CN104464385B - Airport gate position detection system and method based on wireless sensor network - Google Patents
Airport gate position detection system and method based on wireless sensor network Download PDFInfo
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Abstract
The invention discloses an airport gate position detection system based on a wireless sensor network. The system is composed of a geomagnetism detection node, a routing node, a convergent node and a central server, wherein the geomagnetism detection node, the routing node, the convergent node and the central server communicate by adopting the wireless network. The geomagnetism detection node determines the occupation/idle state of a gate position by detecting the disturbance variable quantity of an airplane to a magnetic field of the gate position, and transmits state information of the gate position to the central server through the convergence node. The central server provides management service of the geomagnetism detection node, database service and on-site supervision display service. A detecting method based on the system comprises the steps that data of difference absolute values of geomagnetism data are obtained, total disturbed magnetic field intensity data are obtained according to the difference absolute values, and the intensity data and set disturbance threshold values are compared for judging the mode of the state of the gate position; the difference absolute values of the geomagnetism data are obtained, and therefore the influence on the detection result from signal drift can be eliminated. By setting the disturbance threshold values, the influence on the detection result from an adjacent gate position can be effectively avoided. The method is high in detection precision and accurate in judgment.
Description
Technical field
The present invention relates to wireless sensor network technology and the detection method in field of traffic, especially a kind of to be based on nothing
Shut down position detecting system and detection method in the airport of line sensor network.
Background technology
With the development of air-transport industry, the sortie on airport is increased rapidly.Aerodrome capacity depends not only on runway appearance
Amount, it is also relevant with airport aircraft gate resource utilization.The matter of utmost importance that aircraft gate is efficiently distributed to in-bound aircraft is timely
Know that the status information of aircraft gate, i.e. aircraft gate are in seizure condition or idle condition.
At present, for aircraft gate state-detection, on the whole, typically detected by the way of manual report.Pass through
Receive flight the actual landing time and actual time of departure message detecting the state of aircraft gate.That is aircraft gate management system
The actual landing time message of flight is received, a certain aircraft gate is considered as and is taken by the flight；Aircraft gate management system is received
To flight actual time of departure message, just think that a certain aircraft gate is changed into idle condition by seizure condition.In addition, in special feelings
Under condition, such as flight delay, flight can not arrive in Hong Kong on time, flight cancellation situations such as, then can be using being arranged on aircraft gate area nearby
The monitoring camera in domain is detected, or notifies that tower controller carries out assistance detection by liaison mode, or requires to shut down
Staff near position helps be detected.
There is problems with to the mode of aircraft gate state-detection at present：By the actual landing time and the reality that receive flight
The mode of border departure time message, can cause the waste of aircraft gate resource.Because flight landing thinks a certain aircraft gate by this
Flight takes, and practical situation flight is landed to aircraft taxi to the aircraft gate also for some time, the shutdown in this period
Position is simultaneously unoccupied.Flight takeoff just thinks a certain aircraft gate in idle condition, and practical situation aircraft is offed normal to aircraft and risen
Winged this period, aircraft gate is also and unoccupied already at idle condition.Monitoring camera technology is adopted in addition, it is relatively costly,
Easily being blocked by vile weather and building is affected, it is impossible to meet the need of the aircraft gate state-detection in the range of large scale
Ask.Notify that tower controller carries out assistance detection by liaison mode, or the staff for requiring near aircraft gate help into
This several ways such as row detection belong to manual type, and detection efficiency is low.And probably due to the impact of anthropic factor can make
Into flase drop, the situation of missing inspection.
The content of the invention
Technical problem to be solved：
The technical problem to be solved in the present invention is the deficiency for existing aircraft gate state-detection mode, and inefficiency is stopped
The problems such as seat in the plane wasting of resources, propose that position detecting system and method are shut down in a kind of airport based on wireless sensor network.
Technical scheme：
In order to realize function above, the invention provides a kind of airport aircraft gate detection system based on wireless sensor network
System, it is characterised in that the system includes geomagnetism detecting node, routing node, aggregation node and central server, the earth magnetism inspection
Survey node, between routing node and aggregation node adopt mesh wireless network structure；
The geomagnetism detecting node is used to obtain the occupancy/idle state information of aircraft gate, and it believes node ID, electricity
Breath, wireless communication signals intensity level and the aircraft gate status information that gets be encoded into packet by multi-hop form pathway by
Node-node transmission is to aggregation node；The geomagnetism detecting node not only has sensing detection function, while having routing function；
The aggregation node receives the data message from geomagnetism detecting node by routing node, then by communication network
Network is transmitted to central server；
The central server provides aircraft gate attribute information, and the packet that aggregation node sends is analyzed
Process；It provides the service of geomagnetism detecting node administration, and database service and on-site supervision show service.
Further, the geomagnetism detecting node is arranged on main landing gear and electromotor under aircraft resting state and covers and stops
The center in seat in the plane region；It includes Geomagnetism Information acquisition module, main control module, radio receiving transmitting module, data memory module
And power module；The Geomagnetism Information acquisition module is used to gather the magnetic field data in aircraft gate region, by main control module to magnetic
Field data analyzes and processes to obtain shock wave amount of the aircraft to magnetic field, and detection aircraft is arrive in Hong Kong, stops, event of leaving the port, and is sentenced with this
Determine the occupancy or idle condition of aircraft gate.
Further, the geomagnetism detecting node administration service that described central server is provided, database service and scene
Monitoring display service is referred specifically to：
Earth magnetism node administration service is used to monitor the working condition of geomagnetism detecting node, networks in node and fails, electricity
Amount is not enough, when signal intensity is excessively weak, to system warning information is sent；Database service is corresponding for preserving aircraft gate
Node ID and the attribute information of aircraft gate；On-site supervision shows service and is based on map geographic information by aircraft gate for providing
Presence states reflect on monitoring display interface；Meanwhile, connect data base and show the attribute information of aircraft gate in corresponding aircraft gate,
And predistribution and Real-time and Dynamic distribution are carried out to aircraft gate with reference to flight planning and Scheduled Flight alteration.
Shut down position detecting method in airport based on wireless sensor network, it is characterised in that comprise the following steps：
Step one, magnetoresistive transducer when aircraft gate is in idle condition on geomagnetism detecting node starts periodically collection institute
The magnetic field data B of tri- axial directions of the magnetic field x of detection zone, y, zx(k), By(k), BzK (), k is the cycle of current gathered data
Number；
Step 2, difference absolute value is carried out initially with the data of current period collection with the data that the previous cycle gathers,
That is Δ Bi(k)=| Bi(k)-Bi(k-1) |, i=x, y, z；If Δ BiK () is less than or equal to threshold value Q set in advancei, then continue
Difference absolute value is carried out using said method；If being more than threshold value Q set in advancei, then B is retainedi(k-1) as difference absolute value
Reference value, subsequent periodically data B of collectioniAnd B (k+r)i(k-1) make difference absolute value to ask for Δ Bi(k+r), r is to work as
Times of collection incrementss after the front cycle, r=1,2,3 ... ..., until Δ Bi(k+r) it is less than threshold value Q set in advanceiWhen,
The method that then take the data that current period is gathered again carries out difference absolute value with the data that the previous cycle gathers asks for difference
Absolute value, so circulating this step just can obtain difference absolute value data vector Li；
Step 3, according toAsk for total disturbed magnetic field intensity data B (k)；
Step 4：Total disturbed magnetic field intensity B (k) binary conversion treatment, it is determined that disturbance threshold value T, if B (k) is ＞ T, arranges U (k)
=1；If B (k)≤T, U (k)=0 is set；
Step 5：Aircraft gate condition adjudgement, when U (k) is when 0 is changed into 1, enumerator T1 is started counting up, and is kept in U (k)=1
In constant process, if the count value of enumerator T1 is more than threshold value N set in advance, then it is assumed that aircraft gate has aircraft to stop, i.e.,
Aircraft gate is in seizure condition；If the count value of enumerator T1 is not up to preset threshold value N, U (k) will be counted when 1 is changed into 0
Number device T1 resets, then it is assumed that in this process U (k)=1 is external interference situation, and aircraft gate does not have aircraft stop, in sky
Not busy state；If U (k) always remains as 0, then it is assumed that aircraft gate does not have aircraft to stop, and is constantly in idle condition.
Used as a kind of preferred, in the step 4, because single aircraft gate region is larger, aircraft is stopped in adjacent aircraft gate
Less is affected on the magnetic field of this aircraft gate；Aircraft is stopped according to the adjacent aircraft gate of live actual test to disturb the magnetic field of this aircraft gate
Momentum BneiK (), is meeting BneiArrange disturbance threshold value T under conditions of (k) ＜ T to eliminate adjacent aircraft gate stop aircraft to originally stopping
The impact of the testing result of seat in the plane state.
Beneficial effect：
The invention has the advantages that：
1st, the present invention adopts geomagnetism detecting technology, and combining with wireless sensor network technology to examine aircraft gate state
Survey, accuracy of detection is high, it is not necessary to which a large amount of field wirings, easy to maintenance, small power consumption, low cost is easily installed deployment.
2nd, can be carried for operational management personnel in real time based on the building for position detecting system of shutdown of wireless sensor network
For accurate aircraft gate status information, so as to reference to flight planning efficiently and accurately predistribution and reality can be carried out to aircraft gate
When dynamically distributes.
3rd, the shutdown position detecting system and method based on wireless sensor network provides a kind of automatic for aircraft gate detection
Change, intelligent, networking, informationalized scheme solves the problems such as current detection inefficiency, aircraft gate wasting of resources, keeps away
Having exempted from the impact of anthropic factor can cause situations such as flase drop, missing inspection.The workload of staff is alleviated simultaneously, in certain journey
Aerodrome capacity is increased on degree, actively impact is produced to the income on airport.
Description of the drawings
With reference to the accompanying drawings and examples the present invention is further described：
Fig. 1 is that the shutdown position detecting system based on wireless sensor network that the present invention is provided constitutes block diagram；
Fig. 2 is that geomagnetism detecting node constitutes block diagram in the system；
Fig. 3 is that central server function constitutes block diagram in the system；
Fig. 4 is the software flow pattern of aggregation node in the system；
Fig. 5 is the software flow pattern of the system routing nodes；
Fig. 6 is the software flow pattern of geomagnetism detecting node in the system；
Fig. 7 is the shutdown position detecting method flow chart based on wireless sensor network that the present invention is provided；
In figure, 101- geomagnetism detecting nodes, 102- routing nodes, 103- aggregation nodes, 104- central servers, 201- ground
Magnetic information acquisition module, 202- main control modules, 203- radio receiving transmitting modules, 204- data memory modules, 205- power modules.
Specific embodiment
The present invention provides a kind of airport based on wireless sensor network and shuts down position detecting system and detection method, to make this
The purpose of invention, technical scheme and effect it is clearer, clearly, and referring to the drawings and give an actual example to it is of the invention further in detail
Explanation.It should be appreciated that described herein be embodied as, only to explain the present invention, being not intended to limit the present invention.
As shown in figure 1, position detecting system, including geomagnetism detecting are shut down in the airport based on wireless sensor network of the present invention
Node 101, routing node 102, aggregation node 103 and central server 104.Geomagnetism detecting node 101, the and of routing node 102
Mesh wireless network structure is adopted between aggregation node 103.Each geomagnetism detecting node 101 is deployed under aircraft resting state main
Undercarriage and electromotor cover the center in aircraft gate region, for detecting shock wave of the aircraft to aircraft gate magnetic field
Amount, the occupancy/idle condition of aircraft gate is judged with this.Geomagnetism detecting node 101 is by node ID, information about power, signal intensity
Value (RSSI) and detection status information are encoded into packet and are transmitted to aggregation node by node 102 by multi-hop form pathway
103；Aggregation node 103 receives the packet from geomagnetism detecting node 101 by routing node 102, then by communication network
Network is transmitted to central server 104；Central server 104 provides the service of geomagnetism detecting node administration, database service and scene
Monitoring display is serviced.
As shown in Fig. 2 the Magnetic testi node 101 of the present invention it is main by Geomagnetism Information acquisition module 201, main control module 202,
Radio receiving transmitting module 203, data memory module 204 and power module 205 are constituted.Geomagnetism Information acquisition module 201 is adopted
The HMC5883L magnetoresistive transducers of Honeywell companies production；CPU module 202, data memory module 203 and nothing
The system-level radio frequency chips of CC2530 that line transceiver module 204 is produced using TI companies；Power module 205 is using lithium battery or the sun
Energy battery is powered.Row data communication is entered using simulation IIC communication modes between HMC5883L and CC2530.Geomagnetism detecting section
Point 101 not only has sensing detection function, while having routing function.
As shown in figure 3, central server mainly provides geomagnetism detecting node administration service, database service and on-site supervision
Show three partial functions of service.The communication network carried out data transmission between aggregation node and central server adopts serial communication
Mode.
The course of work of central server：Packet is obtained by serial ports, process is analyzed to packet, to obtain ground
Magnetic testi node ID, information about power, signal intensity (RSSI) and aircraft gate status information；The service of earth magnetism node administration is used to supervise
The work state information (node inbound information, information about power and wireless communication signals strength information) of geodetic Magnetic testi node,
Node networks failure, and not enough power supply when signal intensity is excessively weak, to system warning information is sent；By geomagnetism detecting section
Point ID searches for the shutdown bit number and the aircraft gate attribute information of the geomagnetism detecting node mapping in data base；Finally by can
Depending on changing map geographic information display interface, the status information of the corresponding aircraft gate of real-time display interface and the attribute letter of aircraft gate
Breath.
The software flow pattern of aggregation node is as shown in figure 4, the wireless network in Zigbee protocol is by being defined as in advance
The aggregation node of coordinator is setting up.After aggregation node and central server successful connection, carry out setting up network.Set up network
After success, routing node and geomagnetism detecting node will send the application for adding network, and aggregation node distributes it network short address.
Finally, aggregation node receives pathway and is uploaded to central server and entered line number by the packet that node is relayed from geomagnetism detecting node
According to the analyzing and processing of bag.
The software flow pattern of routing node is as shown in figure 5, routing node application adds the ZigBee set up by aggregation node
Network, the function of route relaying will be played after networking success, carries out the reception and transmission of packet.
The software flow pattern of geomagnetism detecting node is as shown in fig. 6, geomagnetism detecting node is the terminal in ZigBee-network
Node, is the actuator of the data acquisition of whole network system, after geomagnetism detecting node networking success, using Timer modes
Control node periodicity dormancy awakening action, in the dormant state, MCU dormancy is so as to reducing node power consumption for node；Wake-up states
Lower collection geomagnetic data, by detection method aircraft gate state is judged, by the aircraft gate state of current period judgement and the last week
The aircraft gate state that phase judges is contrasted, if changing, the radio receiving transmitting module of node will be believed comprising aircraft gate state
The packet pathway of breath is sent to aggregation node by node relaying；If aircraft gate state is identical, waking up nodes number of times j adds 1, so
Judge wake-up times whether more than predetermined threshold value T afterwardsjIf being more than Tj, the radio receiving transmitting module of node will believe comprising aircraft gate state
The packet pathway of breath is sent to aggregation node by node relaying.Using this data wireless transmission mode, can effectively reduce
The power consumption of whole wireless sensor network.
As shown in table 1, data are surrounded by type of data packet, node ID, information about power, signal intensity to data packet format
(RSSI), aircraft gate status information is constituted.Wherein type of data packet occupies the memory space of 1 byte, and node ID occupies 2 words
The memory space of section, information about power occupies the memory space of 1 byte, and the storage that signal intensity (RSSI) occupies 1 byte is empty
Between, aircraft gate status information occupies the memory space of 1 byte.
Table 1
The present embodiment is that position detecting method is shut down on the airport based on wireless sensor network.Its method flow diagram such as Fig. 7 institutes
Show, comprise the following steps：
Step one：When aircraft gate is in idle condition, it is deployed in main landing gear and electromotor under aircraft resting state and is covered
Magnetoresistive transducer on the geomagnetism detecting node of the center in lid aircraft gate region starts periodically collection institute detection zone
The magnetic field data B of tri- axial directions of magnetic field x, y, zx(k), By(k), BzK (), k is the periodicity of current gathered data.
The x of a period of time inherent certain aircraft gate station acquisition, y, z each axial data：
Bx=[191.36,192.28,190.44,192.28,191.36,
174.80,149.96,121.44,237.36,268.64,
238.28,240.52,240.68,243.71,242,54,
242.91,241.83,242.37,241.85,]；
By=[277.84,276.00,278.76,278.76,277.68,
229.68,255.36,254.04,232.56,253.00,
204.24,204.60,201.28,205.44,203.40,
206.80,204.80,205.68,204.24]；
Bz=[- 372.36, -371.60, -373.52, -372.60, -372.68,
-345.92,-335.80,-320.16,-336.72,-346.96,
-326.28,-324.75,-320.76,-324.41,-324.40,
-323.76,-324.59,-324.47,-325.08,]
Step 2：Ask for difference absolute value data vector
Li=[Δ Bi(1),ΔBi(2),ΔBi(3),…,ΔBi(k-1),ΔBi(k),…,ΔBi(k+r) ...] i=x, y, z
Specifically difference method is：Initially with Δ Bi(k)=| Bi(k)-Bi(k-1) | difference absolute value is carried out, i.e., current week
The phase data of collection carry out difference absolute value with the data that the previous cycle gathers.If Δ BiLess than or equal to threshold value set in advance
Qi, then continue to carry out difference absolute value using said method；If being more than threshold value Q set in advancei, then B is retainedi(k-1) as poor
Divide the reference value of absolute value, data B for subsequently periodically gatheringiAnd B (k+r)i(k-1) do difference absolute value to ask for Δ Bi(k+
R), r be current period after times of collection incrementss, r=1,2,3 ... ....Until Δ Bi(k+r) less than set in advance
Threshold value QiWhen, then the method for taking the data that current period is gathered to carry out difference absolute value with the data that the previous cycle gathers again
Difference absolute value value is asked for, so circulating this step just can obtain difference absolute value data vector Li。
According to said method, x is pre-set, the threshold value of the difference absolute value of tri- axial directions of y, z is Qx=15.00, Qy=
20.00, Qz=25.00.Difference absolute value data vector can be asked for：
Lx=[0.92,1.84,1.84,0.92,16.56,41.40,69.92,46.00,77.28,46.92,49.16,
49.32,52.35,51.18,51.55,50.47,51.01,50.49]；
Ly=[1.84,2.76,0.00,1.08,48.00,22.32,23.64,45.12,24.68,73.44,73.08,
76.40,72.24,74.28,70.88,72.88,72.00,73.44]；
Lz=[0.76,1.92,0.92,0.08,26.76,36.88,52.52,35.96,25.72,46.40,47.93,
51.92,48.27,48.28,48.92,48.09,48.21,47.60]；
Step 3：Ask total disturbed magnetic field intensity data B (k).
If aircraft gate is in idle condition, i.e. the aircraft gate region x of geomagnetism detecting node collection, the back of the body of tri- axial directions of y, z
Scape magnetic field amount, the then numerical value of the B (k) after synthesizing is changed near null value；If aircraft gate is in seizure condition, i.e. earth magnetism inspection
The aircraft of i.e. geomagnetism detecting node collection of node collection is surveyed to aircraft gate regional magnetic field x, the disturbed magnetic field of tri- axial directions of y, z
Amount, the then numerical value of the B (k) after synthesizing will occur the larger disturbance variable.
Can be in the hope of total disturbed magnetic field intensity data according to said method：
B=[2.19,3.83,2.05,1.42,57.40,59.77,90.59,73.79,85.10,98.73,100.27,
104.71,
101.44,102.31,100.37,100.85,100.55,101.04]
Step 4：It is determined that disturbance threshold value T, to total disturbed magnetic field intensity B (k) binary conversion treatment is carried out.If B (k) is ＞ T, if
Put U (k)=1；If B (k)≤T, U (k)=0 is set.
According to said method, it is T=50.00 to preset disturbance threshold value, then binaryzation vector is
U=[0,0,0,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
Step 5：Aircraft gate condition adjudgement.When U (k) is when 0 is changed into 1, enumerator is started counting up, and is kept not in U (k)=1
During change, if the count value of enumerator is more than threshold value N set in advance, then it is assumed that aircraft gate is in seizure condition, that is, have
Aircraft rests in the aircraft gate.If the count value of enumerator is not up to preset threshold value N, U (k) will be counted when 1 is changed into 0
Device resets, then it is assumed that in this process U (k)=1 is external interference situation, and aircraft gate does not have aircraft stop, in idle shape
State.If U (k) always remains as 0, then it is assumed that aircraft gate does not have aircraft to stop, and is constantly in idle condition.
According to above-mentioned steps, N=10 is preset, then can determine that during U (5)～U (18) this section aircraft gate in accounting for
With state, other process aircraft gates are in idle condition.
It is understood that for those of ordinary skills, with technology according to the present invention scheme and its can send out
Bright design in addition equivalent or change, and all these changes or replace the guarantor that should all belong to appended claims of the invention
Shield scope.
Claims (2)
1. position detecting method is shut down on the airport based on wireless sensor network, it is characterised in that comprised the following steps：
Step one, magnetoresistive transducer when aircraft gate is in idle condition on geomagnetism detecting node starts periodically collection and is detected
The magnetic field data B of tri- axial directions of the magnetic field x in region, y, zx(k), By(k), BzK (), k is the periodicity of current gathered data；
Step 2, difference absolute value, i.e. Δ B are carried out initially with the data of current period collection with the data that the previous cycle gathersi
(k)=| Bi(k)-Bi(k-1) |, i=x, y, z；If Δ BiK () is less than or equal to threshold value Q set in advancei, then continue using upper
The method of stating carries out difference absolute value；If being more than threshold value Q set in advancei, then B is retainedi(k-1) as the benchmark of difference absolute value
Value, data B for subsequently periodically gatheringiAnd B (k+r)i(k-1) make difference absolute value to ask for Δ Bi(k+r), r is current period
Times of collection incrementss afterwards, r=1,2,3 ... ..., until Δ Bi(k+r) it is less than threshold value Q set in advanceiWhen, then again
The method that take the data that current period is gathered carries out difference absolute value with the data that the previous cycle gathers asks for difference absolute value,
So circulating this step just can obtain difference absolute value data vector Li；
Step 3, according toAsk for total disturbed magnetic field intensity data B (k)；
Step 4：Total disturbed magnetic field intensity B (k) binary conversion treatment, it is determined that disturbance threshold value T, if B (k) is ＞ T, arranges U (k)=1；
If B (k)≤T, U (k)=0 is set；
Step 5：Aircraft gate condition adjudgement, when U (k) is when 0 is changed into 1, enumerator T1 is started counting up, and keeps constant in U (k)=1
During, if the count value of enumerator T1 is more than threshold value N set in advance, then it is assumed that aircraft gate has aircraft to stop, that is, shut down
Position is in seizure condition；If the count value of enumerator T1 is not up to preset threshold value N, U (k) when 1 is changed into 0, by enumerator
T1 resets, then it is assumed that in this process U (k)=1 is external interference situation, and aircraft gate does not have aircraft stop, in idle shape
State；If U (k) always remains as 0, then it is assumed that aircraft gate does not have aircraft to stop, and is constantly in idle condition.
2. position detecting method is shut down on the airport based on wireless sensor network according to claim 1, it is characterised in that
In the step 4, due to single aircraft gate region it is larger, adjacent aircraft gate stop aircraft the magnetic field of this aircraft gate is affected compared with
It is little；Disturbance of magnetic field amount B of the aircraft to this aircraft gate is stopped according to the adjacent aircraft gate of live actual testneiK (), is meeting Bnei
K disturbance threshold value T is set under conditions of () ＜ T stops aircraft to the testing result of this aircraft gate state eliminating adjacent aircraft gate
Affect.
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| CN201410626276.0A CN104464385B (en) | 2014-11-07 | 2014-11-07 | Airport gate position detection system and method based on wireless sensor network |
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| CN201410626276.0A CN104464385B (en) | 2014-11-07 | 2014-11-07 | Airport gate position detection system and method based on wireless sensor network |
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| CN104464385A CN104464385A (en) | 2015-03-25 |
| CN104464385B true CN104464385B (en) | 2017-04-19 |
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| CN106981221B (en) * | 2017-03-24 | 2020-03-06 | 北京航空航天大学 | Airport parking space distribution method and system based on time-space dimension decomposition |
| CN107826265A (en) * | 2017-04-17 | 2018-03-23 | 苏茂顺 | Vehicle distribution platform |
| CN109782791A (en) * | 2017-11-14 | 2019-05-21 | 长城汽车股份有限公司 | A kind of landing method and device of unmanned plane |
| CN108001700B (en) * | 2017-12-07 | 2019-12-17 | 北京京航安机场工程有限公司 | Airport runway intrusion prevention system based on wireless sensor network |
| CN109257717A (en) * | 2018-11-02 | 2019-01-22 | 济南新吉纳远程测控股份有限公司 | Low-power consumption continuous data transmission method, wireless sensing node and wireless sensor network |
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| CN103544847B (en) * | 2012-07-12 | 2016-12-21 | 上海市南电信服务中心有限公司 | A kind of movable parking information guidance systems, methods based on ZIGBEE and LBS |
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