CN103675877A - Scenic spot navigation system - Google Patents
Scenic spot navigation system Download PDFInfo
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- CN103675877A CN103675877A CN201210353667.0A CN201210353667A CN103675877A CN 103675877 A CN103675877 A CN 103675877A CN 201210353667 A CN201210353667 A CN 201210353667A CN 103675877 A CN103675877 A CN 103675877A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/16—Anti-theft; Abduction
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention provides a scenic spot navigation system. The scenic spot navigation system comprises navigation terminals and a scenic spot server. The system further at least comprises three Wi-Fi hotspots. When the GNSS positioning function cannot be used by the navigation terminals, the navigation terminals can be used to perform positioning through the Wi-Fi hotspots. By adopting the technical scheme of the invention, continuous positioning can be performed on tourists in the scenic spot range, and navigation information is downloaded on a real-time basis to check association markers between the tourist distribution situation and the pairwise navigation terminals so as to prevent child lost and scenic spot people stream peak hour avoiding scheduling conditions.
Description
Technical field
The present invention relates to location information service technology, more particularly in the scenic spot navigational system based on Wi-Fi and GNSS co-located.
Background technology
GLONASS (Global Navigation Satellite System) (Global Navigation Satellite System, GNSS) utilize Navsat to carry out regularly, locate and range finding, can in worldwide, realize round-the-clock, comprehensive three dimensions, speed and the temporal information that real-time high-precision is provided for sea, land and aerial user continuously.At present, the triones navigation system of the Galileo system of the GPS that GNSS has comprised the U.S., Muscovite GLONASS, European Union, China, take gps system as example, and this system is mainly comprised of three parts, i.e. space segment, ground control section and user's set part.Space segment is comprised of 24 satellites, is distributed in 6 road planes.Ground control section is by being in charge of, coordinating the master station of the work of whole ground control system, under the control of master station, to satellite inject seek text ground-plane antenna, as monitoring station and the communication backup system of automatic data acquisition center, form.User's set part is mainly comprised of GPS receiver and satellite antenna.
In current location information service, to adopt GNSS location navigation mostly, especially GPS, but as mentioned above, GNSS location is limited to satellite-signal, when reception environment bad, as in built-up " urban canyons ", or even indoor, GNSS locating effect just very poor or even cannot locate at all, to LBS, service has brought great problem for this, relate in particular to monitoring position and warning, the application of aspect such as need to continuously locate, tend to because poor signal or indoorly there is no signal and cannot carry out, greatly reduce the application of GNSS.
In current scenic spot navigation, existing application of using LBS system to carry out the integrated services such as scenic spot navigation, explanation, warning, the Chinese utility model patent that is 200820180156.2 as application number discloses a kind of wireless tour guide information sharing system, and its technology is to comprise tourist resources share service device, Scenery Management System, scenic spot node machine and visitor's transceiver terminal; Tourist resources share service device is connected by wired or wireless network with each Scenery Management System, and sight spot trigger and visitor's transceiver terminal adopt wireless technical communication.Application number is that 200820120579.5 Chinese utility model patent discloses a kind of electronic guide system based on ZIGBEE, its technology is furnished with sight spot radio-frequency apparatus, in scenic spot administrative center, arranges tether management equipment for each sight spot, and visitor holds handheld device.In system, all handheld device, sight spot radio-frequency apparatus and tether management equipment forms the ZIGBEE wireless network of a MESH shape.
In prior art, have the following disadvantages:
The first, be too dependent on GNSS navigation, more serious region is covered at scenic spot often, and at indoor scenic spot, and GNSS locating effect is very poor or can not locate at all, thereby has no idea to carry out navigation application.
If second, GNSS terminal is for a long time in indoor, then move to outdoorly, satellite ephemeris may lose efficacy, and terminal need to spend the longer time to receive and download available ephemeris, thereby causes the GNSS terminal initialization time long, affected user and experienced.
Three, between a plurality of navigation terminals, lack associated and follow the trail of, such as, with child, go sight-seeing scenic spot, if child walks to lose, between the navigation terminal that can carry by child and adult's terminal, associated tracking, realizes and giving for change fast.
In order to address the above problem, the invention provides a kind of scenic spot navigational system based on Wi-Fi and GNSS co-located.
Summary of the invention
The object of this invention is to provide a kind of scenic spot navigational system, by Wi-Fi, locate and GNSS location technology, solved the problem of locating continuously within the scope of scenic spot, and by being connected with server, real-time Transmission monitor message, schedule information and navigation information, realize mutual monitoring and tracking between a plurality of navigation terminals.
The invention provides a kind of scenic spot navigational system, comprise navigation terminal, scenic spot server, described system also comprises at least 3 Wi-Fi Hotspots, and when described navigation terminal can not be used GNSS location, described navigation terminal positions by Wi-Fi Hotspot.
Further, mark is associated mutually between can be between two for described navigation terminal, navigates each other, monitors and follow the trail of.
Further, described navigation terminal is by Wi-Fi and described scenic spot server communication.
Further, server stores scenic spot, described scenic spot navigation data, for navigation terminal provides navigation enquiry and/or scenic spot introduction and/or scheduling and/or alert service.
Further, described navigation terminal provides navigation Service by voice and/or word and/or visual form.
Further, when described navigation terminal position is during in allowed band not, described navigation terminal sends information.
Further, described scenic spot server distributes according to the locating information statistics scenic spot visitor of described navigation terminal feedback, and issues scheduling signals to navigation terminal.
Further, described navigation terminal also comprises an alarm button.
Further, described navigation terminal also comprises that voice arrange module
Adopt after technical scheme of the present invention, can realize location continuously within the scope of can scenic spot to visitor, download navigation information in real time, checks visitor's distribution situation and connective marker between navigation terminal between two, prevents that child from going astray from the group and scenic spot stream of people's flood peak staggered regulation etc.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention system pie graph;
Fig. 2 is embodiment of the present invention navigation terminal structural representation;
Fig. 3 is embodiment of the present invention navigation terminal positioning flow schematic diagram;
Fig. 4 is that flow process signal is introduced at navigational system sight spot, embodiment of the present invention scenic spot;
Fig. 5 is embodiment of the present invention navigation terminal connective marker schematic flow sheet between two;
Fig. 6 is embodiment of the present invention scenic spot navigational system stream of people management and running schematic flow sheets.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, system of the present invention mainly comprises 3 parts, navigation terminal, can be mobile phone, PAD, the PDA etc. with Wi-Fi function, enumerate in the above in example, especially mobile phone has application very widely, and current smart mobile phone all has Wi-Fi function substantially, with there is operating system as IOS or Android system etc., third party's application software can be installed, thereby easily realize customization function.
Wi-Fi Hotspot, scenic spot is due to its limited regional extent, make to set up Wi-Fi overlay network within the scope of scenic spot and become possibility, and scenic spot, due to its characteristic, has determined that flow of the people is very large, space distribution is uneven, indoor and outdoor is staggered etc., common navigation means can not meet the demand of continuous navigation and communication completely, and utilizing at present Wi-Fi to position has had comparatively ripe scheme, and the localization method based on WLAN mainly contains following several mode at present.The one, similar mobile communications network Cell-ID technology, is called access point identification AP-ID, once have navigation terminal and certain AP of Wi-Fi function, connects, and, with the location estimation pedestrian position of this AP, positioning precision is general, the second is found range by the signal intensity or the time delay of arrival that receive, utilizes the method for triangulation to calculate pedestrian's position, the third is the current fingerprint image technology based on RSSI of greatest concern in WLAN location technology, it is located according to received signal strength sign RSSI, this technology is first grid one by one by the location scene partitioning that wireless network access point is installed, then measure the received signal strength in each grid element center, set up RSSI fingerprint database, the wireless network signal strength receiving according to user terminal in real-time navigation, utilize Some Related Algorithms to estimate customer location, this method need to be set up RSSI database in advance, its precision depends on the size that grid is divided, the quantity of received signal strength and the location algorithm of employing that each grid gathers, if it is enough little that grid is divided, can reach the precision of 1～3 meter.When navigation terminal is in GNSS poor signal or indoor cannot receive GNSS signal time, navigation terminal receives Wi-Fi signal and positions, if navigation terminal is in GNSS signal good area, and need to carry out initialization location, navigation terminal obtains auxiliary positioning information from the server of scenic spot by Wi-Fi, realize fast initialization.Under GNSS behavior and Wi-Fi location is all in shape, navigation terminal is used both to carry out integrated navigation.
Scenic spot server, be responsible for by Wi-Fi, the positional information of navigation terminal being followed the tracks of, statistics and scheduling, notice is supported for scenic spot provides to navigate, this server is connected into network, except having dispatcher software and control platform, also needs to periodically update and manage GNSS auxiliary positioning information, or can, according to the auxiliary positioning request of navigation terminal, on network, download at any time corresponding GNSS auxiliary positioning information.Scenic spot server receives the auxiliary positioning request of navigation terminal, which kind of GNSS station-keeping mode can identify is, as GPS, GLONASS, Galileo or Big Dipper pattern, and according to the positional information in request, export corresponding auxiliary positioning data, comprise the elevation information of satellite of the top of navigation terminal region, elevation information, the quantity information of satellite etc. in azimuth information and current spatial domain, navigation terminal can be realized and start location after receiving above-mentioned information.
Shown in Fig. 2 is the structure of embodiment of the present invention navigation terminal, comprises Wi-Fi module 202, GNSS locating module 204, and memory module 205, and control module 201 etc., if desired, can also comprise display module 203.Control module 201 is maincenters of navigation terminal, is responsible for the control of other modules and operates according to blas; Wi-Fi module 202 is mainly to realize Wi-Fi signal to receive and communication function, the signal that reception is sent from Wi-Fi Hotspot, measure the intensity of Wi-Fi signal, directly estimated distance or coupling RSSI fingerprint database, draw exact position, in addition, be responsible for setting up data link with some Wi-Fi Hotspots, realize data-transformation facility, comprise with scenic spot server and carry out periodic communication, and, for GNSS locating module obtains positioning auxiliary information etc.GNSS locating module 204 is the functional modules based on satnav; the single mode that comprises the global position systems such as GPS, GLONASS, Galileo or the Big Dipper; bimodulus or multimode form locating module; GNSS locating module is when open sky aerial receipts star signal is good; high precision, round-the-clock can be provided easily; on a large scale positioning service, therefore, can effectively supplement that Wi-Fi Hotspot does not cover or focus quantity is brought the orientation problem of low precision less.Especially, when navigation terminal is in Wi-Fi orientation range, and be about to be transitioned into GNSS station-keeping mode, for example, from indoor scenic spot, restaurant, the indoor environments such as toilet are to square, road etc. can the environment of receiving satellite signal in, if GNSS locating module is at that time in cold start-up, for example do not use for a long time or move from place far away, GNSS locating module can pass through control module, from memory module, obtain the GNSS locating module side-information parameter needing, as which kind of station-keeping mode, current location etc., then control module is downloaded relevant supplementary from the server of scenic spot by Wi-Fi link, or, by Wi-Fi, directly go up networking and carry up and down associated ancillary information, GNSS locating module is realized and being started fast and location altogether.Memory module 205 is memory devices of navigation terminal, is responsible for the related data of storage location and monitoring, for example GNSS positional parameter, Wi-Fi signal histories record, and the information such as identify label of navigation terminal.Memory module can also comprise the data such as historical position the record of navigation terminal.Display module 203 is responsible for show navigator result or scenic spot introduction, schedule information etc., is the human-computer interaction interface of navigation terminal, and screen can be with touch function, and user inputs command operating in screen again.If desired, navigation terminal can also comprise an alarm button, and in case of emergency, visitor can press the alarm button of navigation terminal, to scenic spot server, carries out emergency alarm.When reporting to the police, can also send the residing position of this navigation terminal and visitor's identification to scenic spot server.
Fig. 3 is embodiment of the present invention navigation terminal positioning flow schematic diagram, navigation terminal start, whether the GNSS satellite ephemeris that first judges navigation terminal storage is effective, if GNSS satellite ephemeris had lost efficacy, just send instruction, be communicated with near 1 Wi-Fi Hotspot, and by Wi-Fi, from the server of scenic spot, download the available GNSS satellite ephemeris of current region.In this step, also comprise, navigation terminal is by the type of its GNSS module, the information such as locator meams, together with download request, send in the lump scenic spot server, scenic spot server, according to the type of GNSS module and locator meams, selects corresponding supplementary to send to navigation terminal.As, what current navigation terminal adopted is GPS single mode location, the download request sending in the server of scenic spot is to download current region GPS usable satellite ephemeris.
If the GNSS satellite ephemeris of judgement navigation terminal storage is effective, start to search for GNSS satellite-signal, if successfully receive the GNSS signal that meets positioning requirements, complete location, output locating information.If cannot receive the GNSS signal that meets positioning requirements, change near the Wi-Fi signal of search into, utilize Wi-Fi signal to position, and export locating information.
Fig. 4 is that flow process signal is introduced at navigational system sight spot, embodiment of the present invention scenic spot, navigation terminal start, according to flow process as shown in Figure 3, complete location GNSS or Wi-Fi location, obtain the positional information of current navigation terminal, judge that navigation terminal whether within the scope of sight spot, if not, illustrates that current visitor is not in sight spot scope, do not need to carry out sight spot introduction, navigation terminal sends to scenic spot server by current positional information and identify label and adds up and monitor; If so, judge that current navigation terminal is in sight spot scope, introduction that need to be to this sight spot, navigation terminal provides sight spot to introduce service to visitor, can be voice and/or video and/or word.It is pre-stored in navigation terminal that described sight spot positional information and sight spot are introduced, judge that navigation terminal is whether within the scope of sight spot, it is the location comparison with the sight spot of storing by the current locating information of navigation terminal, when error radius scope≤10 meter, judge that navigation terminal current location is positioned at this sight spot, thereby the sight spot of transferring this sight spot is introduced and to be broadcast to visitor.Scenic spot server obtains after the locating information of navigation terminal, adds up each sight spot visitor's quantity, and issues dispatch command.
At some scenic spot, as the dangerous place such as the steep cliff that comprises some natural lands, cliff, or some places that easily meet accident, be not allow visitor too close, general way is to do sign now, as put on the mark of " Turistas ", in native system, can set alarm range to these specific regions, as visitor enters into alarm range, navigation terminal will send information and remind visitor, and current location is dangerous, to prevent that visitor from meeting accident.
Fig. 5 is embodiment of the present invention navigation terminal connective marker schematic flow sheet between two, as shown in Figure 5, add and have two navigation terminal A, B will carry out connective marker, navigation terminal A sends connective marker a, connective marker a comprises the identity marks of navigation terminal A, as visitor's name or code etc., and the machine recognition of navigation terminal A coding, the information such as connective marker request time and place.The connective marker a of navigation terminal A sends, and can be to send by wireless mode, as Wi-Fi, bluetooth, the mode such as infrared.Then navigation terminal B receives after the connective marker a that navigation terminal A sends, confirm connective marker a, represent that accepting navigation terminal A carries out connective marker to it, until navigation terminal B removes before the connective marker of navigation terminal A, the locating information of navigation terminal B is can be navigated terminal A monitor, navigate and follow the trail of.Navigation terminal B has confirmed after the connective marker a of navigation terminal A, postback lead dirty terminal B connective marker b to navigation terminal A, equally, the connective marker b of navigation terminal B also comprises the identity marks information of navigation terminal B, and the machine recognition of navigation terminal B coding, connective marker request time and place etc.Navigation terminal A receives the connective marker b of navigation terminal B, equally, confirm connective marker b, represent that accepting navigation terminal B carries out connective marker to it, until navigation terminal A removes before the connective marker of navigation terminal B, the locating information of navigation terminal A is can be navigated terminal B monitor, navigate and follow the trail of.After connective marker between setting up between two between navigation terminal A, B, navigation terminal A, B send to scenic spot server by related information and identity marks and register.
Fig. 6 is embodiment of the present invention scenic spot navigational system stream of people management and running schematic flow sheets, navigation terminal sends navigation request to scenic spot server, as navigate to sight spot A, navigation terminal can send to its current positional information and identity marks in the server of scenic spot automatically, whether the current visitor's of sight spot A of scenic spot server judgement density has reached the maximum capacity at this sight spot, such as, sight spot A visitor's max cap. is 100 people, and current visitor density has reached 100 people, judge the current overload of sight spot A, scenic spot server returning remind information is to navigation terminal, remind current scenic spot A people's current density too high, the impression of visit will be had a strong impact on, the suggestion visitor visit of avoiding the peak hour, simultaneously according to navigation terminal current location, near other other sight spot informations that do not arrive maximum capacity of search are shown to visitor and select altogether.If sight spot A visitor density does not reach maximum capacity, or visitor reselects other sight spots that do not arrive maximum capacity, scenic spot servers' layout navigation information turns back to navigation terminal and navigates, or navigation terminal navigates according to own scenic spot map.
In order to improve the usable range of navigation terminal, navigation terminal can also have a voice setting and language and show module is set, and is used for language and the word of setup and use country variant to navigate.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a scenic spot navigational system, comprises navigation terminal, scenic spot server, it is characterized in that, described system also comprises at least 3 Wi-Fi Hotspots, and when described navigation terminal can not be used GNSS location, described navigation terminal positions by Wi-Fi Hotspot.
2. scenic spot according to claim 1 navigational system, is characterized in that, mark is associated mutually between can be between two for described navigation terminal, navigates each other, monitors and follow the trail of.
3. scenic spot according to claim 1 navigational system, is characterized in that, described navigation terminal is by Wi-Fi and described scenic spot server communication.
4. according to the scenic spot navigational system described in arbitrary claim in claim 1-3, it is characterized in that, server stores scenic spot, described scenic spot navigation data, for navigation terminal provides navigation enquiry and/or scenic spot introduction and/or scheduling and/or alert service.
5. scenic spot according to claim 4 navigational system, is characterized in that, described navigation terminal provides navigation Service by voice and/or word and/or visual form.
6. scenic spot according to claim 5 navigational system, is characterized in that, when described navigation terminal position is during in allowed band not, described navigation terminal sends information.
7. scenic spot according to claim 1 navigational system, is characterized in that, described scenic spot server distributes according to the locating information statistics scenic spot visitor of described navigation terminal feedback, and issues scheduling signals to navigation terminal.
8. scenic spot according to claim 7 navigational system, is characterized in that, described navigation terminal also comprises an alarm button.
9. scenic spot according to claim 7 navigational system, is characterized in that, described navigation terminal also comprises that voice arrange module.
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| CN201210353667.0A CN103675877A (en) | 2012-09-21 | 2012-09-21 | Scenic spot navigation system |
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| CN103903536A (en) * | 2014-04-10 | 2014-07-02 | 陕西科技大学 | Multifunctional self-help tour guide machine |
| CN104504895A (en) * | 2015-01-15 | 2015-04-08 | 无锡北斗星通信息科技有限公司 | Park scenic spot vehicle dispatching method |
| CN105222783A (en) * | 2015-09-07 | 2016-01-06 | 广东欧珀移动通信有限公司 | A kind of exhibition room air navigation aid and mobile terminal |
| CN105263112A (en) * | 2015-10-22 | 2016-01-20 | 广东欧珀移动通信有限公司 | Navigation method and navigation system |
| CN105719428A (en) * | 2016-03-21 | 2016-06-29 | 上海斐讯数据通信技术有限公司 | Security prewarning system and method for scenic spot |
| CN106161760A (en) * | 2015-04-24 | 2016-11-23 | 谢东福 | A kind of anti-lost system and method based on smart mobile phone WIFI |
| CN106373044A (en) * | 2016-08-26 | 2017-02-01 | 成都鑫原羿天科技有限责任公司 | Internet-based intelligent tourism management system |
| CN106455047A (en) * | 2016-08-22 | 2017-02-22 | 北京易游华成科技有限公司 | Locating method and device |
| CN106937249A (en) * | 2017-02-17 | 2017-07-07 | 东莞科学馆 | Wireless location intelligent management system |
| CN109379715A (en) * | 2018-10-30 | 2019-02-22 | 深圳市航天华拓科技有限公司 | A kind of localization method of positioning terminal, device and calculate equipment |
| CN110389994A (en) * | 2019-07-17 | 2019-10-29 | 拉扎斯网络科技（上海）有限公司 | Data processing method, device, localization method, storage medium and electronic equipment |
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| CN114501323A (en) * | 2021-12-30 | 2022-05-13 | 珠海原子科技有限公司 | Forest intelligent navigation system and method |
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| CN103903536A (en) * | 2014-04-10 | 2014-07-02 | 陕西科技大学 | Multifunctional self-help tour guide machine |
| CN104504895A (en) * | 2015-01-15 | 2015-04-08 | 无锡北斗星通信息科技有限公司 | Park scenic spot vehicle dispatching method |
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| CN105719428A (en) * | 2016-03-21 | 2016-06-29 | 上海斐讯数据通信技术有限公司 | Security prewarning system and method for scenic spot |
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| CN106373044A (en) * | 2016-08-26 | 2017-02-01 | 成都鑫原羿天科技有限责任公司 | Internet-based intelligent tourism management system |
| CN106937249A (en) * | 2017-02-17 | 2017-07-07 | 东莞科学馆 | Wireless location intelligent management system |
| CN109379715A (en) * | 2018-10-30 | 2019-02-22 | 深圳市航天华拓科技有限公司 | A kind of localization method of positioning terminal, device and calculate equipment |
| CN110389994A (en) * | 2019-07-17 | 2019-10-29 | 拉扎斯网络科技（上海）有限公司 | Data processing method, device, localization method, storage medium and electronic equipment |
| CN112261149A (en) * | 2020-10-30 | 2021-01-22 | 成都中科大旗软件股份有限公司 | Scenic spot management system based on mobile terminal positioning |
| CN114501323A (en) * | 2021-12-30 | 2022-05-13 | 珠海原子科技有限公司 | Forest intelligent navigation system and method |
| CN114501323B (en) * | 2021-12-30 | 2023-12-22 | 珠海原子科技有限公司 | Forest intelligent navigation system and method |
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