CN103179648B - Low-power-consumption personnel zone location method based on multi-sensor coordination - Google Patents
Low-power-consumption personnel zone location method based on multi-sensor coordination Download PDFInfo
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- CN103179648B CN103179648B CN201310078678.7A CN201310078678A CN103179648B CN 103179648 B CN103179648 B CN 103179648B CN 201310078678 A CN201310078678 A CN 201310078678A CN 103179648 B CN103179648 B CN 103179648B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 20
- 230000005284 excitation Effects 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 17
- VYMDGNCVAMGZFE-UHFFFAOYSA-N phenylbutazonum Chemical compound O=C1C(CCCC)C(=O)N(C=2C=CC=CC=2)N1C1=CC=CC=C1 VYMDGNCVAMGZFE-UHFFFAOYSA-N 0.000 claims description 15
- 230000005059 dormancy Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000004913 activation Effects 0.000 claims description 4
- 230000014759 maintenance of location Effects 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 230000000284 resting effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 15
- 230000000737 periodic effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 1
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a low-power-consumption personnel zone location method based on multi-sensor coordination. The method includes: setting a low-power-consumption boundary positioning device at zone boundary, and setting a low-power-consumption receiver in a zone; when the person passing the zone boundary is detected, allowing the low-power-consumption boundary positioning device to arouse a tag card carried by a located person, record an event that the tag card passes the zone boundary and transmits the event to a server; after the located person carrying the tag card enters the zone, keeping the tag card to be constantly and periodically communicated with the low-power-consumption receiver set in the zone; after the located person carrying the tag card leaves the zone, allowing periodic communication between the tag card and the low-power-consumption receiver to interrupt, and allowing the tag card to re-enter the low-power-consumption dormant state to await being aroused by low-power-consumption boundary positioning devices in other zones. The method achieves accurate low-power-consumption zone location for personnel, the problem that the existing zone location technology has large errors is solved, and cost of power consumption in location process can be lowered.
Description
Technical field
The invention belongs to wireless communication field, relate to a kind of personnel area location method, especially relate to a kind of Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation.
Background technology
Accurate zone position information plays very important effect in a lot of application scenarios, and as scenic spot visitor's guide to visitors, office space personnel positioning tracking etc., user does not pay close attention to concrete position coordinates, and accurate zone position information is more effective to this type of application.In area positioning technology; traditional location technology based on range finding needs the support of more infrastructure; as infrared, sound wave, ultrasonic wave etc. all rely on the deployment of infrastructure based on the location algorithm of range finding, in extensive or that basic condition is limited application scenarios, be difficult to application and dispose.Location technology based on scene analysis needs a large amount of manual interventions to go to set up fingerprint base, the pattern matching algorithm of higher computation complexity is needed to go to realize tuning on-line, and need again to upgrade fingerprint base when environmental change, improper to large-scale application scenarios.Traditional realizes based on being easy to close to the location algorithm judged and disposing, but the error of location is larger, general between 2 to 5 meters, and the precision of location depends on the deployment of known location node, can not meet application demand in the scene of locating needing precise region.
In addition, current location technology does not pay close attention to the power consumption cost problem existed in whole position fixing process, and the destination node in navigation system and known position information node are in continuous duty usually.In the application scenarios that some basic conditions are limited, the working life of navigation system is the subject matter paid close attention to, and how can reduce the power consumption cost of location, and the life cycle as far as possible extending navigation system is also the major issue needing in zone location to pay close attention to.
The dependence infrastructure existed in accurate zone location, the problem that positioning precision is limited and location power consumption cost is larger is being realized for current location technology, propose a kind of Low-power-consumptiopersonnel personnel zone location technology based on multi-sensor cooperation, realize the accurate zone location of personnel by the collaborative work of multisensor.
Summary of the invention
The object of the present invention is to provide a kind of Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation, be intended to solve current location technology in zone location, rely on the larger problem of stronger infrastructure, positioning precision deficiency and power consumption cost.
The present invention realizes the low-power consumption zone location to personnel in conjunction with passive infrared technology and low frequency wake-up technology, a kind of Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation, be applied in the system comprising low-power consumption boundary alignment device, low-power consumption receiver, label card and server composition, concrete steps comprise:
(1) dispose low-power consumption boundary alignment device in zone boundary, at intra-zone administration low-power consumption receiver, carried label card by locating personnel, the said equipment can support low-power consumption work, battery-powered;
(2) the low-power consumption receiver periodical communication that zone boundary is disposed low-power consumption boundary alignment device and intra-zone are affixed one's name to, the retention time, synchronously maintain identical work period T_cycle, label card was in Low-power-consumptiodormancy dormancy state;
(3) low-power consumption boundary alignment device detects that personnel are through zone boundary, wakes the label card carried by locating personnel up, and this information through zone boundary event information, and is sent to server by record label card;
(4) carried after label card enters region by locating personnel and communicate with the low-power consumption receiver hold period that intra-zone is affixed one's name to;
(5) carried after label card leaves region by locating personnel, the periodical communication between the low-power consumption receiver in label card and region interrupts, and label card reenters Low-power-consumptiodormancy dormancy state, waits for by the low-power consumption boundary alignment device wake in other region.
Described low-power consumption boundary alignment device comprises personnel's detection module, low-frequency excitation module, the first radio-frequency communication module and the first control module: described personnel's detection module testing staff, through zone boundary, sends detection signal to the first control module; The first described control module controls low-frequency excitation module according to the detection signal received and sends low-frequency excitation signal to label card, control the intercommunication mutually of the low-power consumption receiver that the first radio-frequency communication module is affixed one's name to label card and intra-zone; The course of work of described low-power consumption boundary alignment device specifically comprises the following steps:
(a1) carried label card through zone boundary by locating personnel, after entering the detection range of personnel's detection module, low-power consumption boundary alignment device is waken up;
(a2), after low-power consumption boundary alignment device is waken up, the label card that low-frequency excitation module transmission low-frequency excitation signal carries with activation personnel is controlled;
(a3) after low-power consumption boundary alignment device receives the solicited message of label card transmission, turnaround time synchronous and intra-zone administration the information such as work period T_cycle of low-power consumption receiver, this information through zone boundary event information, and is sent to server by record label card;
(a4) carried label card by locating personnel and leave region through border, low-power consumption boundary alignment device is waken up again, send low-frequency excitation signal activation label card, record label card after receiving the information of label card through zone boundary event information, and this information is sent to server.
Described label card comprises low frequency reception module, the second radio-frequency communication module and the second control module: described low frequency reception module monitors low-frequency excitation signal, and the low-frequency excitation signal of reception is sent to the second control module; Described second control module intercoms with described low-power consumption boundary alignment device and described low-power consumption receiver mutually according to low-frequency excitation signal controlling second radio-frequency communication module received; The course of work of described label card comprises the following steps:
(b1) label card server end with bound by locating personnel;
(b2) carried label card through zone boundary by locating personnel, label card is waken up after receiving the low-frequency excitation signal of low-power consumption boundary alignment device transmission;
(b3) label card is waken up backward low-power consumption boundary alignment device transmission request information, carry out time synchronized with low-power consumption boundary alignment device after receiving the return information of low-power consumption boundary alignment device, maintain identical Ψ and work period T_cycle time phase;
(b4) label card enters the work of the laggard line period in region, work period is T_cycle, monitor and record a beacon frame that the low-power consumption receiver of intra-zone administration is broadcasted, the average signal strength that a N continuous cycle receives low-power consumption receiver R_domain is the strongest, and average signal strength is greater than and enters region threshold RSSI_in, then label card judges to have entered region corresponding to R_domain, send to low-power consumption receiver R_domain and enter area event information, label card enters inner zone status, wherein N be greater than 1 natural number;
(b5) when label card is in inner zone status, communicate with low-power consumption receiver R_domain hold period, reply heartbeat packet when receiving the beacon frame of low-power consumption receiver R_domain, show that label card is still in region corresponding to low-power consumption receiver R_domain;
(b6) carried label card by locating personnel and leave region through zone boundary, label card is encouraged after receiving the low frequency signal of low-power consumption boundary alignment device transmission again, wakes backward low-power consumption boundary alignment device transmission request information up;
(b7) after label card leaves region, be interrupted with the communication of low-power consumption receiver R_domain, if the beacon frame that a continuous N cycle does not receive low-power consumption receiver R_domain or the signal strength signal intensity receiving beacon frame are less than leave region threshold RSSI_out, then label card reenters Low-power-consumptiodormancy dormancy state, wherein M be greater than 1 natural number.
Described low-power consumption receiver comprises the 3rd radio-frequency communication module and the 3rd control module, low-power consumption receiver periodic duty, work period is T_cycle, broadcast beacon frame also monitors the return information of label card, produce label card enter area event information or leave area event information, and this information is sent to server, comprise the following steps:
(c1), after the work period starts, low-power consumption receiver broadcast beacon frame, enters listening state after having broadcasted, and wait-receiving mode enters the return information of the label card in region;
(c2) what receive label card transmission enters area event information, and record enters the label card relevant information in region, produces label card and enters area event information, and this information is sent to server;
(c3) heartbeat packet that label card is replied is received, then the label card relevant information of more new record;
(c4) after listening period terminates, the label card information entering region of traversal record, if what the heartbeat packet that a continuous N cycle does not receive label card or the signal strength signal intensity receiving heartbeat packet were less than setting leaves region threshold RSSI_out, then judge that label card leaves region, produce label card and leave area event information, and this information is sent to server; Wherein M be greater than 1 natural number;
(c5) after having traveled through, low-power consumption receiver enters resting state, waits for the beginning in subsequent work cycle.
Compared with prior art, beneficial effect of the present invention is embodied in:
The present invention is realized the accurate low-power consumption zone location of personnel by personnel's detection technique, low frequency wake-up technology, not only can solve the problem that current area positioning technology error is larger, and can reduce the power consumption cost in position fixing process.
Accompanying drawing explanation
Fig. 1 is the Low-power-consumptiopersonnel personnel zone location method deployed with devices schematic diagram based on multi-sensor cooperation of the present invention.
Fig. 2 is the low-power consumption boundary alignment apparatus module function diagram being deployed in zone boundary.
Fig. 3 is the functional block diagram of the label card carried by locating personnel.
Fig. 4 is the work sequence figure being carried each equipment when label card enters region by locating personnel.
Fig. 5 is the work sequence figure being carried each equipment when label card leaves region by locating personnel.
Embodiment
In order to make object of the present invention, technical scheme and functional characteristic clearly understand, below in conjunction with drawings and Examples, the present invention is described in more detail.Should be appreciated that specific embodiment described herein only for explaining the present invention, not limiting the present invention.
The invention provides a kind of Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation.Accurate, Low-power-consumptiopersonnel personnel zone location method is realized by personnel's detection technique and low frequency wake-up exciting technique.
Fig. 1 is the deployed with devices schematic diagram of the Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation.As shown in the figure, Low-power-consumptiopersonnel personnel zone location technology comprises three equipment: the low-power consumption receiver of the low-power consumption boundary alignment device that label card, zone boundary are disposed and intra-zone administration.
Comprised low frequency reception module, the second radio-frequency communication module and the second control module by the label card that locating personnel carries, functional block diagram as shown in Figure 3.Label card is initially in Low-power-consumptiodormancy dormancy state, is monitored the low-frequency excitation signal of low-power consumption boundary alignment device transmission by low frequency reception module.Label card is waken up after receiving low-frequency excitation signal, communicates carry out time synchronized with low-power consumption boundary alignment device.After entering region, the signal intelligence of the low-power consumption receiver that foundation and intra-zone are affixed one's name to judges enter and leave region, to send to receiver when signal intelligence meets and enters area condition and enter zone issue bag, when signal intelligence meet leave area condition time label card enter Low-power-consumptiodormancy dormancy state.
The low-power consumption receiver of intra-zone administration comprises the 3rd radio-frequency communication module and the 3rd control module, low-power consumption receiver periodic duty, and the work period is T_cycle.After work period starts, broadcast beacon frame, comprises the information such as low-power consumption receiver ID, timestamp, number of frames.After having broadcasted, low-power consumption receiver enters listening state, receives the return information of label card, and the information generation label card that foundation receives enters area event information and label card leaves area event information, and this information is sent to server.
Be deployed in the low-power consumption boundary alignment device primary responsibility excitation label card of zone boundary and record label card through zone boundary information.The functional block diagram of low-power consumption boundary alignment device as shown in Figure 2, comprises four modules: personnel's detection module, low-frequency excitation module, the first radio-frequency communication module and the first control module.Personnel's detection module adopts passive infrared technology, and Passive Infrared Sensor is responsible for testing staff through zone boundary, and low-frequency excitation block sends low-frequency excitation signal and wakes label card up.First radio-frequency communication module is responsible for intercoming mutually with the low-power consumption receiver in region and label card.
Fig. 4 is carried the work sequence figure of each equipment when label card enters region by locating personnel.Enter zone issue and comprise three processes: through zone boundary, enter region and holding process in region.Wherein, A place represents that label card enters personnel's detection range of low-power consumption boundary alignment device.
Carried label card through zone boundary by locating personnel, trigger the Passive Infrared Sensor of low-power consumption boundary alignment device, personnel detect outer data bits low-power consumption boundary alignment device.Low-power consumption boundary alignment device is waken up rear control low-frequency excitation module periodic sequential filming 125KHZ low-frequency excitation signal.Be waken up after the label card being in Low-power-consumptiodormancy dormancy state receives low-frequency excitation signal, bag is sent request to low-power consumption boundary alignment device, the laggard line time of return information receiving low-power consumption boundary alignment device is synchronous, safeguards identical Ψ and work period T_cycle time phase.Meanwhile, this information through zone boundary event information, and is sent to server by low-power consumption boundary alignment device record label card.
With the communication being deployed in the low-power consumption receiver hold period in region after label card enters region, monitor the beacon frame of the low-power consumption receiver broadcast of each intra-zone administration continuously.If N continuous (N be greater than 1 natural number, can determine according to actual needs) signal strength signal intensity that receives low-power consumption receiver R_domain in the individual cycle is the strongest, and average signal strength is greater than and enters region threshold RSSI_in, then judge to enter region corresponding to low-power consumption receiver R_domain, send to low-power consumption receiver R_domain and enter area event information, comprise label card ID, enter the information such as zone time, label card enters inner zone status.Low-power consumption receiver R_domain receives after label card enters zone issue bag, and record enters the label card information in region, and label card is entered area event information is sent to server.
When label card stops in region, after receiving the beacon frame of low-power consumption receiver R_domain, reply heartbeat packet, show that label card is still in region.After low-power consumption receiver R_domain receives heartbeat packet, updating maintenance enters the list of area label card.
Fig. 5 is carried the work sequence figure of each equipment when label card leaves region by locating personnel.Region is left through zone boundary by locating personnel's label card, the Passive Infrared Sensor of same triggering low-power consumption boundary alignment device, label card is activated backward low-power consumption boundary alignment device transmission request information, low-power consumption boundary alignment device records label card through zone boundary event after receiving the information of label transmission, and this information is sent to server, wherein B point place is for entering personnel's detection range of low-power consumption boundary alignment device when leaving region.
Behind zone boundary, the communication of the low-power consumption receiver R_domain in label card and region weakens or interrupts, if continuous N (M be greater than 1 natural number, can determine according to actual needs) beacon frame that do not receive low-power consumption receiver R_domain in the individual cycle or the signal strength signal intensity that receives beacon frame be less than and leave region threshold RSSI_out, label card judges to leave region, enters Low-power-consumptiodormancy dormancy state.Low-power consumption receiver R_domain does not receive label card heartbeat packet in the continuous N cycle or the signal strength signal intensity receiving heartbeat packet are less than leaves region threshold RSSI_out, then judge that label card leaves region, produce label card and leave zone issue and this information is sent to server.
The label card sent through zone boundary event information and low-power consumption receiver R_domain in conjunction with the label card that low-power consumption boundary alignment device sends at server end enters and leaves the real time position that area event information obtains label card.
Only specific embodiments of the invention above, but the present invention is not limited to this embodiment, the changes that any person skilled in the art can think of, all should drop within protection scope of the present invention.
Claims (3)
1. the Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation, be applied in the system comprising low-power consumption boundary alignment device, low-power consumption receiver, label card and server composition, it is characterized in that, the concrete steps of the described Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation are:
(1) low-power consumption boundary alignment device is disposed in zone boundary, at intra-zone administration low-power consumption receiver, label card is carried by locating personnel, the said equipment can support low-power consumption work, wherein: described low-power consumption boundary alignment device is synchronous with the described low-power consumption receiver retention time, maintains the identical work period; Described label card is in Low-power-consumptiodormancy dormancy state;
(2) low-power consumption boundary alignment device detects that personnel are through zone boundary, wakes the label card carried by locating personnel up, and this information through zone boundary event information, and is sent to server by record label card;
(3) carried after label card enters region by locating personnel and communicate with the low-power consumption receiver hold period that intra-zone is affixed one's name to;
(4) carried after label card leaves region by locating personnel, the periodical communication between the low-power consumption receiver in label card and region interrupts, and label card reenters Low-power-consumptiodormancy dormancy state, waits for by the low-power consumption boundary alignment device wake in other region;
Described low-power consumption boundary alignment device comprises personnel's detection module, low-frequency excitation module, the first radio-frequency communication module and the first control module: described personnel's detection module testing staff sends detection signal through zone boundary to the first control module; The first described control module controls low-frequency excitation module according to the detection signal received and sends low-frequency excitation signal to label card, control the intercommunication mutually of the low-power consumption receiver that the first radio-frequency communication module is affixed one's name to label card and intra-zone;
The course of work of described low-power consumption boundary alignment device specifically comprises the following steps:
(a1) carried label card through zone boundary by locating personnel, after entering the detection range of personnel's detection module, low-power consumption boundary alignment device is waken up;
(a2), after low-power consumption boundary alignment device is waken up, the label card that low-frequency excitation module transmission low-frequency excitation signal carries with activation personnel is controlled;
(a3) after low-power consumption boundary alignment device receives the solicited message of label card transmission, turnaround time synchronous and intra-zone administration the duty cycle information of low-power consumption receiver, this information through zone boundary event information, and is sent to server by record label card;
(a4) carried label card by locating personnel and leave region through border, low-power consumption boundary alignment device is waken up again, send low-frequency excitation signal activation label card, record label card after receiving the information of label card through zone boundary event information, and this information is sent to server.
2. the Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation according to claim 1, is characterized in that, the course of work of described label card comprises the following steps:
(b1) label card server end with bound by locating personnel;
(b2) carried label card through zone boundary by locating personnel, label card is waken up after receiving the low-frequency excitation signal of low-power consumption boundary alignment device transmission;
(b3) label card is waken up backward low-power consumption boundary alignment device transmission request information, carries out time synchronized, maintain identical time phase and work period after receiving the return information of low-power consumption boundary alignment device with low-power consumption boundary alignment device;
(b4) label card enters the work of the laggard line period in region, monitor and record a beacon frame that the low-power consumption receiver of intra-zone administration is broadcasted, the average signal strength that a N continuous cycle receives low-power consumption receiver is the strongest, and average signal strength is greater than and enters region threshold, then label card judges to have entered corresponding region, to low-power consumption receiver send enter area event information, label card enters inner zone status, wherein N be greater than 1 natural number;
(b5) when label card is in inner zone status, communicate with low-power consumption receiver hold period, reply heartbeat packet when receiving the beacon frame of low-power consumption receiver, show that label card is still in region corresponding to low-power consumption receiver;
(b6) carried label card by locating personnel and leave region through zone boundary, label card is encouraged after receiving the low frequency signal of low-power consumption boundary alignment device transmission again, wakes backward low-power consumption boundary alignment device transmission request information up;
(b7) after label card leaves region, be interrupted with the communication of low-power consumption receiver, if the beacon frame that a continuous N cycle does not receive low-power consumption receiver or the signal strength signal intensity receiving beacon frame are less than leave region threshold, then label card reenters Low-power-consumptiodormancy dormancy state, wherein M be greater than 1 natural number.
3. the Low-power-consumptiopersonnel personnel zone location method based on multi-sensor cooperation according to claim 2, is characterized in that, the course of work of described low-power consumption receiver comprises the following steps:
(c1), after the work period starts, low-power consumption receiver broadcast beacon frame, enters listening state after having broadcasted, and wait-receiving mode enters the return information of the label card in region;
(c2) what receive label card transmission enters area event information, and record enters the label card relevant information in region, produces label card and enters area event information, and this information is sent to server;
(c3) heartbeat packet that label card is replied is received, then the label card relevant information of more new record;
(c4) after listening period terminates, the label card information entering region of traversal record, if what the heartbeat packet that a continuous N cycle does not receive label card or the signal strength signal intensity receiving heartbeat packet were less than setting leaves region threshold, then judge that label card leaves region, produce label card and leave area event information, and this information is sent to server, wherein M be greater than 1 natural number;
(c5) after having traveled through, low-power consumption receiver enters resting state, waits for the beginning in subsequent work cycle.
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| CN105049422B (en) * | 2015-06-25 | 2018-04-13 | 迪爱斯信息技术股份有限公司 | A kind of WIFI detections identification equipment, system and WIFI detection identification methods |
| CN105788011A (en) * | 2016-02-25 | 2016-07-20 | 武汉长江通信智联技术有限公司 | System and method for radio frequency positioning based on dedicated short-range communication |
| CN108124236B (en) * | 2016-11-29 | 2020-12-01 | 阿里巴巴（中国）有限公司 | Method and device for providing map service |
| CN109089312B (en) * | 2018-08-14 | 2020-11-13 | 广东天诚智能科技有限公司 | Positioning method based on sensor |
| CN109362031B (en) * | 2018-11-19 | 2020-11-10 | 上海钧正网络科技有限公司 | Bluetooth beacon system and Bluetooth positioning method |
| CN111277450A (en) * | 2018-12-05 | 2020-06-12 | 中国电信股份有限公司 | Local service identification method, system and storage medium |
| CN109633532A (en) * | 2018-12-21 | 2019-04-16 | 青岛安然物联网科技有限公司 | A kind of wireless beacon positioning system and its localization method |
| CN110121150B (en) * | 2019-05-24 | 2021-03-19 | 上海物联网有限公司 | Indoor trans-regional seamless positioning system based on UWB technology |
| CN110493711B (en) * | 2019-07-29 | 2021-07-06 | 深圳绿米联创科技有限公司 | Positioning method, device, system, electronic equipment and storage medium |
| CN111158766B (en) * | 2019-12-24 | 2022-10-21 | 联想(北京)有限公司 | Wake-up method and apparatus, electronic device, and medium |
| CN111988738A (en) * | 2020-07-31 | 2020-11-24 | 北京骑胜科技有限公司 | Vehicle control method, device, vehicle and storage medium |
| CN115623415B (en) * | 2022-09-26 | 2023-03-28 | 凡尔智能科技集团有限公司 | Positioning method for coal mine personnel positioning based on low-frequency induction |
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| US8472973B2 (en) * | 2010-04-23 | 2013-06-25 | Microsoft Corporation | Adaptive energy-efficient location determination |
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