so that its systematic error along with time integral is clamped down in tolerable scope; Upgrade LE historical movement speed, flight path and the attitude of data-base recording.
For the message that LIU reports, the orientation management platform adopts handling process as shown in figure 10:
1) receives the positioned update flow process that enters relevant LE from the LE identifier ID-1 triggering that reports according to LIU after the LE probe message of LIU;
2) access the attribute data of this LIU according to the identifier ID-2 searching database of LIU, comprise deployed position, the distance that can effectively survey LE and wireless sensing unit antenna directivity parameter;
3) LE wireless sensing unit signal strength signal intensity that reports according to LIU and LIU wireless sensing unit antenna directivity calculation of parameter LE are for the relative bearing of this LIU, this calculating can be carried out according to the propagation model of electric wave at free space, draws the moment t that LE is being detected by LIU by LIU deployed position information then sThe time the position;
4) searching database accesses the nearest motion trace data of this LE, the detection time t that LIU is reported sProofread and correct LE position constantly, and upgrade t based on the IMU historical data by dead reckoning again sUp to current LE flight path, will proofread and correct with result of calculation and be updated to database constantly.
Description by the foregoing description as can be seen, characteristics of the present invention are: LE regularly reports the orientation management platform with the location survey data according to predefined positioning strategy, by management platform integrated treatment GPS, IMU and wireless network data and obtain the optimal estimation of LE position in conjunction with the numerical map matching technique.When approaching to LIU wireless sensing unit investigative range, LE can be automatically recognized, identifier ID-1 is wherein read and reports the orientation management platform automatically by LIU, the position data that LIU positional information that management platform writes down when disposing LIU in view of the above in advance and wireless sensing unit investigative range thereof are proofreaied and correct corresponding LE.This shows that the location Calculation work of LE is mainly carried out in management platform, LE only is responsible for GPS and IMU and measures and the reporting measurement data, has so just simplified the data processing requirement of LE greatly, helps reducing the power consumption of LE.Further, can be according to the different positioning strategy of LE motion state Dynamic Definition, LE location survey, the time interval that reports and its movement velocity are associated, the movement velocity rising then reduces location survey, reports the time interval, otherwise then increase location survey, report the time interval, at twice location survey, report during LE can be by dormancy, turn-off measure such as peripheral circuit power supply and save power consumption, so both guaranteed the location follow-up service quality of orientation management platform, thereby the operating time that reduces LE is again as much as possible reduced its average power consumption to LE.
Do not depart from the scope of the present invention and conceive, above-mentioned running fix terminal can be made multiple change and distortion, and many modifications and variations are conspicuous for the ordinary skill in the art.Description of the invention provides for example, is not exhaustively or limit the invention to disclosed form.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the various embodiment that have various modifications that the present invention's design is suitable for special-purpose.Scope of the present invention is determined by appended claims.

Claims (7)

1. a movable positioning terminal device LE is characterized in that, described terminal installation comprises:
The GPS measuring unit is responsible for receiving gps signal and decoding output positioning measurement result to main control unit;
Wireless sensing unit adopts short-distance wireless communication technology, utilizes the RFID label or is configured to simplify the identity recognition number ID-1 of the ZigBee module stores LE of function device RFD;
Inertial Measurement Unit IMU, be responsible for measuring in real time LE three reference axis to acceleration and angular speed, calculate athletic posture, course and the speed of a ship or plane of LE in view of the above and report main control unit;
Wireless communication unit is responsible for the access to wireless communication network, reports wireless network parameter, sends positioning measurement result and receives control command according to the control command of main control unit;
Main control unit is connected other functional units by control with data-interface, finish initialization, parameter configuration, the working state monitoring control of each unit, handle the measurement result that GPS unit, IMU unit report, finish by wireless communication unit and network side interaction message that positioning measurement result reports and control command receives and response.
2. terminal installation LE according to claim 1, it is characterized in that, the mobile communications network that described cordless communication network refers to provide wide area to cover comprises GSM network, GPRS network, EDGE network, CDMA2000 1x network, CDMA2000 EVDO network, WCDMA network, TD-SCDMA network and based on above-mentioned mobile network's evolvement network.
3. terminal installation LE according to claim 1 and 2, it is characterized in that, location survey that described LE carries out and result report according to positioning strategy and regularly trigger, but described positioning strategy determines and the remote online modification that by the one group of parameter that is pre-configured among the LE positioning strategy comprises positional parameter, the time interval of regularly measuring and the time interval that reports that LE need regularly measure and report; The described time interval is a dynamic variable quantity relevant with the instant movement velocity of LE, and its Changing Pattern is that the high more time interval of speed is more little; LE enters resting state and turn-offs the peripheral circuit power supply during twice location survey.
4. according to each described terminal installation LE of claim 1-3, it is characterized in that, the main control unit of described LE, wireless communication unit and GPS measuring unit function realize that by the CDMA terminal chip group of QualCom company described CDMA terminal chip group comprises master chip MSM6050, radiofrequency receiving chip RFL6000 and RFR6000, radio-frequency transmissions chip RFT6100 and power management chip PM6050; Described IMU measuring unit function is realized by the acceleration sensor chip ADXL335 and the gyroscope chip ADXRS150 of ADI; Described wireless sensing unit function is realized by the CC2431 chip of beautiful TI company.
5. terminal installation LE according to claim 4 is characterized in that, the hardware implementations of described LE further comprises following signal annexation, handling process and peripheral circuit:
The CDMA signal is sent into RFL6000 through duplexer and is carried out the low noise processing and amplifying, after Surface Acoustic Wave Filter RxSAW filtering, send into RF receiver module RFR6000 then, the Rx ADC port that RFR6000 sends receiving signal demodulation into CDMA master chip MSM6050 to the Analog Baseband carries out the AD conversion, carries out the CDMA signal processing again after converting analog baseband signal to digital baseband signal;
Gps satellite signal is sent into RF receiver module RFR6000 equally through behind the bandpass filtering, the Rx ADC port that RFR6000 sends receiving signal demodulation into MSM6050 to the Analog Baseband carries out the AD conversion, further carries out the gps signal decoding processing again after converting analog baseband signal to digital baseband signal;
The CDMA baseband signal that MSM6050 will need to send is sent into RF sending module RFT6100 by Tx DAC, after Frequency-variable Modulation, carry out filtering TxSAW, power amplification PA and handle, at last by duplexer with radio frequency transmit signal feed-in transmitting antenna;
Power management chip PM6050 is responsible for the power supply and the Clock management of LE inside, comprises battery management, as power supply, charging, electric weight demonstration etc.; The conversion of supply voltage voltage raising and reducing; The back lighting management; Each chip operation power supply is provided; RF receives, tranmitting data register is managed, the system hibernates Clock management;
MSM6050 connects PM6050, RFR6000 and RFT6100 by serial bus interface SBI, realizes the control and management to said chip;
The embedded ARM7 microprocessor of MSM6050 is connected SDRAM and FLASH as the main control unit of LE by its parallel data bus line, address bus and storage management port;
The GPIO interface of MSM6050 is connected to the load button of LE; The audio codec interface connects peripheral voicefrequency circuit, and the audio frequency input/output function is provided; The UART interface connects subscriber identification module UIM (User Identity Model) card circuit and realizes the ZigBee module of wireless sensing function; The GPIO interface connects acceleration transducer and the angular-rate sensor of realizing the IMU function.
6. according to each described terminal installation LE of claim 1-5, it is characterized in that, described LE can be triggered by button or network side enter alarm status, and the audio call of automatic-answering back device network side, foundation also keep this audio call but not to the voicefrequency circuit output signal.
7. according to each described terminal installation LE of claim 1-6, it is characterized in that, LE identifier ID-1 is wherein surveyed and read to the wireless sensing unit that the wireless sensing unit of described LE can be mated automatically, the wireless sensing unit of described coupling refers to the wireless parameter of the wireless sensing unit configuration consistency of RFID reader or ZigBee full-function device FFD and they and LE, comprises operating frequency, network ID, data encryption mode.
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