CN104142489A - Label passive locating method - Google Patents
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- CN104142489A CN104142489A CN201410278128.4A CN201410278128A CN104142489A CN 104142489 A CN104142489 A CN 104142489A CN 201410278128 A CN201410278128 A CN 201410278128A CN 104142489 A CN104142489 A CN 104142489A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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Abstract
The invention discloses a label passive locating method and relates to the technical field of electronic information. The problems that usually time synchronization between anchor nodes or between the anchor nodes and a label is needed in an existing label passive locating method, so that a system is complex and construction cost and maintenance cost are increased are solved. The method includes the following steps that multiple anchor nodes are arranged in a region and each anchor node sends a locating broadcast packet containing specific content according to a specific sequence; a label receives the locating broadcast packets sent by the anchor nodes, extracts the content of the broadcast packets, calculates accurate arrival time of the broadcast packets relative to a local clock and uploads the broadcast packets to a resolving unit; after the broadcast packets are processed through the resolving unit, an equation set with label coordinate values serving as variables is generated, the equation set is solved, and therefore the label coordinate values are acquired. When the label passive locating method is used for passively locating the label, time synchronization between the anchor nodes or between the anchor nodes and the label is not needed, so that system complexity is lowered, and construction cost and maintenance cost of the system are reduced.
Description
Technical field
The present invention relates to electronic information technical field, relate in particular to and utilize the communication technology and infotech to realize a kind of label Passive Location.
Background technology
Existing label Passive Location, generally include received signal strength method (received signal strength, abbreviation RSS), time of arrival (toa) method (time of arrival, be called for short TOA), signal arrival time difference method (time difference of arrival is called for short TDOA) etc.Wherein, RSS method is subject to the multipath fadings such as signal reflex, scattering, diffraction and to block impact very serious, in fact has larger error.TOA and TDOA method have higher positioning precision.When this two schemes is used for realizing label passive positioning, need to measure absolute time or the mistiming of label up to standard that each anchor node issues a signal to, to calculate the coordinate of label.TOA scheme needs the time synchronized between anchor node and label conventionally, and TDOA scheme needs the time synchronized between each anchor node conventionally, thereby causes system complex, and construction and maintenance cost raises.
Summary of the invention
Based on existing label Passive Location, conventionally need between anchor node or between anchor node and label, realize time synchronized, thereby cause system complex, construction and maintenance cost raises.The object of this invention is to provide a kind of method of utilizing the communication technology and infotech to realize label passive positioning.
Suppose in region, there be N anchor node, with A (1) ... A (N) represents.Each anchor node possesses definitely or relative coordinate.Each anchor node possesses unique sign.In region, there are a plurality of labels, use M0 representative.Below alleged " equipment " represent anchor node or label.Anchor node can send and locate relevant particular data packet, is called location broadcast packet.This location broadcast packet has following 4 features: 1) can be received by the anchor node in certain limit and label; 2) sign that comprises transmitting apparatus; 3) adopt signal modulation system that receiving equipment is easy to calculate time of arrival as CSS(linear frequency modulation spread spectrum) modulation or adopt UWB(ultra broadband) signal 4) have a data payload.
Use Ta (i) a (j) to represent that A (i) receives the accurate time of arrival with respect to A (i) local clock of the location broadcast packet that A (j) sends, and by that analogy.Use Tm0a (i) to represent that M0 receives the accurate time of arrival with respect to M0 local clock of the Location Request broadcast packet that A (i) sends, and by that analogy.Use X (i) to represent that A (i) sends the absolute time of Location Request broadcast packet, and by that analogy.The location broadcast packet packet that uses Fa (i) a (j) to represent that A (j) sends arrives the needed time of A (i), for wireless carrier communication facilities, the wireless signal of this value representation location broadcast packet arrives A (i) the needed time of antenna phase center from A (j) antenna phase center.This value of Fa (i) a (j) can think between A (j) and A (i) that distance is divided by signal velocity, and Fa (i) a (j)=Fa (j) a (i) below no longer distinguishes, and by that analogy.Equally, the location broadcast packet packet that uses Fm0a (i) to represent that A (i) sends arrives the needed time of M0.Use R (i) to represent that A (i) receiving device postpones, for wireless carrier communication facilities, this value representation Location Request broadcast packet wireless signal through radio-frequency (RF) receiving circuit and modulus switching device, is converted to the delay of digital signal from A (i) antenna phase center.In the involved time range of this programme, can think each location broadcast packet that A (i) is received, this value is all consistent.And different equipment, this value has difference.Use D (i) to represent that A (i) receives after the broadcast packet of A (i-1) location, again send the delay of location broadcast, this delay comprises that logical process postpones to add that sending device postpones.For wireless carrier communication facilities, above-mentioned sending device postpones to represent that Location Request broadcast packet wireless signal, from Logical processing unit, through digital-to-analog conversion device and radio-frequency transmissions circuit, arrives the delay of A (i) antenna phase center.(j) – Ta (i) a (m) represents that A (j) and A (m) send the mistiming that location broadcast packet arrives A (i), the clock calculation of this mistiming based on A (i) to Ta (i) a.Consider current hardware technology level, in the involved time range of the technical program, the frequency difference of equipment clock can be attributed to noise category and not affect data analysis with shake.Similarly, Ta (i) m0 – Ta (i) a (j) represents that M0 and A (j) send the mistiming that location broadcast packet arrives A (i).
Technical scheme of the present invention is specifically achieved in that and comprises the steps.
1.A (1) sends location broadcast packet, and data payload is 0.
According to concrete application demand, can be triggered by the time (as interval at regular intervals) or Event triggered (entering region as label detected by certain mode) A (1) and send location broadcast packet.
2.A (2), A (3) and M0 receive the location broadcast packet that A (1) sends, and obtain sending anchor node sign, calculate this location broadcast packet with respect to the accurate time of arrival of local clock.A (2) receives after the location broadcast packet from A (1), through postponing (comprising logical process and device delay etc.) after a while, sends location broadcast packet, and data payload is 0.
3.A (3), A (4) and M0 receive the location broadcast packet that A (2) sends, and obtain sending anchor node sign, calculate this location broadcast packet with respect to the accurate time of arrival of local clock.A (3) receives after the broadcast packet of above-mentioned A (2) location, calculate Ta (3) a (2) – Ta (3) a (1) values, through postponing (comprising logical process and device delay etc.) after a while, send location broadcast packet, and (2) – Ta (3) a (1) values are as location broadcast packet data payload using Ta (3) a.
4.A (4), A (5) and M0 receive the location broadcast packet that A (3) sends, and obtain sending anchor node sign, calculate this location broadcast packet with respect to the accurate time of arrival of local clock.M0 reads the data payload of location broadcast packet, and (2) – Ta (3) a (1), are designated as G (2) to Ta (3) a.
5. repeat above-mentioned steps, the location broadcast packet that i anchor node sends is saved by i+1 anchor, and i+2 point and label receive, and i+1 anchor saves, i+2 point and label obtain sending anchor node and identify, and calculate this location broadcast packet with respect to the accurate time of arrival of local clock; Label is read the data payload of location broadcast packet, is designated as G (i-1); I+1 anchor node receives from after this location broadcast packet, calculate time of arrival poor of this location broadcast packet time of arrival and location broadcast packet from i-1 anchor node, through postponing after (comprising logical process and device delay etc.) after a while, send location broadcast packet, and using the above-mentioned mistiming as location broadcast packet data payload.
Until all anchor nodes all send after the broadcast packet of location successively, above-mentioned transmit operation stops.
6. label receives after the location broadcast packet that all anchor nodes send successively, and data payload of each recorded anchor node location broadcast packet time of arrival and each location broadcast packet is uploaded to and resolves unit.
This resolves unit can be server independently, also can be integrated in certain anchor node or be integrated in label.The data that each label is uploaded onto the server comprise: Tm0a (1) ..., Tm0a (N) is total to N value and G (2) ... G (N-1) is N-2 value altogether.
7. resolve the received data of cell processing.
Suppose to resolve unit and obtained A (1), the coordinate figure of the individual anchor node of A (N) (can be relative coordinate, also can be absolute coordinates), the coordinate figure of each anchor node both can be included in the location broadcast packet that anchor node sends, and also can obtain from background server.
To resolve the received Tm0a in unit (i-1), Tm0a (i) and G (i), 2=< i <=n-1 is example, is analyzed as follows:
According to G (i), definition has, G (i)=Ta (i+1) a (i) – Ta (i+1) a (i-1), equation 1,
Equation 1 right side represents, A (i+1) receives two location broadcast packet mistimings from A (i) and A (i-1).This mistiming can be expressed as: Ta (i+1) a (i) – Ta (i+1) a (i-1)=X (i-1)+Fa (i-1) a (i)+R (i)+D (i)+Fa (i) a (i+1)+R (i+1) – (X (i-1)+Fa (i-1) a (i+1)+R (i+1)), equation 2.
Be that above-mentioned Ta (i+1) a (i) – Ta (i+1) a (i-1) mistiming equals absolute time+this location broadcast packet that A (i-1) sends location broadcast packet and arrives the needed time+A of A (i) (i) receiving device delays+A (i) logical process and sending device delay+A(i) the location broadcast packet sending arrives the receiving device Yan Chi – (A (i-1) sends absolute time+this location broadcast packet arrival needed time+A of A (i+1) (i+1) receiving device delay of locating broadcast packet) of the needed time+A of A (i+1) (i+1).
By after equation 1 and equation 2 combinations, arrangement obtains:
G (i)=Fa (i-1) a (i)+Fa (i) a (i+1)-Fa (i-1) a (i+1)+R (i)+D (i), equation 3.
Have simultaneously, Tm0a (i)-Tm0a (i-1)=X (i-1)+Fa (i-1) a (i)+R (i)+D (i)+Fa (i) m0+Rm0 – (X (i-1)+Fa (i-1) m+Rm0)=Fa (i-1) a (i)+Fa (i) m0-Fa (i-1) m0+R (i)+D (i), equation 4.
Be to equal absolute time+this location broadcast packet that A (i-1) sends location broadcast packet above-mentioned Tm0a (i)-Tm0a (i-1) mistiming to arrive the needed time+M0 of the location broadcast packet arrival M0 receiving device Yan Chi – (A (i-1) sends the needed time+M0 of absolute time+this location broadcast packet arrival M0 receiving device delay of locating broadcast packet) that the needed time+A of A (i) (i) receiving device delays+A (i) logical process and sending device delays+A (i) send.
In conjunction with equation 3 and equation 4, cancellation R (i)+D (i), obtains:
Fa (i) m0-Fa (i-1) m0=Tm0ai-Tm0a (i-1)-G (i)+Fa (i) a (i+1)-Fa (i-1) a (i+1), equation 5.
Above-mentioned equation left side is the mistiming of carrying out to arrive from two location broadcast packet signals of A (i) and A (i-1) respectively M0, and equation right side is measured value and given value.
Supposing has N anchor node in region, can obtain the equation of N-2 above-mentioned form, forms system of equations; Resolve unit and solve above-mentioned system of equations, calculate the coordinate figure of label.
When the method for the invention is used for realizing label passive positioning, need between anchor node or between anchor node and label, realizing time synchronized, thereby reduce system complexity and reduced system Construction and maintenance cost.Under wisdom city and the fast-developing background of Internet of Things, possesses wide application prospect.
Embodiment
The core concept of method of the present invention is according to 7 steps described in summary of the invention, generates and take the system of equations that tag coordinate value is variable resolving unit, and further obtain the relative coordinate of label.
In the following description, known method will no longer describe in detail, to avoid there be unnecessary obscuring with the content of this method.
Step 1 is to step 5:
The location broadcast packet that anchor node sends, adopts the public frequency range wireless signal of 2.4G ISM CSS(linear frequency modulation spread spectrum) modulation system.In the broadcast packet of location, after the baseband signal analytic expression normalization of code element, be: s (t)=exp (j*2*pi*(f0*t+u*t*t/2).0=<t<=T。Wherein, the time width that T is each code element, u is chirp rate, and f0 is initial frequency, and pi represents circular constant, and t represents that discrete base band sends sampling instant, first sampling instant is designated as 0.
Step 1:
The 1st anchor node be the requirement of real-time to location according to label, can send every 1 second location broadcast packet.
Each anchor node adopts CSMA/CD(Carrier Sense Multiple Access/collision detection) mode, sharing wireless channel.
Step 2 is to step 6:
Receiving equipment can be used for reference LFMCW(linear frequency modulation continuous wave) Radar Technology, calculate in received location broadcast packet first code element with respect to the accurate time of arrival of local clock.
Circular is as follows:
1) generate local code element base band reference signal: r (t)=exp (j*2*pi*(f0*t+u*t*t/2), 0=<t<=T.Wherein, the time width that T is each code element, u is chirp rate, and f0 is initial frequency, and pi represents circular constant, and t represents that discrete base band receives sampling instant, first sampling instant is designated as 0.
2) by generated local code element base band reference signal and received first code element mixes baseband signals.Do not consider that the equipment that receives and sends and receiving equipment exist situation or the transmitting apparatus of relative motion and connect the inconsistent situation of equipment clock frequency, in the received location broadcast packet of receiving equipment, first code element baseband signal can be expressed as: s (t)=a* exp (j*2*pi*(f0* (t+dt)+u* (t+dt) * (t+dt)/2), 0=<t<=T.Wherein, a is reception signal amplitude, the time width that T is each code element, and u is chirp rate, and f0 is initial frequency, and pi represents circular constant, and t represents that discrete base band receives sampling instant, first sampling instant is designated as 0.Dt represents that first received code element baseband signal of receiving equipment is with respect to the time migration of the initial sampling instant of receiving equipment.The low-frequency component df of mixed frequency signal is approximately equal to u*dt.
3) first mixed frequency signal is done to FFT(fast Fourier) computing.Consider signal multi-path problem, locating broadcast packet signal can arrive along mulitpath, thereby in mixed frequency signal low-frequency component, form a plurality of spectrums peak, and wherein the spectrum peak of frequency values maximum has represented the frequency difference of arriving signal and local code element base band reference signal at first.Find out after above-mentioned peak point K, also need 2 frequency values of locating of calculating K-1 and K+1.In these two frequency values intervals, above-mentioned mixed frequency signal is done to CZT conversion (Chirp-z conversion), just can calculate the frequency difference exact value df of arriving signal and local code element base band reference signal at first.According to formula dt=df/u, calculate dt, first code element baseband signal receiving is with respect to the time migration of the initial sampling instant of receiving equipment.
4) receiving equipment sampling instant with local clock as a reference, suppose that the initial sampling instant of received signal is P the clock period after receiving equipment starts, can calculate in the broadcast packet of location when first code element baseband signal is with respect to accurate time of arrival=P/ receiving equipment of receiving equipment local clock clock rate – dt frequently, using this as location broadcast packet the accurate time of arrival with respect to receiving equipment local clock.
At send and receive equipment, there is the situation of relative motion, or transmitting apparatus and connecing in the inconsistent situation of equipment clock frequency, still can adopt said method to obtain locating in broadcast packet first code element baseband signal with respect to the accurate time of arrival of receiving equipment local clock, there is deviation in the time of arrival and the actual value that calculate like this, consider under existing clock accuracy and most of position application scene, this deviation can be regarded noise as, can in follow-up processing procedure, adopt anti-noise method to calculate label relative coordinate.
Step 7:
Resolve after the system of equations of unit generation Fa (i) m0-Fa (i-1) m0=Tm0ai-Tm0a (i-1)-G (i)+Fa (i) a (i+1)-Fa (i-1) a (i+1) (each variable implication describes in detail in summary of the invention) form, can adopt classical TDOA algorithm, the method possesses certain noise resisting ability, to calculate the coordinate figure of label.
Certainly, the present invention is not limited to above-mentioned embodiment, implements when of the present invention, and step 1 to step 5 can adopt other signals to propagate location broadcast packet, as sound wave, and ultrasound wave or ultra wide band radio signal etc.; What step 2 to step 6 can adopt additive method solves signal accurate time of arrival, and as super-resolution algorithms etc., step 7 can be taked diverse ways, solves obtained system of equations.But as long as it adopts 7 steps described in summary of the invention, generate and take the system of equations that tag coordinate value is variable resolving unit, and further obtain the relative coordinate of label, all fall into protection domain of the present invention.
Claims (4)
1. a label Passive Location, the method is by affix one's name to the anchor node of a plurality of known coordinates at intra-zone, and the location broadcast packet that label passive receive anchor node sends calculates the coordinate of label, it is characterized in that comprising the steps:
1) in region, the 1st anchor node sends location broadcast packet;
2) the 2nd anchor node, the 3rd anchor node and label receive the location broadcast packet that the 1st anchor node sends, and obtain sending anchor node sign, calculate this location broadcast packet with respect to the accurate time of arrival of local clock; The 2nd anchor node receives after the broadcast packet of above-mentioned location, through postponing (comprising logical process and device delay etc.) after a while, sends location broadcast packet;
3) the 3rd anchor node, the 4th anchor node and label receive the location broadcast packet that the 2nd anchor node sends, and obtain sending anchor node sign, calculate this location broadcast packet with respect to the accurate time of arrival of local clock; The 3rd anchor node receives after the broadcast packet of above-mentioned location, calculate time of arrival poor of this location broadcast packet time of arrival and location broadcast packet from the 1st anchor node, through postponing after (comprising logical process and device delay etc.) after a while, send location broadcast packet, and using the above-mentioned mistiming as location broadcast packet data payload;
4) the 4th anchor node, the 5th anchor node and label receive the location broadcast packet that the 3rd anchor node sends, and obtain sending anchor node sign, calculate this location broadcast packet with respect to the accurate time of arrival of local clock; Label is read the data payload of location broadcast packet;
5) the 4th anchor node receives after the broadcast packet of above-mentioned location, calculate time of arrival poor of this location broadcast packet time of arrival and location broadcast packet from the 2nd anchor node, through postponing after (comprising logical process and device delay etc.) after a while, send location broadcast packet, and using the above-mentioned mistiming as location broadcast packet data payload;
Repeat above-mentioned steps, the location broadcast packet that i anchor node sends is saved by i+1 anchor, and i+2 anchor node and label receive, i+1 anchor joint, i+2 anchor node and label obtain sending anchor node sign, calculate this location broadcast packet with respect to the accurate time of arrival of local clock; Label is read the data payload of location broadcast packet; I+1 anchor node receives after the above-mentioned location broadcast packet sending from i anchor node, calculate time of arrival poor of this location broadcast packet time of arrival and location broadcast packet from i-1 anchor node, through postponing after (comprising logical process and device delay etc.) after a while, send location broadcast packet, and using the above-mentioned mistiming as location broadcast packet data payload;
Until all anchor nodes all send after the broadcast packet of location successively, above-mentioned transmit operation stops;
6) label receives after the location broadcast packet that all anchor nodes send successively, and each anchor node location broadcast packet time of arrival that label is recorded and data payload of each location broadcast packet upload to resolves unit;
7) resolve unit and process for the above-mentioned data that receive, obtain and take the system of equations that tag coordinate is variable, solve above-mentioned system of equations, obtain the coordinate of label.
2. a kind of label Passive Location according to claim 1, is characterized in that, does not need clock synchronous between each anchor node and between anchor node and label.
3. a kind of label Passive Location according to claim 1, it is characterized in that step 1) step 2) location broadcast packet described in step 3) step 4) step 5) possesses following 4 features: 1) can be received by the anchor node in certain limit and label; 2) comprise the transmitting apparatus sign of (comprising anchor node and label); 3) adopt signal modulation system that receiving equipment (comprising anchor node and label) is easy to calculate time of arrival as CSS(linear frequency modulation spread spectrum) modulation or adopt UWB(ultra broadband) signal 4) have a data payload.
4. a kind of label Passive Location according to claim 1, is characterized in that, resolves unit described in step 7) to process for the data that receive, and obtains to take the system of equations that each tag coordinate is variable, and the separate equation form in this system of equations is as follows:
Fm0a(i) – Fm0a(i-1) = Tm0a(i) - Tm0a(i-1) - G(i) + Fa(i)a(i+1) - Fa(i-1)a(i+1)，
Wherein, Fm0a (i) represents that the location broadcast packet that i anchor node sends arrives the needed time of label, Fm0a (i-1) represents that the location broadcast packet that i-1 anchor node sends arrives the needed time of label, Tm0a (i) represents the relative time with respect to label local clock of the location broadcast packet arrival label that i anchor node sends, Tm0a (i-1) represents the relative time with respect to label local clock of the location broadcast packet arrival label that i-1 anchor node sends, G (i) represents the data payload of the location broadcast packet that i+1 anchor node sends, Fa (i) a (i+1) represents that the location broadcast packet that i+1 anchor node sends arrives i needed time of anchor node, Fa (i-1) a (i+1) represents that the location broadcast packet that i+1 anchor node sends arrives i-1 needed time of anchor node,
Above-mentioned equation left side is the mistiming that location broadcast packet that different anchor nodes send arrives label, and right side is measured value and given value; Supposing has N anchor node in region, has the equation of N-2 above-mentioned form for each label, forms system of equations.
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| CN201410278128.4A CN104142489A (en) | 2014-06-20 | 2014-06-20 | Label passive locating method |
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| CN201410278128.4A CN104142489A (en) | 2014-06-20 | 2014-06-20 | Label passive locating method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017063271A1 (en) * | 2015-10-16 | 2017-04-20 | 四川中电昆辰科技有限公司 | Quasi-synchronization structure, positioning device thereof, and positioning method therefor |
| CN108112070A (en) * | 2017-12-25 | 2018-06-01 | 武汉大学 | A kind of method of time synchronization in unidirectional alignment systems of UWB |
| CN109040964A (en) * | 2018-09-20 | 2018-12-18 | 宁波极位智能科技有限公司 | A kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference |
| CN110300373A (en) * | 2019-07-12 | 2019-10-01 | 中国人民解放军国防科技大学 | Novel active/passive cooperative positioning method and system for mobile communication target |
| CN111479228A (en) * | 2020-01-13 | 2020-07-31 | 张苏 | UWB positioning system, tag position determination method and device |
| CN113687298A (en) * | 2021-08-23 | 2021-11-23 | 莱讯(苏州)计算机科技有限公司 | Relative TDOA algorithm without clock synchronization |
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2014
- 2014-06-20 CN CN201410278128.4A patent/CN104142489A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017063271A1 (en) * | 2015-10-16 | 2017-04-20 | 四川中电昆辰科技有限公司 | Quasi-synchronization structure, positioning device thereof, and positioning method therefor |
| CN108112070A (en) * | 2017-12-25 | 2018-06-01 | 武汉大学 | A kind of method of time synchronization in unidirectional alignment systems of UWB |
| CN108112070B (en) * | 2017-12-25 | 2020-08-25 | 武汉大学 | Time synchronization method in UWB (ultra wide band) unidirectional positioning system |
| CN109040964A (en) * | 2018-09-20 | 2018-12-18 | 宁波极位智能科技有限公司 | A kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference |
| CN109040964B (en) * | 2018-09-20 | 2020-09-29 | 宁波极位智能科技有限公司 | Efficient passive time division TDOA (time division difference of arrival) positioning method for eliminating clock frequency difference |
| CN110300373A (en) * | 2019-07-12 | 2019-10-01 | 中国人民解放军国防科技大学 | Novel active/passive cooperative positioning method and system for mobile communication target |
| CN110300373B (en) * | 2019-07-12 | 2020-10-30 | 中国人民解放军国防科技大学 | Novel active/passive cooperative positioning method and system for mobile communication target |
| CN111479228A (en) * | 2020-01-13 | 2020-07-31 | 张苏 | UWB positioning system, tag position determination method and device |
| CN111479228B (en) * | 2020-01-13 | 2021-12-21 | 张苏 | UWB positioning system, tag position determination method and device |
| CN113687298A (en) * | 2021-08-23 | 2021-11-23 | 莱讯(苏州)计算机科技有限公司 | Relative TDOA algorithm without clock synchronization |
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Application publication date: 20141112 |
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| WD01 | Invention patent application deemed withdrawn after publication |