CN104635205A - Passive positioning method of label - Google Patents
Passive positioning method of label Download PDFInfo
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- CN104635205A CN104635205A CN201510022690.5A CN201510022690A CN104635205A CN 104635205 A CN104635205 A CN 104635205A CN 201510022690 A CN201510022690 A CN 201510022690A CN 104635205 A CN104635205 A CN 104635205A
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- label
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
Abstract
The invention discloses a passive positioning method of a label, relates to the technical field of electronic information, and aims to solve the problems of complex system and risen building and maintenance cost caused by the fact that time synchronization between anchor nodes or between the label and the anchor nodes is generally required in the existing passive positioning method of the label. The method comprises the following steps: deploying a plurality of anchor nodes of fixed coordinates and a fixed position label of a fixed coordinate in a region; emitting positioning broadcast packets by the anchor nodes; receiving the positioning broadcast packet emitted by each anchor node by the fixed position label and mobile labels to obtain a transmission anchor node identifier, and calculating the time of arrival of the positioning broadcast packet; transmitting the obtained anchor node identifier and the accurate time of arrival corresponding to the positioning broadcast packet to each mobile label by the fixed position label; generating an equation set with the mobile label coordinate value as a variable by each mobile label according to the information and further calculating the coordinate value of the mobile label. When the method is used for realizing passive positioning of the label, the time synchronization between the anchor nodes or between the labels and the anchor nodes is not required, so that the complexity of the system is reduced, and the system building and maintenance cost is reduced.
Description
Technical field
The present invention relates to electronic information technical field, particularly relate 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, be called for short RSS), time of arrival (toa) method (time of arrival, be called for short TOA), signal arrival time difference method (time difference of arrival, be called for short TDOA) etc.Wherein, RSS method is subject to the multipath fadings such as signal reflex, scattering, diffraction and blocks impact very seriously, in fact there is comparatively big error.TOA and TDOA method has higher positioning precision.When this two schemes is used for realizing label passive positioning, need to measure each anchor node issue a signal to absolute time or the mistiming of label up to standard, to calculate the coordinate of label.TOA scheme needs the time synchronized between anchor node and label usually, and TDOA scheme needs the time synchronized between each anchor node usually, thus causes system complex, and construction and maintenance cost raises.
Summary of the invention
Usually need to realize time synchronized between anchor node or between anchor node and label based on existing label Passive Location, thus cause system complex, construction and maintenance cost raises.The object of this invention is to provide a kind of method utilizing the communication technology and infotech to realize label passive positioning simply efficiently.
Suppose in region, there is N number of anchor node, with A (1) ... A (N) represents, and each anchor node possesses stationary coordinate value.Each anchor node possesses unique mark.A fixed position label and multiple mobile tag is had in region.Use M0 to represent fixed position label, use M1 to represent mobile tag.Fixed position label possesses stationary coordinate value.Below, " equipment " represents 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 3 features: 1) can receive by the label in certain limit; 2) self identification is comprised; 3) receiving equipment is adopted to be easy to calculate the signal madulation mode of time of arrival as CSS(linear frequency modulation spread spectrum) modulate or adopt UWB(ultra broadband) signal.
Tm0ai is used to represent that M0 receives the accurate time of arrival relative to M0 local clock of the Location Request broadcast packet that A (i) sends, Tm1ai is used to represent that M1 receives the accurate time of arrival relative to M1 local clock of the Location Request broadcast packet that A (i) sends, and by that analogy.Xai is used to represent that A (i) sends the absolute time of Location Request broadcast packet, and by that analogy.The signal using Fm0ai to represent that A (i) sends arrives the time required for M0, and for wireless carrier communication facilities, this value represents that wireless signal arrives the time required for M0 antenna phase center from A (i) antenna phase center.This value of Fm0ai can think that the spacing of A (i) and M0 is divided by signal velocity.The signal using Fm1ai to represent that A (i) sends arrives the time required for M1, and by that analogy.Use Rm0 to represent that M0 receiving device postpones, for wireless carrier communication facilities, this value represents wireless signal from M0 antenna phase center through radio-frequency (RF) receiving circuit and modulus switching device, is converted to the delay of digital signal.Rm1 is used to represent that M1 receiving device postpones, and by that analogy.
Tm0ai – Tm0aj represent A (i) and A (j) institute send location broadcast packet arrival M0 mistiming, this mistiming is based on the clock calculation of M0.Similar, Tm1ai – Tm1aj represent A (i) and A (j) institute send location broadcast packet arrival M1 mistiming, this mistiming is based on the clock calculation of M1.
Consider Current hardware technical level, in the time range involved by the technical program, the frequency difference of equipment clock can be attributed to noise category with shake and not affect data analysis.
Technical scheme of the present invention is specifically achieved in that and comprises the steps:
Step 1:
Intra-zone affixes one's name to the anchor node of multiple stationary coordinate and the fixed position label of stationary coordinate.
Step 2:
Anchor node sends location broadcast packet.
According to embody rule demand, can trigger (as detected that label enters region by certain mode) by time triggered (as interval at regular intervals) or event, each anchor node sends location broadcast packet according to a definite sequence or random sequence.
Step 3:
Fixed position label and mobile tag receive the location broadcast packet that each anchor node sends, and obtain sending anchor node mark, calculate the accurate time of arrival of this location broadcast packet relative to local clock.
Step 4:
Fixed position label by the transmission anchor node obtained through step 3 mark and this anchor node institute send locate broadcast packet relative to the accurate time of arrival of fixed position label local clock, send to each mobile tag.
According to embody rule situation, fixed position label can add up a period of time, receive and calculate multiple anchor node send location broadcast packet accurate time of arrival after, above-mentioned multiple anchor node marks and corresponding location broadcast packet are sent to each mobile tag accurate time of arrival, also can often receive an anchor node send location broadcast packet after, by this anchor node mark and institute send location broadcast packet send to each mobile tag accurate time of arrival.
Step 5:
Each mobile tag receives fixed position label after the information that step 4 sends, the anchor node mark obtained through step 3 in conjunction with this mobile tag and this anchor node institute send locates the accurate time of arrival of broadcast packet relative to this mobile tag, generate the system of equations being variable with mobile tag coordinate figure, and calculate the coordinate figure of mobile tag further.
With fixed position label M0, mobile tag M1 and two anchor node A (i), A (j) is example, has following equation:
Tm0ai – Tm0aj=Xai+Fm0ai+Rm0 – Xaj – Fm0aj – Rm0, equation 1;
Tm1ai – Tm1aj=Xai+Fm1ai+Rm1 – Xaj – Fm1aj – Rm1, equation 2;
In formula, Tm0ai represent fixed position label M0 receive anchor node A (i) send location broadcast packet relative to accurate time of arrival of M0 local clock, Tm0aj represents that M0 receives A (j) institute and sends and locate the accurate time of arrival of broadcast packet relative to M0 local clock.Tm1ai represent mobile tag M1 receive A (i) send location broadcast packet relative to accurate time of arrival of M1 local clock, Tm1aj represents that M1 receives A (j) institute and sends and locate the accurate time of arrival of broadcast packet relative to M1 local clock.Xai represents that A (i) sends the absolute time of location broadcast packet, and Xaj represents that A (j) sends the absolute time of location broadcast packet.Fm0ai represent A (i) issue a signal to the time reached required for M0, for wireless carrier communication facilities, this value represents that wireless signal arrives the time required for M0 antenna phase center from A (i) antenna phase center.This value of Fm0ai can think that the spacing of A (i) and M0 is divided by signal velocity.Fm0aj represent A (j) issue a signal to the time reached required for M0, Fm1ai represent A (i) issue a signal to the time reached required for M1, Fm1aj represent A (j) issue a signal to the time reached required for M1.Rm0 represents that M0 receiving device postpones, and for wireless carrier communication facilities, this value represents wireless signal from M0 antenna phase center through radio-frequency (RF) receiving circuit and modulus switching device, is converted to the delay of digital signal.Rm1 represents that M1 receiving device postpones.Tm0ai – Tm0aj represent A (i) and A (j) institute send location broadcast packet arrival M0 mistiming, this mistiming is based on the clock calculation of M0.Similar, Tm1ai – Tm1aj represent A (i) and A (j) institute send location broadcast packet arrival M1 mistiming, this mistiming is based on the clock calculation of M1.Notice, in equation 1 and equation 2, Rm0 and Rm1 is cancelled respectively.
By equation 1 – equation 2, can obtain:
(Tm0ai – Tm0aj) – (Tm1ai – Tm1aj)=(Fm0ai – Fm0aj) – (Fm1ai – Fm1aj), equation 3;
Equation 3 obtains after arranging:
Fm1ai – Fm1aj=(Fm0ai – Fm0aj)-(Tm0ai – Tm0aj)+(Tm1ai – Tm1aj), equation 4;
Wherein Fm0ai – Fm0aj represent A (i) and A (j) issue a signal to the mistiming reaching M0, due to A (i), A (j), M0 possesses stationary coordinate, therefore the distance that A (i) and A (j) arrives M0 can be calculated respectively, and and then calculate range difference, namely this range difference can be calculated Fm0ai – Fm0aj divided by signal velocity.
On the left of equation 4 be two anchor nodes issue a signal to the mistiming reaching mobile tag, be the function that is variable with mobile tag coordinate figure, right side is given value and measured value.
In like manner can obtain, in region any two anchor nodes issue a signal to the mistiming reaching mobile tag.
Suppose in region, there is N number of anchor node, each mobile tag is had to the equation of N* (N-1)/2 above-mentioned form.Can simplify into, with one of them anchor node for reference anchor node, calculate all the other N-1 anchor node issue a signal to time of reaching mobile tag with reference to anchor node issue a signal to the mistiming reaching mobile tag, generate the equation that N-1 is variable with mobile tag coordinate figure, composition system of equations.Solving equation group, can calculate the coordinate figure of mobile tag.
When the method for the invention is used for realizing label passive positioning, does not need to realize time synchronized between anchor node or between anchor node and label, thus reduce system complexity and reduce system Construction and maintenance cost.Under smart 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 5 steps described in summary of the invention, the system of equations that to generate with mobile tag coordinate figure be variable, and obtains the coordinate of mobile tag further.
In the following description, known method will no longer describe in detail, to avoid there is unnecessary obscuring with the content of this method.
Step 1:
Intra-zone affixes one's name to the anchor node of multiple stationary coordinate and the fixed position label of stationary coordinate.Its implementation is known method, no longer illustrates at this.
Step 2:
Anchor node sends location broadcast packet.
According to embody rule demand, (as detected that label enters region by certain mode) anchor node can be triggered by time triggered (as interval at regular intervals) or event and send location broadcast packet according to a definite sequence or random sequence;
The location broadcast packet that anchor node sends, can adopt 2.4G ISM public frequency band wireless signal CSS(linear frequency modulation spread spectrum) modulation system.After locating the baseband signal analytic expression normalization of code element in broadcast packet be: s (t)=exp (j*2*pi*(f0*t+u*t*t/2).0=<t<=T。Wherein, T is the time width of 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 sends sampling instant, and first sampling instant is designated as 0;
Each anchor node can adopt CSMA/CD(Carrier Sense Multiple Access/collision detection) mode, sharing wireless channel.
Step 3:
Fixed position label and mobile tag receive the location broadcast packet that each anchor node sends, and obtain sending anchor node mark, calculate the accurate time of arrival of this location broadcast packet relative to local clock.
Fixed position label and mobile tag can use for reference LFMCW(linear frequency modulation continuous wave) Radar Technology, to calculate in received location broadcast packet the accurate time of arrival of first code element relative to local clock.Circular is as follows:
1) local code element baseband reference signal is generated: r (t)=exp (j*2*pi*(f0*t+u*t*t/2), 0=<t<=T.Wherein, T is the time width of each code element, and u is chirp rate, and f0 is initial frequency, and pi represents circular constant, and t represents the discrete baseband received samples moment, and first sampling instant is designated as 0;
2) by generated local code element baseband reference signal and received first code element mixes baseband signals;
Do not consider to connect label and anchor node and there is the inconsistent situation of the situation of relative motion or label and anchor node clock frequency, in location broadcast packet received by label, 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 Received signal strength amplitude, and T is the time width of each code element, and u is chirp rate, and f0 is initial frequency, and pi represents circular constant, and t represents the discrete baseband received samples moment, and first sampling instant is designated as 0.Dt represents and connects the time migration of first code element baseband signal received by anchor node relative to the label starting sample moment.The low-frequency component df of mixed frequency signal is approximately equal to u*dt;
3) first FFT(fast Fourier is done to mixed frequency signal) computing.Consider signal multi-path problem, namely locating broadcast packet signal can arrive along mulitpath, thus in mixed frequency signal low-frequency component, form multiple spectrum peak, and the spectrum peak that wherein frequency values is maximum represents the frequency difference of arriving signal and local code element baseband reference signal at first.After finding out above-mentioned peak point K, also need the frequency values at calculating K-1 and K+1 2 place.In these two frequency values intervals, CZT conversion (Chirp-z conversion) is done to above-mentioned mixed frequency signal, just can calculate the frequency difference exact value df of arriving signal and local code element baseband reference signal at first.According to formula dt=df/u, calculate dt, first the code element baseband signal namely received is relative to the time migration in label starting sample moment;
4) label sampling instant with local clock as a reference, the signal starting sample moment received by supposing is P the clock period after label starts, can calculate first code element baseband signal in the broadcast packet of location relative to label local clock accurate time of arrival=P/ tag clock rate – dt frequently, in this, as the accurate time of arrival of location broadcast packet relative to label local clock;
The situation of relative motion is there is at label and anchor node, or label and anchor node clock frequency inconsistent when, said method still can be adopted to obtain locating in broadcast packet the accurate time of arrival of first code element baseband signal relative to label local clock, there is deviation in the time of arrival calculated like this and actual value, under considering existing clock accuracy and most of position application scene, this deviation can regard as noise, and anti-noise method can be adopted in follow-up processing procedure to calculate label relative coordinate.
Step 4:
Fixed position label by the transmission anchor node obtained through step 3 mark and this anchor node institute send locate broadcast packet relative to the accurate time of arrival of fixed position label local clock, send to each mobile tag.
According to embody rule situation, fixed position label can add up a period of time, receive and calculate multiple anchor node send location broadcast packet accurate time of arrival after, above-mentioned multiple anchor node marks and corresponding location broadcast packet are sent to each mobile tag accurate time of arrival, also can often receive an anchor node send location broadcast packet after, by this anchor node mark and location broadcast packet send to each mobile tag accurate time of arrival.
Step 5:
Each mobile tag receives fixed position label after the information that step 4 sends, the anchor node mark obtained through step 3 in conjunction with this mobile tag and this anchor node institute send locates the accurate time of arrival of broadcast packet relative to this mobile tag, generate the system of equations being variable with mobile tag coordinate figure, and calculate the coordinate figure of mobile tag further.
With fixed position label M0, shift position label M1 and two anchor node A (i), A (j) is example, has following equation:
Tm0ai – Tm0aj=Xai+Fm0ai+Rm0 – Xaj – Fm0aj – Rm0, equation 1;
Tm1ai – Tm1aj=Xai+Fm1ai+Rm1 – Xaj – Fm1aj – Rm1, equation 2;
By equation 1 – equation 2, can obtain:
(Tm0ai – Tm0aj) – (Tm1ai – Tm1aj)=(Fm0ai – Fm0aj) – (Fm1ai – Fm1aj), equation 3;
Equation 3 obtains after arranging:
Fm1ai – Fm1aj=(Fm0ai – Fm0aj)-(Tm0ai – Tm0aj)+(Tm1ai – Tm1aj), equation 4;
Each symbol implication is set forth see in summary of the invention.
On the left of equation 4 be two anchor nodes issue a signal to the mistiming reaching mobile tag, be the function that is variable with mobile tag coordinate figure, right side is given value and measured value.In like manner can obtain, in region any two anchor nodes issue a signal to the mistiming reaching mobile tag.
Suppose in region, there is N number of anchor node, each mobile tag is had to the equation of N* (N-1)/2 above-mentioned form.Can simplify into, with one of them anchor node for reference anchor node, calculate all the other N-1 anchor node issue a signal to time of reaching mobile tag with reference to anchor node issue a signal to the mistiming reaching mobile tag, generate the equation that N-1 is variable with mobile tag coordinate figure, composition system of equations.Can adopt classical TDOA algorithm, this algorithm possesses certain noise resisting ability, can calculate the coordinate figure of mobile tag comparatively quickly and accurately.
Certainly, the present invention is not limited to above-mentioned embodiment, and when implementing of the present invention, step 2 can adopt other signals to propagate location broadcast packet, as sound wave, and ultrasound wave or ultra wide band radio signal etc.; Step 3 can adopt additive method to solve signal accurate time of arrival, and as super-resolution algorithms etc., step 5 can take diverse ways to solve obtained system of equations, as numerical algorithm etc.As long as but it adopts 5 steps described in summary of the invention, the system of equations that to generate with mobile tag coordinate figure be variable, and obtain the coordinate of mobile tag further, then all fall into scope.
Claims (4)
1. a label Passive Location, the method is by affixing one's name to the anchor node of multiple known coordinate at intra-zone, the location broadcast packet that the passive reception anchor node of mobile tag sends, calculates the coordinate of mobile tag, it is characterized in that comprising the steps:
1) intra-zone affixes one's name to the anchor node of multiple stationary coordinate and the fixed position label of stationary coordinate;
2) anchor node sends location broadcast packet;
3) fixed position label and mobile tag receive the location broadcast packet that each anchor node sends, and obtain sending anchor node mark, calculate the accurate time of arrival of this location broadcast packet relative to local clock;
4) fixed position label by the transmission anchor node obtained through step 3 mark and this anchor node institute send locate broadcast packet relative to the accurate time of arrival of fixed position label local clock, send to each mobile tag;
5) each mobile tag receives fixed position label after the information that step 4 sends, the anchor node mark obtained through step 3 in conjunction with this mobile tag and this anchor node institute send locates the accurate time of arrival of broadcast packet relative to this mobile tag, generate the system of equations being variable with mobile tag coordinate figure, and calculate the coordinate figure of mobile tag further.
2. a kind of label Passive Location according to claim 1, is characterized in that, do not need clock synchronous between each anchor node and between each anchor node and label.
3. a kind of label Passive Location according to claim 1, is characterized in that, step 2) the location broadcast packet that sends of described anchor node possesses following three features: 1) can receive by the label in certain limit; 2) self identification is comprised; 3) receiving equipment is adopted to be easy to calculate the signal madulation mode of time of arrival as CSS(linear frequency modulation spread spectrum) modulate or adopt UWB(ultra broadband) signal.
4. a kind of label Passive Location according to claim 1, is characterized in that, the system of equations being variable with mobile tag coordinate figure that step 5) generates, and each equation form of composition system of equations is as follows:
Fm1ai – Fm1aj = (Fm0ai – Fm0aj) - (Tm0ai – Tm0aj) + (Tm1ai – Tm1aj)；
On the left of this equation be two anchor nodes issue a signal to the mistiming reaching mobile tag, be the function that is variable with mobile tag coordinate figure, right side is given value and measured value;
In equation, symbol implication is described as follows:
Suppose in region, there is N number of anchor node, with A (1) ... A (N) represents; There are a fixed position label and multiple mobile tag in region, use M0 to represent fixed position label, use M1 to represent mobile tag;
Tm0ai represent fixed position label M0 receive anchor node A (i) send location broadcast packet relative to accurate time of arrival of M0 local clock, Tm0aj represents that M0 receives A (j) institute and sends and locate the accurate time of arrival of broadcast packet relative to M0 local clock; Tm1ai represent mobile tag M1 receive A (i) send location broadcast packet relative to accurate time of arrival of M1 local clock, Tm1aj represents that M1 receives A (j) institute and sends and locate the accurate time of arrival of broadcast packet relative to M1 local clock; Fm0ai represent A (i) issue a signal to the time reached required for M0, for wireless carrier communication facilities, this value represents that wireless signal arrives the time required for M0 antenna phase center from A (i) antenna phase center; Fm0ai can think that the spacing of A (i) and M0 is divided by signal velocity; Fm0aj represent A (j) issue a signal to the time reached required for M0, Fm1ai represent A (i) issue a signal to the time reached required for M1, Fm1aj represent A (j) issue a signal to the time reached required for M1; Tm0ai – Tm0aj represent A (i) and A (j) institute send location broadcast packet arrival M0 mistiming, this mistiming is based on the clock calculation of M0; Similar, Tm1ai – Tm1aj represent A (i) and A (j) institute send location broadcast packet arrival M1 mistiming, this mistiming is based on the clock calculation of M1; Wherein Fm0ai – Fm0aj represent A (i) and A (j) issue a signal to the mistiming reaching M0, due to A (i), A (j), M0 possesses stationary coordinate, therefore the distance that A (i) and A (j) arrives M0 can be calculated respectively, and and then calculate range difference, namely this range difference can be calculated Fm0ai – Fm0aj divided by signal velocity.
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| CN105929365A (en) * | 2016-04-27 | 2016-09-07 | 严炜 | UWB high-accuracy positioning system and positioning method |
| CN106371066A (en) * | 2016-08-16 | 2017-02-01 | 黄律丹 | Positioning system in garage and car taking method using sound beacons |
| CN107396440A (en) * | 2017-07-28 | 2017-11-24 | 烟台持久钟表有限公司 | Passive ultra wide band positioner and its localization method |
| 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 |
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| CN105929365A (en) * | 2016-04-27 | 2016-09-07 | 严炜 | UWB high-accuracy positioning system and positioning method |
| CN109477881A (en) * | 2016-05-25 | 2019-03-15 | 弗劳恩霍夫应用研究促进协会 | Waveform Design for positioning system |
| CN106371066A (en) * | 2016-08-16 | 2017-02-01 | 黄律丹 | Positioning system in garage and car taking method using sound beacons |
| CN107396440A (en) * | 2017-07-28 | 2017-11-24 | 烟台持久钟表有限公司 | Passive ultra wide band positioner and its localization method |
| CN108112070B (en) * | 2017-12-25 | 2020-08-25 | 武汉大学 | Time synchronization method in UWB (ultra wide band) unidirectional positioning system |
| 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 |
| CN108333558A (en) * | 2018-02-07 | 2018-07-27 | 南京邮电大学 | A kind of method that Tof and Toda are quickly measured in indoor locating 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 |
| CN112073905A (en) * | 2020-09-15 | 2020-12-11 | Oppo广东移动通信有限公司 | Distance difference determining method, data frame transmission method and related product |
| CN112073905B (en) * | 2020-09-15 | 2022-10-28 | Oppo广东移动通信有限公司 | Distance difference determining method, data frame transmission method and related product |
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