CN102721942A - Acoustic positioning system and acoustic positioning method for object in building environment - Google Patents
Acoustic positioning system and acoustic positioning method for object in building environment Download PDFInfo
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Abstract
本发明涉及一种楼宇环境下目标的声学定位系统及其方法，该方法包括：通过全局广播方式发射对目标的定位查询指令；目标根据定位查询指令定时发射超声脉冲；与之同步从多个采集点对超声脉冲的音频信号进行采集；对采集到的多通道音频信号进行匹配滤波和检波，筛选出有效音频信号；根据有效音频信号的第一峰值位置确定对应通道的超声脉冲的传播时延；以及根据超声脉冲的传播时延及其相对应的采集点坐标解算出目标的位置坐标。本发明通过将声学定位技术与无线物联网技术相结合，对声脉冲进行匹配并筛选出有效脉冲，克服了多径干扰和高频杂散噪声干扰，提高了测量精度和系统稳健性，揭示了一种定位精度高、系统扩展性好且成本低廉的超声定位系统。
The invention relates to an acoustic positioning system and method for a target in a building environment. The method includes: transmitting a positioning query command for the target through a global broadcast; the target regularly transmits ultrasonic pulses according to the positioning query command; Collect the audio signal of the ultrasonic pulse; perform matched filtering and detection on the collected multi-channel audio signal, and filter out the effective audio signal; determine the propagation delay of the ultrasonic pulse corresponding to the channel according to the first peak position of the effective audio signal; And the position coordinates of the target are calculated according to the propagation time delay of the ultrasonic pulse and the corresponding collection point coordinates. The present invention combines the acoustic positioning technology with the wireless Internet of Things technology, matches the sound pulses and screens out effective pulses, overcomes multipath interference and high-frequency stray noise interference, improves measurement accuracy and system robustness, and reveals An ultrasonic positioning system with high positioning accuracy, good system expandability and low cost.
Description
Technical field
The present invention relates to a kind of space orientation technique, relate in particular to the acoustic positioning system and the method thereof of moving target under a kind of building environment.
Background technology
[1] acoustics location and enhancing, 200710087941.3, national inventing patent
[2] the ultrasonic locating control system under the Network Environment, 201010609587.8, national inventing patent
[3] method for ultrasonic locating of active long-range radio-frequency electronic label, 200610024717.5, national inventing patent
The acoustics location technology is for fear of the influence to audible sound, a kind of technology that adopts supersonic range to position usually.The ultimate principle of this technology be utilize that acoustic wave propagation velocity is slow, characteristics that Audio Signal Processing realizes easily, realize range finding harmony source space location compute through measuring the propagation delay delay inequality of different acceptance points (or to).The characteristics of acoustics location technology are precision high (indoor environment can reach a centimetre magnitude), do not receive the interference of electromagnetic environment; Weak point is that supersonic range propagation attenuation by absorption is big, a little less than the penetration capacity to barrier; Therefore, this technology is generally used for closer distance location (propagation distance < 50m).
Under the building environment, space structure is very complicated, and how on the way sound pulse serious interference, has seriously restricted the practical applications of acoustic positioning system.How to set up and a kind ofly can realize the hi-Fix requirement, the positioning system that the simultaneity factor architecture is simple, engineering adaptability is good, this is that the technology of complex environment acoustics localization method realizes crucial.
In the pertinent literature of being consulted, patent [1] receives sound-source signal through the microphone that distributes, through the Network Synchronization mode to audio frequency acquiring signal joining day mark, thereby realize receiving the relevant latency measurement and the location of signal.This mode is mainly used in the natural phonation location, for example shot and speaker location.Owing to be noncooperative target location, bearing accuracy is low, be subject to environmental disturbances, therefore is not suitable for complex environment and needs the occasion of precision target location.
Adopt target to be positioned (label) to launch ultrasonic pulse and wireless synchronization pulse mode realization target range finding and location simultaneously in the patent [2]; Adopt the wireless synchronization mode of data output initial code not only on the time delay to be arranged; And not high (the about 100 microsecond magnitudes under good environment of timing accuracy; The complex space environmental error can reach a millisecond magnitude), restricted the positioning calculation precision.Meanwhile, the wireless synchronization mode that adopts label to start, its operating distance usually will be much larger than the transonic distances, and therefore under the building environment during use, positioning label can not while/concurrent working, has seriously restricted target localization turnover rate under the complex environment.Therefore, the applied environment of this invention is location under single solid space (single room) environment, and the system expandability is poor.
Patent [3] adopts the mode of reader (RP) broadcasting to realize the location, and its difficult point is that labeling requirement to be positioned receives and the processing acoustic pulses, and the complexity of acoustics label is higher like this, is difficult to satisfy the portable requirement of label.Simultaneously, under complicated building environment, need many reader emission ultrasonic pulses to broadcast, Measuring Time is long and system extension property is bad.
Britain " Active-Bat " system is the practical ultrasound positioning system of a cover engineering, under base station synchronization, realizes range finding and location through the ultrasonic pulse that receives the label emission, with the inventive method maximum similarity is arranged.Difference is, do not adopt the sound pulse matching technique and effective position pulse is screened, the ultrasonic probe unit that therefore need on the room ceiling, gather, system cost height and be difficult to be applicable to complex regions such as stair, hall.
The ultra broadband location technology that comes from wireless positioning field can provide reasonable indoor positioning scheme; Like the wireless pulses radiation pattern of the Ubisense positioning system using 1G-2G bandwidth of Britain, indoor position accuracy is accomplished 15 centimetres (good environment conditions) through AOA (angle of arrival estimation) and TDOA (step-out time estimation) dual mode.This localization method is because electromagnetic speed is very high, and system needs complicated precise synchronization system and hypervelocity sampling and treatment technology, and system realizes that difficulty is big, with high costs.Simultaneously, system accuracy is difficult to further promoted (wireless bandwidth resource limited with Time synchronization technique restriction), and this is difficult to satisfy precision index in some has the location requirement of particular requirement.
For this reason, in the face of under the building complicated environmental condition to the demand of target localization, need that a kind of bearing accuracy is high, system extension ability ultrasound positioning system strong and with low cost.
Summary of the invention
The objective of the invention is can not provide high precision, moving target locator meams cheaply to existing location technology under the building environment of complicacy; The acoustics location technology is combined with wireless technology of Internet of things, a kind of high precision, high reliability are provided and possess the distributed acoustics positioning system of superiority of effectiveness.
For realizing above-mentioned purpose:
In first aspect of the present invention, the acoustics localization method of target under a kind of building environment is provided, comprising: through the locating query instruction of overall broadcast mode emission target; Said target receives said locating query instruction, and regularly launches ultrasonic pulse according to said locating query instruction; Synchronous with said timing emission ultrasonic pulse, from a plurality of collection points the sound signal of said ultrasonic pulse is gathered, obtain multi-channel audio signal; Said multi-channel audio signal is carried out matched filtering, and carry out detection, filter out effective sound signal through the multi-channel audio signal of predetermined threshold after to matched filtering; Confirm the propagation delay of the ultrasonic pulse of respective channel according to first peak of said effective sound signal; And the position coordinates that calculates said target according to the propagation delay and the corresponding collection point coordinate thereof of said ultrasonic pulse.
In second aspect of the present invention, the acoustic positioning system of target under a kind of building environment is provided, comprising: wireless inquiry-isochronous controller is used for through the locating query instruction of overall broadcast mode emission to target; Positioning label, it is placed on the said target, is used to receive said locating query instruction, and regularly launches ultrasonic pulse according to said locating query instruction; The orientation sensing unit; It is placed in the unit space in the building and through Ethernet and links to each other with said wireless inquiry-isochronous controller; Be used for said timing emission ultrasonic pulse synchronous; From a plurality of collection points the sound signal of said ultrasonic pulse is gathered, obtain multi-channel audio signal, said multi-channel audio signal is carried out matched filtering; And carry out detection through the multi-channel audio signal of predetermined threshold after to matched filtering; Filter out effective sound signal, confirm the propagation delay of the ultrasonic pulse of respective channel, the position that calculates said target according to the propagation delay and the corresponding collection point coordinate thereof of said ultrasonic pulse according to first peak of said effective sound signal.
The present invention is through combining the acoustics location technology with wireless technology of Internet of things; In scheme, sound pulse mated and filter out effective impulse; Having overcome multipath interference and high frequency clutter noise disturbs; Improve measuring accuracy and system robustness, disclosed a kind of bearing accuracy height, system extension ability ultrasound positioning system strong and with low cost.
Description of drawings
Fig. 1 is the synoptic diagram according to the acoustic positioning system of target under the building environment of the embodiment of the invention;
Fig. 2 is the process flow diagram according to the acoustics localization method of target under the building environment of the embodiment of the invention;
Fig. 3 is the synoptic diagram according to the wireless query statement frame format of the embodiment of the invention;
Fig. 4 is the process flow diagram according to the positioning label position calculation method of the embodiment of the invention;
Fig. 5 is according to oscillogram after the reception waveform of the emulation of the embodiment of the invention and the matched filtering; And
Fig. 6 is the synoptic diagram according to the three-point positioning method of the embodiment of the invention.
Embodiment
Through accompanying drawing and embodiment, technical scheme of the present invention is done further detailed description below.
Fig. 1 is the structural representation according to the acoustic positioning system of target under the building environment of the embodiment of the invention.
As shown in Figure 1; This system comprises wireless inquiry-isochronous controller (WISC); A plurality of alignment sensors (in the unit space only is shown among the figure); A plurality of ultrasonic probes that each alignment sensor is drawn (3 ultrasonic probes that an alignment sensor is drawn only are shown among the figure, are respectively ultrasonic probe 1, ultrasonic probe 2 and ultrasonic probe 3), and positioning label.The ultrasonic probe that alignment sensor is drawn with it can and be called the orientation sensing unit, and it is connected to WISC through Ethernet.
The WISC that in having the building area of space of positioning requirements, sets up is made up of high-performance industrial computer and wireless transmitter module, can adopt the Internet of Things emission coefficient of standard, and wireless frequency 433MHz for example commonly used or 470MHz also can select other open frequency ranges.Accessible as those skilled in the art institute, WISC also can adopt has 100,000,000 and the flush bonding module of more speed Ethernet interface, can bring the advantage on the system cost for small-scale application like this.The operating system of WISC need adopt real time operating system, for example VxWorks 6.0 and above version.According to need region covered scope, can suitably adjust emissive power, guarantee that positioning label and the orientation sensing unit in this zone can receive the locating query instruction reliably.WISC adopts overall broadcast mode, through the ID sign indicating number of emission positioning label and the location survey and the control of control code realization specify labels.Under the multiple goal location, the location is patrolled and examined in each realization of goal by WISC.Under this method, the precision of wireless synchronization is less than 10 microseconds (system baud rate select 112500bps and more than).The first, adopt the mode of inquiry location, help system server is adjusted each positioning label flexibly according to mission requirements location frequency.Particularly when fairly large system applies, can control the positioning unit and the label concurrent working of distribution, improve total system locator data turnover rate.The second, in the selection of wireless synchronization mode: receiving end (comprising positioning label and orientation sensing unit) not with the top end stops of wireless transmit as timing base, and status signal when finishing with the code word emission (go up jump along) triggers and interrupts accomplishing synchronously.
Positioning label is accomplished system synchronization and is launched ultrasonic pulse constantly by regulation according to the locating query instruction of WISC broadcasting.Positioning label is the active acoustics label of miniaturization, and it is installed in (such as special policeman soldier) on the target to be positioned, recommends to be installed on helmet top, also can place to take on upward or other positions of health.Positioning label is made up of low-power scm, wireless receiving module and three parts of ultrasound emission module, and positioning label can adopt lithium battery or otherwise power supply.The course of work of positioning label is that wireless receiving module receives the locating query instruction that the WISC system sends, if the coupling of the label ID code word in the instruction then starts the standby of ultrasound emission module.The method of wireless synchronization is under the code word matching condition, starts timer through state level interrupt mode when the locating query order code finishes and accomplishes synchronously.When timer produced interruption, the Hyperbolic Frequency Modulation pulse was preferably launched in acoustics transmitter module emission ultrasonic pulse.Adopting Hyperbolic Frequency Modulation pulse reason is to utilize the reliable matching detection of the big doppler tolerance realization high-speed mobile target of Hyperbolic Frequency Modulation pulse.
The orientation sensing unit is laid in the building in the unit space such as the room, and an orientation sensing unit is laid in a room in principle, and the part particular surroundings like stair, corridor and auditorium, can consider to increase the orientation sensing unit.The orientation sensing unit comprises alignment sensor and from a plurality of ultrasonic probes that it is drawn, preferably includes 8～16 ultrasonic probes.Ultrasonic probe is mounted respectively in the top, room and fixed position, wall upper end, and general the employing evenly distributes.According to the field measurement positioning performance, need increase the density of ultrasonic probe at building turning and small space.The orientation sensing unit can adopt the POE mode that meets I EEE802.3af standard supply power (PoE).The major function of orientation sensing unit is under the control of WISC locating query instruction; Receive the ultrasonic pulse of positioning label emission; Measure the distance between each ultrasonic probe and the target to be positioned; Realize the positioning calculation of regional extent interior label position, give WISC through Ethernet with the positioning calculation result transmission at last.The ultrasonic pulse data are gathered through the microphone that distributes in the orientation sensing unit, directly resolve label position, resolve and need not to send the ultrasonic pulse data to central server.This with space distribution, be that the locator meams at center can reduce greatly that system communication requires and implementation complexity with the orientation sensing unit.Particularly when fairly large practical applications, greatly reduce the workload of system debug, only need the positioning unit adjustment of each room area is got final product, need not frequently to adjust the setting of control system server parameter.
The orientation sensing unit also comprise microcontroller (MCU), DSP signal processor, radio receiving unit, etc. parts, its course of work is: wireless receiving module receives the locating query pulse that WISC sends; After receiving synchronizing pulse, start timing circuit, simultaneously the multiple channel acousto tone signal of a plurality of ultrasonic probe outputs is carried out synchronous acquisition; Multi-channel data is carried out matched filter processing; Carry out temporal gain control (TGC) lock in time to received signal according to location survey; The setting threshold thresholding carries out detection; The 1st pulse was as the direct sound wave pulse after each passage was only got detection; And estimate its due in according to its match peak, the ultrasonic probe location parameter of getting travel-time and the respective channel of 3 pulses that arrive at first then resolves the 3D coordinate of label.The mode of matched filtering can overcome the difficulty that multipath disturbs the impulse time delay mensuration that causes, and improves the latency measurement precision, can also reduce the interference of high frequency clutter noise simultaneously, improves the robustness of system.Sound pulse latency measurement precision is superior to 20 microseconds, and respective distances is 7 millimeters.Then, calculate label position through 3 groups of distance values and the coordinate figure of corresponding ultrasonic probe in this unit space.At last, send alignment sensor ID number, positioning label ID number and relative positioning value (being the referencer in relative unit space) to WISC through Ethernet.
WISC finds the solution target location to be positioned according to built-in building model space geometric after receiving the target location that each orientation sensing unit records, accomplish a target and patrol and examine measuring process.Accomplishing once, the time of independent location survey is about 50 milliseconds.
Fig. 2 is the process flow diagram according to the acoustics localization method of target under the building environment of the embodiment of the invention.
In step 210, " wireless inquiry-synchronously " instruction of control system (WISC) wireless transmit locating query, the location survey process of startup positioning label and orientation sensing unit.
Forward Fig. 3 to, Fig. 3 is the synoptic diagram according to the wireless query statement frame format of the embodiment of the invention.
As shown in Figure 3, at first be the front end guidance sign indicating number of 4 bytes, provide the instruction word joint number with 1 byte then, then be the end byte of the sensing unit ID of the label ID of the control word of 1 byte, 2 bytes, 1 byte, 1 reserve bytes and 1 byte.The query statement frame length is 11 bytes.Like this, the length that locating query instructs under 112500bps baud rate condition is less than 1 millisecond.
Get back to Fig. 2.
In step 220, appointed positioning label is regularly launched the localization by ultrasonic pulse down synchronously at query statement.When WISC carried out overall situation broadcasting, the wireless module of all positioning labels received the locating query instruction that the WISC system sends, if the code word of corresponding label ID coupling then starts the standby of acoustics transmitter module.Note that the positioning label among the present invention adopts the query statement done state to carry out synchronous method, the wireless module that it adopts can be the CC1101 of TI, and its sheet that provides selects the level saltus step from low to high when receiving the query statement end of CSn signal.Therefore, concrete method for synchronous is under positioning label ID code word matching condition, when the locating query order code finishes, starts timer (0.5 millisecond of timer time delay) through interrupt mode and accomplishes synchronously.When timer produced interruption, Hyperbolic Frequency Modulation pulse (HFM) was preferably launched in acoustics transmitter module emission ultrasonic pulse.The precision of this wireless synchronization mode is relevant with communication baud rate, and under the 112500bps of system recommendation condition, synchronization accuracy is less than 10us.The frequency separation of Hyperbolic Frequency Modulation pulse is 23.5kHz-26.5kHz (centre frequency 25kHz); Wave data is stored in the data-carrier store of single-chip microcomputer; Behind the inner DA conversion of single-chip microcomputer, amplifying circuit, drive ultrasonic probe (can adopt " TCT25-16T " or similar model) and accomplish the pulse emission.
In step 230, the orientation sensing unit of appointment or non-appointment is in this locating query instruction regularly log-on data collection down synchronously, reception ping.Specify or the orientation sensing unit of non-appointment by the control word decision of inquiry code, these corresponding two kinds of working methods: a kind of is the zone at known target place, selects corresponding orientation sensing unit (promptly specifying orientation sensing unit mode) according to lookup table mode; Another kind is the unknown object region, uses the global search mode instead, and all orientation sensing unit all position measurement (being non-appointment orientation sensing unit mode).The method of orientation sensing unit starting position fixing process and wireless synchronization and positioning label workflow are basic identical, therefore repeat no more.Difference is that in the moment of label emission ultrasonic pulse, sensing unit starts the collection and the processing of multi-channel audio signal.Multi-channel audio signal amplifies (gain 10dB) by the ultrasonic probe collection through prime, is transferred to the data acquisition module of orientation sensing unit behind the analog bandpass filtering (20kHz – 30kHz).Data sampling rate recommend to adopt 120kHz and 16bit quantification, stops sampling process after 4096 of every passage collections.For the mimic channel slip-stick artist, this process can clear understanding.
In step 240, select preceding 3 arrival pulses to carry out the target location constantly after the orientation sensing unit of appointment or non-appointment carries out matched filtering, threshold test and arrives the time delay ordering the pulse signal that receives and resolve.
Forward Fig. 4 to, Fig. 4 is the process flow diagram according to the positioning label position calculation method of the embodiment of the invention.
In step 415, the voice data that collects is carried out quadrature demodulation handle, then baseband signal is carried out matched filtering, matched filter can be selected implementations such as FIR wave filter.
In step 420, the sound signal after the matched filtering is carried out temporal gain control (TGC).At first, set up TGC adjustment sequence according to the spreading loss that ultrasonic pulse is propagated, wherein, said spreading loss adopts the spherical wave extends equation to obtain.Then, the matched filtering result of step 415 output and this TGC adjustment sequence are multiplied each other realize that the temporal gain to the sound signal after the matched filtering controls.
In step 425, through pre-set threshold to TGC adjusted output carry out detection.If certain channel signal amplitude does not surpass predetermined threshold, then it is defined as invalid passage (mean and do not receive effective impulse), referring to Fig. 5.
Forward Fig. 5 to, Fig. 5 is according to the reception waveform of the emulation of the embodiment of the invention and the oscillogram after the matched filtering.As shown in Figure 5, ordinate is that amplitude, horizontal ordinate are time (millisecond), and wherein, first figure is the ultrasonic pulse that receives; Second figure is the ultrasonic pulse compression result after the matched filtering, and the threshold value thresholding shown in the visible dotted line.
Get back to Fig. 4.
In step 430, extract ripple to the sound signal of each passage respectively and reach constantly.In brief, confirm the pulse propagation time delay according to first peak of the matching pulse of sequence after the detection.Notice that detected pulse is that disturb on many ways after first peak.The precision that time delay is measured is determined that by received signal to noise ratio it is favourable therefore improving exomonental sound source level.
So far, the explanation to 430 can make much of to those skilled in the art for step 415, and concrete ins and outs and parameter can be carried out adaptation according to actual conditions.
In step 435, count value is counted and detected to detected effective impulse number (effectively port number).If the count value testing result is less than 3, then flow process forwards step 440 to; If the count value testing result is more than or equal to 3, then flow process forwards step 445 to.
Be readily appreciated that; The order of step 430 and step 435 can be exchanged, promptly the count value testing result more than or equal to 3 situation under, flow process proceeds to former step 430; Promptly extract ripple to the sound signal of each passage respectively and reach constantly, other sequence of steps relations of flow process are not done variation.
In step 440, the orientation sensing unit sends the information of " it is invalid to locate " to WISC, and the WISC system server is inquired about the location to this label again after receiving certain time slot of this information.
In step 445, the time delay value of getting preceding 3 arrival pulses positions and resolves, and detailed process is:
At first; Local coordinate system (i.e. the calculating reference coordinate of the corresponding orientation sensing in this room unit) is set up in each room, and selecting coordinate origin is ground, room central spot, is the x axle with due east direction in the surface level; Direct north is the y axle, and direction is the z axle straight up.The tag coordinate numerical value that each positioning unit resolves is all with respect to the local coordinate system of correspondence.Referring to Fig. 6, Fig. 6 is the synoptic diagram according to the three-point positioning method of the embodiment of the invention, and for for purpose of brevity, Fig. 6 shows the three-dimensional coordinate relation of positioning label and ultrasonic probe with the form of planimetric map.As shown in Figure 6, the known position of three ultrasonic probes of pulse of receiving at first is respectively (a
1, a
2, a
3), (b
1, b
2, b
3) and (c
1, c
2, c
3), the distance that can calculate positioning label to three ultrasonic probe through said 3 time delay values is respectively r
a, r
b, r
c, suppose label position for (x, y, z).Then can obtain system of equations:
The cancellation quadratic term can get system of linear equations:
Wherein symbol M 1, M2, and M3 representes respectively:
Formula (3) is the system of linear equations of standard, and is understandable as those skilled in the art, adopts Gaussian elimination or Cramer's rule (Cramer) directly to obtain separating of equation.When ill-conditioning problem occurring, promptly the characteristic determinant of equation (2) needs to increase the 4th and arrives the corresponding equation of pulse, and adopt the known many additive methods of computer scientist such as least mean-square error or least square method to find the solution near zero.If do not receive the 4th effective impulse, then stop computation process, directly elements of a fix value (1 ,-1 ,-1) is exported as null result.
In step 445,, accomplish the positioning calculation of the positioning label of appointment with result of calculation output.
Get back to Fig. 2.
In step 250, after obtaining the tag location result, ID number of specify labels, orientation sensing unit ID number and positioning result are transferred to the WISC system server through Ethernet, accomplish one time the searching label position fixing process.
The professional should further recognize; The unit and the algorithm steps of each example of describing in conjunction with embodiment disclosed herein; Can realize with electronic hardware, computer software or the combination of the two; For the interchangeability of hardware and software clearly is described, the composition and the step of each example described prevailingly according to function in above-mentioned explanation.These functions still are that software mode is carried out with hardware actually, depend on the application-specific and the design constraint of technical scheme.The professional and technical personnel can use distinct methods to realize described function to each certain applications, but this realization should not thought and exceeds scope of the present invention.
The software module that the method for describing in conjunction with embodiment disclosed herein or the step of algorithm can use hardware, processor to carry out, perhaps the combination of the two is implemented.Software module can place the storage medium of any other form known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or the technical field.
Above-described embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, and institute it should be understood that the above is merely embodiment of the present invention; And be not used in qualification protection scope of the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
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| CN102981164A (en) * | 2012-12-06 | 2013-03-20 | 北京凯思昊鹏软件工程技术有限公司 | Method supporting limited irregular space positioning |
| CN105093229A (en) * | 2014-05-19 | 2015-11-25 | 日本电气株式会社 | Method and device for positioning multiple targets |
| CN105785319A (en) * | 2016-05-20 | 2016-07-20 | 中国民用航空总局第二研究所 | Acoustic positioning method, device and system for airport scene target |
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| US11500089B2 (en) | 2017-12-22 | 2022-11-15 | Nolo Co., Ltd. | Control method and device for ultrasonic receiving device |
| CN108495365A (en) * | 2018-03-14 | 2018-09-04 | 重庆邮电大学 | Method of locating terminal based on the estimation of narrowband Internet of Things time delay |
| CN108802685A (en) * | 2018-04-23 | 2018-11-13 | 长江大学 | A kind of pipeline exception collision two-dimensional location method and system based on constraint inverting |
| CN108802685B (en) * | 2018-04-23 | 2022-07-05 | 长江大学 | Two-dimensional positioning method and system for pipeline abnormal collision based on constraint inversion |
| CN110806755A (en) * | 2018-08-06 | 2020-02-18 | 中兴通讯股份有限公司 | Unmanned aerial vehicle tracking shooting method, terminal and computer readable storage medium |
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| CN113126026A (en) * | 2019-12-31 | 2021-07-16 | 中移(成都)信息通信科技有限公司 | Positioning system, method and storage medium |
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