CN105163386A - Indoor positioning system and method based on wireless beacon - Google Patents
Indoor positioning system and method based on wireless beacon Download PDFInfo
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- CN105163386A CN105163386A CN201510613629.8A CN201510613629A CN105163386A CN 105163386 A CN105163386 A CN 105163386A CN 201510613629 A CN201510613629 A CN 201510613629A CN 105163386 A CN105163386 A CN 105163386A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention provides a micro-positioning system and method based on wireless beacons, which are based on a method combining the wireless beacons and inertial navigation, increase the information content sent by the wireless beacons, and realize real-time calibration by including calibration data in each wireless beacon, thereby overcoming the defects of instability of the single beacon and large accumulated error of the single inertial navigation and improving the accuracy of indoor positioning. Through the infrared sensor integrated on the wireless beacon, moving objects can be detected in real time, and only when the moving objects are monitored, the radio frequency signals can be sent, so that the power consumption can be effectively reduced, the battery service time of the wireless beacon is prolonged, and the labor material cost is saved.
Description
Technical field
The present invention relates to field of locating technology, particularly a kind of indoor locating system based on wireless beacon and method.
Background technology
Indoor positioning technologies is becoming a focus of market competition, and contact as long as can successfully be combined with user data or the interested information of user by indoor location, indoor positioning must have boundless application prospect.Indoor positioning is by one of of paramount importance entrance becoming the mobile interchange epoch.
Indoor positioning solution main at present, mainly can be divided into two large classes: wireless beacon indoor positioning and inertial navigation location.
Wireless beacon indoor positioning: utilize at the various wireless device of indoor deployments, comes localizing objects position by receiving the information such as the intensity of wireless signal.If application number is give a kind of system and method realizing wireless beacon Geographic mapping in the application for a patent for invention of CN201510120977, the wireless beacon node of this system is wirelessly to mobile terminal device transmission of location information, and mobile terminal positions according to positional information.Existing wireless beacon targeting scheme has a variety of, and mainly radio-frequency unit is different, and wireless device commonplace at present mainly contains WIFI, BLUETOOTH, RFID etc.Indoor positioning based on IBEACON technology is a kind of wireless beacon indoor positioning scheme popular at present, the program utilizes low-power consumption BLE technology newly-increased in bluetooth 4.0 agreement, by the module of built-in bluetooth 4.0 chip as wireless beacon, it can transmit and receive 2.4G Bluetooth signal, thus information interaction can be carried out with the bluetooth cellular phone in scope 50 meters, each beacon has specific ID and particular location, APP in mobile phone can real-time reception beacon position information, the mutual of positional information can be carried out with cloud server simultaneously, the navigation Service of present position and target location can be provided simultaneously.Based on IBEACON technology indoor positioning scheme owing to having the advantage of low-power consumption, simultaneously the mobile terminal such as mobile phone carries receiver, and without the need to increasing additional hardware, therefore the program is widely used; But because wireless signal is easily disturbed, wireless beacon installation site, mounting distance and external environment relation are comparatively large, easily cause Wrong localization, particularly for the indoor environment that the floor heights such as airport are higher, easily cause floor location mistake.
Inertial navigation is located: utilize inertance element (accelerometer) to measure the acceleration of carrier itself, speed and position is obtained through anomalous integral computing, thus the object reached carrier navigator fix, because inertial navigation transducer becomes the standard configuration of the mobile devices such as mobile phone at present, utilize inertial navigation technique to carry out indoor positioning not need to increase any hardware costs, so this field application is at present developed rapidly.Indoor positioning based on MEMS motion sensor is a kind of inertial navigation localization method, because the mobile device terminal such as current mobile phone are all configured with MEMS motion sensor, the sensing data such as magnetic direction, the speed of rotation, acceleration utilizing MEMS motion sensor to provide, direction and the distance of motion can be estimated by reckoning algorithm, thus estimate the real time position of target.Based on the indoor orientation method of MEMS motion sensor, first, measure the magnetic field intensity of Magnetic Sensor, by comparing with magnetic direction, the motion angle of drift of target can be obtained, also can obtain angle of drift by gyroscope angular velocity data integration, reduce respective error by Kalman filtering and complementary filter, obtain two groups of angle of drift data weighting summations and obtain final angle of drift; After obtaining the direction of motion of target, then record overall system acceleration by acceleration transducer, being projected in the movement direction by overall acceleration obtains the acceleration of objective body actual motion; Finally degree of will speed up information is carried out quadratic integral to the time and can be obtained objective body distance in the movement direction, thus realizes object for location.But, because MEMS sensor exists larger intrinsic error and random meausrement error etc., so long-time integration can cause larger accumulation site error, thus cause Wrong localization.
How improving existing indoor positioning technologies, improving indoor position accuracy is the problem that those skilled in the art need solution badly.
Summary of the invention
For the weak point that prior art exists, the invention provides a kind of indoor locating system and method, efficiently solve the problem that existing indoor positioning technologies precision is low.
The invention provides a kind of indoor locating system, described system comprises: wireless beacon system and mobile terminal system; Wireless beacon system is connected by the signal of telecommunication with mobile terminal system; Wherein, wireless beacon system comprises at least one wireless beacon; Wireless beacon comprises: be integrated with the master controller of radio-frequency module, alignment sensor; Alignment sensor is connected by the signal of telecommunication with master controller; The calibration data that mobile terminal system provides for receiving described alignment sensor, and carry out data calibration in real time according to described calibration data.
Preferably, described alignment sensor is baroceptor or magnetometer.
Preferably, described indoor heating system also comprises cloud server system, is communicated between mobile terminal system and cloud server system by network.
Preferably, described wireless beacon also comprises infrared sensor, and infrared sensor is connected with master controller.
Preferably, alignment sensor is connected by I2C interface with master controller, and infrared sensor is connected by I/O port with master controller.
Present invention also offers a kind of indoor orientation method based on above-mentioned indoor locating system,
Step 1, mobile terminal system in wireless beacon coverage can receive the wireless signal of one or more wireless beacon, the also built-in map of indoor environment in mobile terminal system; Wherein, described wireless signal obtains in the following way: each wireless beacon periodic broadcast sends wireless signal; The content of wireless signal of broadcast comprises No. ID of each wireless beacon, wireless signal transmission power, is integrated in baroceptor real measured data on wireless beacon and wireless beacon actual height information;
Step 2, mobile terminal system, according to the baroceptor in the wireless signal received and the highly corresponding parameter changed, judge in conjunction with mobile terminal oneself height meter, carry out data calibration in real time.
Step 3, mobile terminal system are according to the data after the data of the wireless signal received and step 2 calibration, and mobile terminal system self-sensor device data combine, and position.
Preferably, described alignment sensor is baroceptor, and the content of the wireless signal of broadcast comprises No. ID of each wireless beacon, wireless signal transmission power and the actual height information of this ID beacon, the baroceptor actual measurement elevation information be integrated on wireless beacon.
Preferably, in described step 1, each wireless beacon utilizes radio frequency unit periodic broadcast to send wireless signal.
Preferably, described method also comprises: step 4, mobile terminal system are undertaken alternately by network and cloud server system, described mutual for cloud server system identification mobile terminal system particular location and pushed information.
The invention has the beneficial effects as follows, the wireless beacon in the indoor locating system of the application and method not only can provide current wireless beacon position information, by alignment sensor integrated on wireless beacon, can also provide current location data and calibration data; The relevant information that master controller in wireless beacon provides for receiving alignment sensor, and fixed time broadcast sends wireless signal; After mobile terminal system receives wireless signal, first complete calibration function in real time according to calibration data, then combine according to the data after the data of the wireless signal received, calibration and mobile terminal system self-sensor device data, reach precise positioning; Solve independent beacon unstable, the problem that independent inertial navigation accumulated error is large, improve the accuracy of indoor positioning.Meanwhile, by infrared sensor integrated on wireless beacon in the present invention, only monitor mobile object, just can start rf transmitter unit, thus greatly reduce equipment power dissipation, reduce battery altering frequency, thus reduce artificial Material Cost.
In Figure of description of the present invention, Fig. 1 is the theory of constitution figure of indoor locating system.Indoor locating system of the present invention comprises: wireless beacon system, mobile terminal system, cloud server system, and wireless beacon system comprises again at least one wireless beacon, i.e. wireless beacon 1 ~ wireless beacon n.Communicated by bluetooth 4.0 between wireless beacon system and mobile terminal system, communicated by networks such as WIFI, 3G or 4G between mobile terminal system and cloud server system.
Fig. 2 is the theory of constitution figure of wireless beacon.Wireless beacon in the present invention comprises: be integrated with the master controller of bluetooth 4.0 radio-frequency module, baroceptor and infrared sensor.Baroceptor is connected by I2C interface with master controller, and infrared sensor is connected by I/O port with master controller.
Fig. 3 is the hardware designs figure of wireless beacon.Wireless beacon hardware implementing comprises: CPU module, 2.4GRF radio-frequency antenna, baroceptor, infrared sensor, button cell.
Fig. 4 is the flow chart of indoor orientation method of the present invention.Mobile terminal system carries out real time calibration according to calibration data, positions, and carry out alternately with cloud server system according to wireless signal, calibration data and self-sensor device data after receiving the wireless signal of wireless beacon transmission.
According to the embodiment one of the application, the invention provides a kind of indoor locating system, this system comprises: wireless beacon system, mobile terminal system.Communicated by bluetooth 4.0 between wireless beacon system and mobile terminal system.Wherein, wireless beacon system comprises at least one wireless beacon; Wireless beacon comprises: be integrated with the master controller of bluetooth 4.0 radio-frequency module, alignment sensor, and alignment sensor is connected by I2C interface with master controller.Be integrated with the master controller of bluetooth 4.0 radio-frequency module, main realization receives relevant information from transducer, and fixed time broadcast sends.Alignment sensor can provide calibration data for mobile terminal system, calibration data is comprised in the wireless signal that wireless beacon sends, after mobile terminal system receives wireless signal, first carry out data calibration in real time according to calibration data, again according to data, the mobile terminal system self-sensor device data after wireless signal, calibration, obtain accurate positioning result.
Preferably, described alignment sensor is baroceptor or magnetometer, barometer, analog altimeter etc.General wireless beacon only can provide self ID and relevant location information; The present invention not only can provide the positional information of current wireless beacon, by transducers such as pressure integrated on wireless beacon and magnetometers, can also provide the altitude information of current location, simultaneously according to magnetometer data for mobile terminal system provides calibration data.Due to the position of beacon own, be highly all given data, so these data just as a reference system, thus can reduce position error.Baroceptor, mainly gather real-time altitude information, using Real-time Collection to altitude information and actual height data send to mobile terminal system as reference system by master controller, mobile terminal system merges self-sensor device data, can accurately judge current location height, thus solve the problem easily occurring the wrongheaded locating information of floor in general room location.Utilize barometer to carry out altitude location, because the function of air pressure and altitude is also subject to weather conditions, the impact of such as temperature and humidity, these factors can cause the error of analog altimeter.In addition, also easily there are cumulative errors etc. in analog altimeter.The present invention, before use analog altimeter or barometer carry out altitude location to mobile terminal system, need to calibrate barometer, but along with indoor environment temperature, the change in space, calibration data should be real-time change.So only calibrate the problem that once still can not solve accumulated error.Current gas pressure meter and the highly corresponding parameter changed is included in the parameter that in the present invention, each wireless beacon provides, and then in conjunction with the judgement of oneself height meter, thus data calibration can be carried out in real time, obtain precise positioning.
Preferably, described indoor locating system also comprises cloud server system, is communicated between mobile terminal system and cloud server system by networks such as WIFI, 3G or 4G.Cloud server by identifying the particular location of mobile terminal, can push relevant customizing messages.
Preferably, the wireless beacon of described indoor heating system also comprises infrared sensor, and infrared sensor is connected by I/O port with master controller.Infrared sensor, major function is the mobile object within the scope of can detecting meter.Because wireless beacon generally all adopts 3V button cell to power, send broadcast packet data if do not stopped paying out always, radio frequency part power consumption also can be very high, needs often to change battery, can cause the increase of artificial Material Cost.So the wireless beacon in the present invention introduces infrared sensor, it can detect the mobile object within the scope of 15 meters.Only have infrared sensor to detect mobile object, wireless beacon just can start Bluetooth RF system, broadcast data.Such as at night under unmanned state, only can consume the extremely low energy content of battery, thus effectively reduce wireless beacon power consumption, increase service time of battery, reduce costs.
The hardware scheme of wireless beacon is: wireless beacon comprises: CPU module, 2.4GRF radio-frequency antenna, barometer transducer, infrared sensor, button cell.
CPU module: CPU module adopts a radio frequency chip of TI company to realize, and this module integration has the low power consumption control device of a CotexM3, realizes the overall control function of system, and this controller comprises 128kflash flash memory, 20ksram internal memory, 8kcache buffer memory; Comprise the controller of a CotexM0 simultaneously, realize the radio-frequency module of bluetooth4.0 agreement, this controller comprises 4ksram internal memory; The Peripheral Interface that this module integration is abundant simultaneously, such as UART interface, I2C interface, I2S interface, AES interface, these interfaces are used for external available transducer; CPU module also comprises a DC-DC power module, can receive 3.3V button cell and power, and can adjust voltage simultaneously and power to external sensor; This module also comprises a transducer sensor module, is used for processing the data of the external sensor received; In addition, this module also comprises peripheral module, SPI interface, GPIO interface, timer and house dog.
2.4GRF radio-frequency antenna, uses as Bluetooth RF antenna.
Baroceptor, adopt the high-resolution baroceptor of new generation of a SPI and the I2C bus interface released by MEAS (Switzerland), resolution can reach 10cm.This sensor assembly comprises the pressure sensor of a high linearity and 24 sigma adcs (factory calibrated coefficient) of a super low-power consumption.MS5611 baroceptor only has the small size of 5.0 millimeters × 3.0 millimeters × 1.0 millimeters can be in a mobile device integrated.This transducer adopts leading MEMS technology and has benefited from the maturation design in MEAS (Switzerland) more than ten years and manufacturing experience in enormous quantities, ensures that product has high stability and low-down pressure signal is delayed.
Infrared sensor: this transducer can detect the mobile object in 15 meters.
Button cell: the electric power system being whole system, the distinctive low-power consumption algorithm of the system that adds, one piece of battery probably uses half a year more than.
Wireless beacon workflow is as follows:
System initialization: after powering on, wireless beacon acquiescence is in low power consumpting state, and radio system is closed, and only has infrared sensor in running order;
After infrared sensor detects mobile object, by interrupt signal reporting system master controller; Now master controller activates bluetooth and radio system, simultaneously enable baroceptor;
After this wireless beacon ID, emission of radio frequency signals power, the current baroceptor signal data obtained are encoded by master controller, sent by bluetooth equipment broadcast;
Mobile terminal system, by the Bluetooth signal that receives and data thereof, is added storing map, can accurately be located the machine current address.
The beneficial effect of the present embodiment is, the wireless beacon in indoor locating system not only can provide current wireless beacon position information, by alignment sensor integrated on wireless beacon, can also provide current location data and calibration data; The relevant information that master controller in wireless beacon provides for receiving alignment sensor, and fixed time broadcast sends wireless signal; After mobile terminal system receives wireless signal, first complete calibration function in real time according to calibration data, then combine according to the data after the data of the wireless signal received, calibration and mobile terminal system self-sensor device data, reach precise positioning; Solve independent beacon unstable, the problem that independent inertial navigation accumulated error is large, improve the accuracy of indoor positioning.
According to the embodiment two of the application, the invention provides a kind of indoor orientation method based on above-mentioned indoor locating system, concrete steps are:
Step 1, mobile terminal system in wireless beacon coverage can receive the wireless signal of one or more wireless beacon, the also built-in map of indoor environment in mobile terminal system, wherein, described wireless signal obtains in the following way: each wireless beacon uses radio frequency unit periodic broadcast to send wireless signal, wherein, radio frequency unit make use of the low-power consumption function in bluetooth 4.0 agreement; The content of wireless signal of broadcast comprise No. ID of each wireless beacon, the actual height information of wireless signal transmission power and this ID beacon, be integrated in parameter that baroceptor on wireless beacon changes with highly corresponding, baroceptor surveys elevation information.
Step 2, mobile terminal system, according to the baroceptor in the wireless signal received and the highly corresponding parameter changed, judge in conjunction with mobile terminal oneself height meter, carry out data calibration in real time.
Step 3, mobile terminal system are according to the data after the data of the wireless signal received and step 2 calibration, combine with mobile terminal system self-sensor device data, utilize various parameter, adopt the method based on Bluetooth signal and the location technology of location fingerprint, simultaneously fusion level altitude position, merge sensor height position and measure error, can precise positioning be reached; During mobile terminal system location, the main method adopting the relatively more conventional location technology based on Bluetooth signal and location fingerprint at present, merge level altitude position simultaneously.The indoor positioning of position-based fingerprint mainly contains two stages, off-line sample phase and tuning on-line stage, the target of off-line sample phase is the database of structure wireless signal strength and sampling point position relation, namely the database of location fingerprint or radio map.In order to generate this database, operating personnel need being determined some sampled points in localizing environment, then travel through all sampled points, record the radio signal characteristics measured at each sampled point, namely from the signal strength signal intensity of all access points, finally they are preserved in a database.In second stage, when user moves to a certain position, according to the signal strength information that mobile terminal system receives in real time, utilize location algorithm by it with the information matches in location fingerprint database, compare, calculate the position of this user.Mobile terminal system in the present invention utilizes location fingerprint algorithm substantially can accurately locate two dimensional surface position, then merges sensor height position and measure error, can locate three-dimensional position.
Preferably, said method also comprises: step 4, mobile terminal system are undertaken alternately by the network such as WIFI or 3G, 4G and cloud server system, describedly mutual pushes relevant customizing messages for cloud server system identification mobile terminal particular location.
When installing wireless beacon module according to said method, according to actual needs, at required localizing environment, wireless beacon module can be installed, guarantee that the wireless beacon signal of whole indoor environment covers without dead angle.
The beneficial effect of the present embodiment is, provides a kind of indoor orientation method.Wireless beacon in the method not only can provide current wireless beacon position information, can also by baroceptor integrated on wireless beacon, the altitude information of current location is provided, baroceptor and the highly corresponding parameter changed, after mobile terminal system receives wireless signal, according to baroceptor and the highly corresponding parameter changed, judge in conjunction with mobile terminal oneself height meter, complete calibration function, again according to wireless signal, data after calibration, mobile terminal system self-sensor device data, obtain accurate positioning result, thus can precise positioning target object height, the mistake of common floor location is there will not be in indoor positioning.Due to the position of beacon own, be highly all given data, so these data just as a reference system, thus can reduce position error.
In addition, all right integrated magnetometer of the wireless beacon in embodiment two, according to magnetometer data for mobile terminal system provides calibration data.
More than describe System's composition of the present invention and operation principle in detail.But those of ordinary skill in the art it should be understood that specification is only for explaining claims.But protection scope of the present invention is not limited to specification.Anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claims.
Accompanying drawing explanation
Fig. 1 is the theory of constitution figure of the indoor locating system in the present invention;
Fig. 2 is the theory of constitution figure of wireless beacon;
Fig. 3 is the hardware designs figure of wireless beacon;
Fig. 4 is the flow chart of indoor orientation method of the present invention.
Embodiment
The present invention is mainly from the method that wireless beacon and inertial navigation combine, by increasing the information content that wireless beacon sends, be supplied to the multiple reference system information of transducer, thus it is unstable to solve independent beacon, the shortcoming that independent inertial navigation accumulated error is large, improves the accuracy of indoor positioning.
Claims (9)
1. an indoor locating system, is characterized in that, described system comprises: wireless beacon system and mobile terminal system; Wireless beacon system is connected by the signal of telecommunication with mobile terminal system; Wherein, wireless beacon system comprises at least one wireless beacon; Wireless beacon comprises: be integrated with the master controller of radio-frequency module, alignment sensor; Alignment sensor is connected by the signal of telecommunication with master controller; The calibration data that mobile terminal system provides for receiving described alignment sensor, and carry out data calibration in real time according to described calibration data.
2. indoor locating system according to claim 1, is characterized in that, described alignment sensor is baroceptor or magnetometer.
3. indoor locating system according to claim 1 and 2, is characterized in that, described indoor heating system also comprises cloud server system, is communicated between mobile terminal system and cloud server system by network.
4. indoor locating system according to claim 1 and 2, is characterized in that, described wireless beacon also comprises infrared sensor, and infrared sensor is connected with master controller.
5. indoor locating system according to claim 4, is characterized in that, alignment sensor is connected by I2C interface with master controller, and infrared sensor is connected by I/O port with master controller.
6., based on an indoor orientation method for indoor locating system as claimed in claim 1, it is characterized in that:
Step 1, mobile terminal system in wireless beacon coverage can receive the wireless signal of one or more wireless beacon, the also built-in map of indoor environment in mobile terminal system; Wherein, described wireless signal obtains in the following way: each wireless beacon periodic broadcast sends wireless signal; The content of wireless signal of broadcast comprises No. ID of each wireless beacon, wireless signal transmission power, is integrated in baroceptor real measured data on wireless beacon and wireless beacon actual height information;
Step 2, mobile terminal system, according to the baroceptor in the wireless signal received and the highly corresponding parameter changed, judge in conjunction with mobile terminal oneself height meter, carry out data calibration in real time.
Step 3, mobile terminal system are according to the data after the data of the wireless signal received and step 2 calibration, and mobile terminal system self-sensor device data combine, and position.
7. indoor orientation method according to claim 6, it is characterized in that, described alignment sensor is baroceptor, and the content of the wireless signal of broadcast comprises No. ID of each wireless beacon, wireless signal transmission power and the actual height information of this ID beacon, the baroceptor actual measurement elevation information be integrated on wireless beacon.
8. the indoor orientation method according to claim 6 or 7, is characterized in that, in described step 1, each wireless beacon utilizes radio frequency unit periodic broadcast to send wireless signal.
9. the indoor orientation method according to claim 6 or 7, is characterized in that, described method also comprises:
Step 4, mobile terminal system are undertaken alternately by network and cloud server system, described mutual for cloud server system identification mobile terminal system particular location and pushed information.
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Cited By (17)
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| CN105510870A (en) * | 2015-12-19 | 2016-04-20 | 长安大学 | Smart device indoor positioning system and smart device indoor positioning method |
| CN105681432A (en) * | 2016-01-26 | 2016-06-15 | 北京招通致晟科技有限公司 | Passenger service system based on smart mobile phone platform and indoor micro positioning technology |
| CN106781661A (en) * | 2016-12-21 | 2017-05-31 | 广东昇辉电子控股有限公司 | A kind of Intelligent parking lot management system |
| CN106788617A (en) * | 2016-04-01 | 2017-05-31 | 深圳蓝奥声科技有限公司 | Smart bluetooth beacon socket |
| WO2017113122A1 (en) * | 2015-12-29 | 2017-07-06 | 深圳伊艾克斯信息技术有限公司 | Three-dimensional location positioning system and method based on beacons and positioning network elements |
| CN107153171A (en) * | 2016-03-04 | 2017-09-12 | 腾讯科技（深圳）有限公司 | Indoor orientation method, device and system |
| CN107182033A (en) * | 2017-06-26 | 2017-09-19 | 深圳市万睿智能科技有限公司 | The alignment system that personnel move in different floors |
| CN107314757A (en) * | 2017-08-04 | 2017-11-03 | 谢文静 | The floor location system and localization method of a kind of multi-story structure |
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| CN108781355A (en) * | 2016-03-17 | 2018-11-09 | 西门子股份公司 | It is adapted to beacon transmissions rate and/or power based on received signal |
| CN109084763A (en) * | 2018-08-21 | 2018-12-25 | 燕山大学 | Wearable three-dimensional indoor positioning device and method based on attitude angle measurement |
| CN109541543A (en) * | 2019-01-09 | 2019-03-29 | 深圳市民明科技有限公司 | A kind of fire-fighting Field Force positioning system, localization method and detection positioning device |
| CN109964515A (en) * | 2016-08-05 | 2019-07-02 | 昕诺飞控股有限公司 | Electronic beacon for positioning system |
| CN110488220A (en) * | 2018-05-14 | 2019-11-22 | 瑞昱半导体股份有限公司 | Direction finding chip, direction-finding method and beacon |
| CN113810872A (en) * | 2021-08-26 | 2021-12-17 | 上海磐启微电子有限公司 | AoD positioning method and device based on nine-axis sensor |
| CN114268901A (en) * | 2021-12-24 | 2022-04-01 | 国网福建省电力有限公司 | Method and terminal for improving indoor positioning accuracy |
| CN114745678A (en) * | 2022-02-16 | 2022-07-12 | 深圳市蓝科迅通科技有限公司 | Positioning data acquisition method, positioning method and related equipment |
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