CN105517149B - A kind of localization method and system based on RSSI and ZigBee technology - Google Patents
A kind of localization method and system based on RSSI and ZigBee technology Download PDFInfo
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- CN105517149B CN105517149B CN201510890765.1A CN201510890765A CN105517149B CN 105517149 B CN105517149 B CN 105517149B CN 201510890765 A CN201510890765 A CN 201510890765A CN 105517149 B CN105517149 B CN 105517149B
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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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- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses a kind of localization method and system based on RSSI and ZigBee technology, wherein this method include that positioning device sends Zigbee network and is connected to application signal；Positioning reference unit reception is connected to application signal, returns to access signal；Positioning device confirms access signal, and emits distance measuring signal；Positioning reference unit receives the signal of measurement distance, restoring to normal position signal；Positioning device calculating position coordinate.The system includes positioning starting module, and positioning device sends Zigbee network and is connected to application signal；Referrer module is positioned, reception is connected to application, returns to access signal；Localizing emission module confirms access signal, emits distance measuring signal；Reference process module is positioned, distance measuring signal, restoring to normal position signal are received；Localization process module receives positioning signal and calculating position coordinate.The present invention uses ZigBee technology as means of communication, and distance is calculated based on RSSI value, using rational optimization method and correction measure, significantly improves the precision of positioning.
Description
Technical field
The present invention relates to a kind of localization method and system based on RSSI and ZigBee technology, belongs to positioning measurement field.
Background technology
With some such as conference and exhibition centers, the development in outdoor activity place, personnel, can be with when large-scale occasion moves
According to the situation of personnel, necessary guide and service are provided.It, can be by being carried out to tourist such as when tourist goes sight-seeing sight spot
Positioning provides the information service at corresponding sight spot to tourist.For another example in exhibition, it would know that by hand-held positioning device exhibition
The position of person is referred to providing the relevant information of exhibition booth corresponding with its position for exhibitor, can also be provided more vividly, more
Comprehensively, more three-dimensional information.Furthermore it is also possible to by establishing interactive system and user's intercommunion platform based on positioning, make
Equipment user can carry out interaction with corresponding information point, or be carried out simultaneously using the user of the equipment with other
Exchange.Such a technological service, can be described as information supply and interactive system carries that is, by obtaining the location information of user
For corresponding information service, to improve user experience and information service quality.In existing location technology, such as GPS system etc. is fixed
The problems such as position system, there are free users precision is relatively low, and paying customer's cost is higher, multilayer place altitude location defect.
ZigBee technology is as a kind of emerging short-distance wireless communication technology, due to its low cost, low-power consumption, low complexity
The superiority such as property.The agreement of Zigbee is simple, and the requirement to hardware will be small than bluetooth, UWB, Wifi, and transmission rate is moderate, just
The positioning application for being suitble to data volume small well.The high and low cost of positioning accuracy of Zigbee, low-power consumption, simple in structure, easy care, tool
Standby ad hoc capability, the wireless location system especially suitable for multinode.And currently, the side for passing through raising Zigbee positioning accuracies
Method is mainly by increasing positioning node and optimization node layout.
Hardware cost, algorithm complexity and maintenance cost will certainly be increased by increasing positioning node.And optimize node layout
It can then be limited by specific environment condition, optimization is of high cost, and degree of optimization is limited.
Invention content
The method that the present invention uses three sides to position needs to use three reference points in a two-dimensional coordinate system
Distance can just uniquely determine the coordinate of a point.In practical operation, due to Zigbee signal interferences, Receiver And Transmitter
The factors such as error can have an impact positioning accuracy.In order to overcome the above problem, the present invention is in the method positioned using three sides
On the basis of, algorithm is optimized, high-precision target is put forward to reach.
In view of the problems of the existing technology, it is proposed that technical scheme of the present invention.
One aspect of the present invention provides a kind of localization method based on RSSI and ZigBee technology, includes the following steps：Positioning
Device sends Zigbee network and is connected to application signal, and it includes that positioning device ID and networking refer to that Zigbee network, which is connected to application signal,
It enables；The Zigbee network of positioning reference unit receiving positioner is connected to application signal, and returns to Zigbee network access signal；
Positioning device confirms Zigbee network access signal, and emits the distance measuring signal for measurement distance；Reference unit is positioned to receive
To after distance measuring signal, tracer signal intensity value (RSSI value) and restoring to normal position signal；Positioning device receives positioning signal and opens
Dynamic locating module calculates the position coordinates of oneself.
Preferably, the communication process of signal uses ZigBee technology.
Preferably, Zigbee network includes：Reference unit group is positioned, is made of several positioning reference units, wherein positioning
Reference unit is used to provide the signal strength values of the location coordinate information of itself and the distance measuring signal of measurement and positioning device transmitting
(RSSI value)；Correcting device group is positioned, is made of several positioning correcting devices, wherein positioning correcting device is for emitting ranging
Signal, reception, which position the positioning signal that reference unit returns and start locating module, calculates the position coordinates of oneself.
Preferably, positioning signal includes positioning the signal strength values (RSSI value) and positioning reference dress that reference unit measures
The location coordinate information set.
Preferably, locating module further includes load Parameter File before calculating oneself at a distance from positioning reference unit,
Parameter File includes the information for the position coordinates for positioning reference unit and positioning correcting device, signal strength values (RSSI value) with it is fixed
The distance relation table and position algorithm of position reference unit.
Preferably, the position algorithm：The position coordinates of positioning device are set as (x0, y0)；Three positioning are with reference to dress
The position coordinates set are (x1, y1), (x2, y2), (x3, y3)；By the signal strength values (RSSI value) and positioning reference unit
The obtained positioning device of distance relation table to three positioning reference units distance d1, d2, d3；Position reference unit and positioning
The position relationship of device is：
(x1-x0)2+(y1-y0)2=d12；
(x2-x0)2+(y2-y0)2=d22；
(x3-x0)2+(y3-y0)2=d32。
Preferably, locating module calculates the position coordinates of oneself and includes the following steps：
A, maximum three of numerical value is chosen from the signal strength values (RSSI value) received, records the positioning representated by it
The position coordinates of reference unit；
B, according to the distance relation table and position algorithm of Parameter File, the initial position co-ordinates of positioning device are found out；
C, the initial position co-ordinates error correction for carrying out positioning device, finds out position coordinates.
Preferably, step B further includes the optimization of signal strength values (RSSI value)：By repeated sampling in 5 seconds, to adopting
The signal strength values (RSSI value) of sample are averaged, and the position coordinates (X4, Y4) of average value are calculated；Pass through repetition in 5 seconds
The signal strength values (RSSI value) of sampling are carried out position calculating by sampling, and the larger point of error is rejected according to normal distribution principle
The average value (X5, Y5) of calculating position coordinate afterwards；Seek the average value of above two step, i.e., initial position co-ordinates be X=(X5+X4)/
2, Y=(Y4+Y5)/2.
Preferably, step C is realized by the following method：According to the initial position co-ordinates obtained, chooses a position and face
Close positioning correcting device makes it emit distance measuring signal, and receives the positioning signal that around positioning reference unit returns；Positioning is repaiied
The positioning signal that equipment parsing returns, position coordinates are calculated by locating module；The calculated position of locating module is sat
The actual coordinate of mark and positioning correcting device compares, and obtains the position coordinates margin of error；Initial position co-ordinates and position coordinates error
Amount is added, and obtains position coordinates, i.e., the position coordinates of corrected positioning device.
Another aspect of the present invention provides a kind of positioning system based on RSSI and ZigBee technology, which is characterized in that packet
It includes：
Positioning starting module, being configured to, which makes positioning device send Zigbee network, is connected to application signal, Zigbee network connection
Enter to apply that signal includes that positioning device ID and networking instruct；
Referrer module is positioned, is configured to that the Zigbee network of positioning reference unit receiving positioner is made to be connected to letter of application
Number, and return to Zigbee network access signal；
Localizing emission module is configured to make positioning device to confirm Zigbee network access signal, and emit for measure away from
From distance measuring signal；
Reference process module is positioned, is configured to after so that positioning reference unit is received distance measuring signal, tracer signal intensity
It is worth (RSSI value) and restoring to normal position signal；
Localization process module, being configured to, which makes positioning device receive positioning signal and start locating module, calculates the position of oneself
Coordinate.Beneficial effects of the present invention are：Using low cost, low-power consumption, low-complexity ZigBee technology as means of communication, it is based on
Signal strength values (RSSI value) calculate distance, using rational optimization method and correction measure, significantly improve the precision of positioning.
Description of the drawings
Fig. 1 show Zigbee network according to a first embodiment of the present invention；
Fig. 2 show the optimization of signal strength values (RSSI value) according to a second embodiment of the present invention；
Fig. 3 show the position coordinates error correcting method of positioning device according to a second embodiment of the present invention；
Fig. 4 show a kind of supply of information according to a third embodiment of the present invention and the Zigbee of interactive system was positioned
Journey.
Specific implementation mode
RSSI (Received Signal Strength Indication) be known transmitting node transmitting signal it is strong
Under the premise of, it is inversely proportional using propagation distance and signal strength, i.e., one-to-one property receives the strong of signal by learning
Degree, the distance of transmitting node and receiving node is calculated using model.In this example, transmitting node is information winner,
It is exactly tourist either exhibitor or tourist, receiving node is exactly to position reference unit.
First embodiment according to the present invention is a kind of localization method based on RSSI and ZigBee technology, including following
Step：Positioning device sends Zigbee network and is connected to application signal, and it includes positioning device ID that Zigbee network, which is connected to application signal,
It is instructed with networking；The Zigbee network of positioning reference unit receiving positioner is connected to application signal, and returns to Zigbee network
Access signal；Positioning device confirms Zigbee network access signal, and emits the distance measuring signal for measurement distance；Positioning reference
After device receives the distance measuring signal for measurement distance, tracer signal intensity value (RSSI value) and restoring to normal position signal；It is fixed
Position device, which receives positioning signal and starts locating module, calculates the position coordinates of oneself.
The communication process that signal is transmitted wherein between device, is realized based on ZigBee technology.
As shown in Figure 1, the Zigbee network includes：
Reference unit group is positioned, is made of several positioning reference units, the region for needing to position is dispersed in, wherein positioning
Reference unit is used to provide the location coordinate information of itself and the distance measuring signal for measurement distance of measurement and positioning device transmitting
Signal strength values (RSSI value)；
Correcting device group is positioned, is made of several positioning correcting devices, the region for needing to position is dispersed in, wherein positioning
Correcting device is used to emit the distance measuring signal for measurement distance, reception positions the positioning signal of reference unit return and it is fixed to start
Position module calculates the position coordinates of oneself.Wherein, positioning signal includes the signal strength values (RSSI value) measured and positioning ginseng
The location coordinate information of examination device, location coordinate information are to have passed through reality after having disposed positioning reference unit and positioning correcting device
Border measures determining location information, and the location information actually measured plays the role of coordinate basis.
Locating module further includes load Parameter File, parameter text before calculating oneself at a distance from positioning reference unit
Part includes the information for the position coordinates for positioning reference unit and positioning correcting device, and signal strength values (RSSI value) are referred to positioning
The distance relation table and position algorithm of device.
Wherein distance relation table is i.e. centered on positioning reference unit, under the conditions of different distance, the size of RSSI signals
One relation table, when foundation for Zigbee network, the result of field survey.
Position algorithm therein：That is three side localization methods set the position coordinates of positioning device as (x0, y0)；Three ginsengs
The position coordinates of examination device are (x1, y1), (x2, y2), (x3, y3)；It is referred to by the signal strength values (RSSI value) and positioning
Distance d1, d2, d3 of the position coordinates (x0, y0) for the positioning device that the distance relation table of device obtains to three reference units；
Reference unit and the position relationship of positioning device are：
(x1-x0)2+(y1-y0)2=d12；
(x2-x0)2+(y2-y0)2=d22；
(x3-x0)2+(y3-y0)2=d32。
Locating module calculates the position coordinates of oneself and includes the following steps：
A, maximum three of numerical value is chosen from the signal strength values (RSSI value) received, records the positioning representated by it
The position coordinates of reference unit；There can be several positioning reference units around locating module, they are receiving positioning device
After the signal sent out, can tracer signal intensity value (RSSI value), and restoring to normal position signal, positioning device receive positioning signal it
Afterwards, maximum three signals of wherein numerical value need to only be extracted, so that it may to carry out the operation of three side positioning.
B, according to the distance relation table and position algorithm of Parameter File, the initial position co-ordinates of positioning device are found out；Initially
Position coordinates are calculated by above-mentioned three side localization method.
C, the initial position co-ordinates error correction of positioning device, finds out position coordinates, due to ZigBee technology ability with
And the influences such as positioning device, positioning reference unit precision, it needs to improve measurement accuracy by correcting again.
According to the second embodiment of the present invention, as shown in Fig. 2, the initial position co-ordinates for finding out positioning device, are also wrapped
Include the optimization of signal strength values (RSSI value)：
Positioning device is sampled in 5 seconds by resetting process, to the signal strength values (RSSI value) of sampling
It averages, calculates the position coordinates (X4, Y4) of average value；Positioning device is adopted in 5 seconds by resetting process
Sample carries out position calculating, after rejecting the larger point of error according to normal distribution principle to the signal strength values (RSSI value) of sampling
The average value (X5, Y5) of calculating position coordinate；The average value of above two step is sought, i.e. initial position co-ordinates are X=(X5+X4)/2, Y
=(Y4+Y5)/2.By the method being averaged of sampling, precision is improved.
As shown in figure 3, the position coordinates error correction of the positioning device is realized by the following method：
According to the initial position co-ordinates obtained, positioning device or positioning reference unit choose a position according to Parameter File
The positioning correcting device for closing on positioning device is set, it is made to emit distance measuring signal, and receives determining for positioning reference unit return around
Position signal；The positioning signal that correcting device parsing returns is positioned, it, will be fixed for three of the positioning of three sides before in order to improve precision
The positioning signal of position reference unit extracts, and the position coordinates of positioning correcting device are calculated by locating module；It will positioning
The coordinate that the position coordinates and practical field survey of the calculated positioning correcting device of module come out compares, and obtains position coordinates mistake
Residual quantity；Initial position co-ordinates are added with the position coordinates margin of error, obtain position coordinates, i.e., the position of corrected positioning device is sat
Mark.
According to the third embodiment of the invention, a kind of information supply and the Zigbee of interactive system were positioned as shown in Figure 4
Journey, including：
1, early-stage preparations and networking.First, the positioning for disposing good certain density and distribution mode is needed to refer to according to scene
Device, and every positioning is written with reference to dress in the position coordinates of corresponding environmental parameter such as device, region, area code etc.
In setting.After the user of handheld positioning device enters some region, positioning device can be carried out with positioning reference unit automatically
Networking, positioning device are connected to Zigbee network, and when being connected to net, the best routing node of positioning device selection signal (is typically
The positioning reference unit nearest from positioning device).
2, signal sends and returns.After positioning device is linked into Zigbee network, it will send some strength for surveying
Span from signal, the positioning reference unit adjacent with positioning device receive after measuring signal, it will tracer signal intensity
It is worth (RSSI value), test signal intensity value and the position coordinates of oneself is then sent to positioning device together.
3, environmental parameter obtains.Positioning device simultaneously can also be to the Zigbee routing node acquisition requests of oneself for calculating
The environmental parameter of RSSI distances, these environmental parameters are to test in advance specific environment, then and calculated data are led to
Far-end server is crossed, environmental parameter is write corresponding positioning reference unit up with program, so that positioning device and difference are fixed
Position device (device for correcting positioning) is inquired.
4, signal strength is converted into distance.According to RSSI value, positioning reference unit position coordinates, environmental parameter, positioning
Device calculates the distance between oneself and each effective position reference unit by starting the RSSI engine of positioning of oneself, connects down
Come, determines coordinate.Positioning device calculates the coordinate oneself constituted in effective position reference unit according to trilateration positioning mode
Coordinate in referential.Then calculated coordinate is sent to that (RSSI is returned apart from nearest positioning reference unit by positioning device
Return the maximum positioning reference unit of value).
5, last, determine region residing for positioning device.The positioning reference unit determines positioning dress according to positioning device coordinate
Then the ID in region residing for positioning device is sent to server by the residing region set by Zigbee network, server will lead to
It crosses wireless mode (Zigbee, Wifi or GPRS network) and provides corresponding service to positioning device.
Four embodiment according to the present invention is a kind of positioning system based on RSSI and ZigBee technology, including：
Positioning starting module, being configured to, which makes positioning device send Zigbee network, is connected to application signal, Zigbee network connection
Enter to apply that signal includes that positioning device ID and networking instruct；
Referrer module is positioned, is configured to that the Zigbee network of positioning reference unit receiving positioner is made to be connected to application, returns
Return Zigbee network access signal；
Localizing emission module is configured to make positioning device to confirm Zigbee network access signal, and emit for measure away from
From distance measuring signal；
Reference process module is positioned, is configured to after the signal for making positioning reference unit receive measurement distance, record letter
Number intensity value (RSSI value) and restoring to normal position signal；
Localization process module, being configured to, which makes positioning device receive positioning signal and start locating module, calculates the position of oneself
Coordinate.
From the above embodiments it can be seen that the specific advantage of technical scheme of the present invention compared with the existing technology：Pass through
The positioning accuracy prioritization scheme and Differential positioning device that the average coordinate value after rejecting extremum of RSSI value is averagely combined are repaiied
Just two methods, optimum position algorithm fundamentally improve the precision and stability of positioning system.The workload of exploitation is small,
Caused Small side effects when optimization, applicability is wide, and effect is good, and hardware cost is low.In addition, by reasonable distribution task, optimization
The processing procedure of positioning, alleviates the workload of server end, effectively increases the maximum capacity of positioning system and raising
Its stability.
The present invention optimizes the positioning accuracy of positioning system, stability and same in terms of algorithm optimization and policy optimization two
Time acceptable positioning device quantity.The hardware cost of the present invention is 0, is easily transplanted, and it is big, sweeping to be suitable for range
Zigbee information is supplied and interactive system.In addition, the modified method of Differential positioning device can be applied not only to use Zigbee
In the scene of technological orientation, it can be applicable in the positioning system with other location technologies, it is applied widely.
More specifically：1, positioning device is when determining own coordinate, by the average of former data (RSSI) and to straight
It connects and (does not handle former data) calculated coordinate value and carry out the mode that Outlier rejeetion processing combines, preferably taken into account original
The processing of data error and processing data error；2, Differential positioning device is introduced, specific environmental error can be directed to and is missed in short term
Difference is preferably optimized, and effect of optimization is good；3, the task distribution during optimum position improves system stability and increases system
System capacity.
The above, only presently preferred embodiments of the present invention, the invention is not limited in the above embodiments, as long as
It reaches the technique effect of the present invention with identical means, should all belong to the scope of protection of the present invention.In the protection model of the present invention
Its technical solution and/or embodiment can have a variety of different modifications and variations in enclosing.
Claims (8)
1. a kind of localization method based on RSSI and ZigBee technology, including：
Positioning device sends Zigbee network and is connected to application signal, Zigbee network be connected to application signal include positioning device ID and
Networking instruction；
The Zigbee network of positioning reference unit receiving positioner is connected to application signal, and returns to Zigbee network access letter
Number；
Positioning device confirms Zigbee network access signal, and emits the distance measuring signal for measurement distance；
After positioning reference unit receives distance measuring signal, tracer signal intensity value (RSSI value) and restoring to normal position signal；
Positioning device, which receives positioning signal and starts locating module, calculates the position coordinates of oneself, and step includes：
A, maximum three of numerical value is chosen from the signal strength values (RSSI value) received, records the positioning reference representated by it
The position coordinates of device；
B, according to the distance relation table and position algorithm of Parameter File, the initial position co-ordinates of positioning device are found out；
C, according to the initial position co-ordinates obtained, a positioning correcting device being positioned proximate to is chosen, it is made to emit ranging letter
Number, and receive the positioning signal that around positioning reference unit returns；
The positioning signal that correcting device parsing returns is positioned, position coordinates are calculated by locating module；
The actual coordinate of the calculated position coordinates of locating module and positioning correcting device is compared, position coordinates error is obtained
Amount；
Initial position co-ordinates are added with the position coordinates margin of error, obtain position coordinates, i.e., the position of corrected positioning device is sat
Mark.
2. a kind of localization method based on RSSI and ZigBee technology according to claim 1, which is characterized in that the letter
Number communication process use ZigBee technology.
3. a kind of localization method based on RSSI and ZigBee technology according to claim 1, which is characterized in that described
Zigbee network includes：
Reference unit group is positioned, is made of several positioning reference units, wherein positioning reference unit is for providing the position of itself
The signal strength values (RSSI value) of coordinate information and the distance measuring signal of measurement and positioning device transmitting；
Position correcting device group, be made of several positioning correcting devices, wherein positioning correcting device be used for emit distance measuring signal,
It receives the positioning signal that positioning reference unit returns and starts locating module and calculate the position coordinates of oneself.
4. a kind of localization method based on RSSI and ZigBee technology according to claim 1, which is characterized in that described
Positioning signal includes positioning the signal strength values (RSSI value) and the position coordinates letter for positioning reference unit that reference unit measures
Breath.
5. a kind of localization method based on RSSI and ZigBee technology according to claim 1, which is characterized in that described
Locating module further includes load Parameter File before calculating oneself at a distance from positioning reference unit, and Parameter File includes fixed
Position reference unit and positioning correcting device position coordinates information, signal strength values (RSSI value) with positioning reference unit away from
From relation table and position algorithm.
6. a kind of localization method based on RSSI and ZigBee technology according to claim 5, which is characterized in that described
Position algorithm：
The position coordinates of positioning device are set as (x0, y0)；
The position coordinates of three positioning reference units are (x1, y1), (x2, y2), (x3, y3)；
The positioning device obtained by the distance relation table of the signal strength values (RSSI value) and positioning reference unit is fixed to three
The distance d1, d2, d3 of position reference unit；
Positioning reference unit and the position relationship of positioning device are：
(x1-x0)2+(y1-y0)2=d12；
(x2-x0)2+(y2-y0)2=d22；
(x3-x0)2+(y3-y0)2=d32。
7. a kind of localization method based on RSSI and ZigBee technology according to claim 1, which is characterized in that the step
Rapid B further includes the optimization of signal strength values (RSSI value)：
By repeated sampling in 5 seconds, averages to the signal strength values (RSSI value) of sampling, calculate the position of average value
Coordinate (X4, Y4)；
By repeated sampling in 5 seconds, position calculating is carried out to the signal strength values (RSSI value) of sampling, according to normal distribution
Principle rejects the average value (X5, Y5) of calculating position coordinate after the larger point of error；
The average value of above two step is sought, i.e. initial position co-ordinates are X=(X5+X4)/2, Y=(Y4+Y5)/2.
8. a kind of positioning system based on RSSI and ZigBee technology, which is characterized in that including：
Positioning starting module, being configured to, which makes positioning device send Zigbee network, is connected to application signal, and Zigbee network is connected to Shen
Please signal include positioning device ID and networking instruct；
Referrer module is positioned, is configured to that the Zigbee network of positioning reference unit receiving positioner is made to be connected to application signal, and
Return to Zigbee network access signal；
Localizing emission module is configured to that positioning device is made to confirm Zigbee network access signal, and emits for measurement distance
Distance measuring signal；
Reference process module is positioned, is configured to after so that positioning reference unit is received distance measuring signal, tracer signal intensity value
(RSSI value) and restoring to normal position signal；
Localization process module is configured to make positioning device to receive positioning signal and starts locating module and calculate the position of oneself sit
Mark.
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| CN105828433A (en) * | 2016-05-10 | 2016-08-03 | 长安大学 | Tunnel positioning system and method based on ZigBee |
| CN107831467B (en) * | 2017-10-10 | 2020-09-11 | 深圳数位传媒科技有限公司 | Node positioning method, server, system and computer readable storage medium |
| CN109387227B (en) * | 2018-12-19 | 2021-05-18 | 武汉大地国源规划设计有限公司 | Positioning point rotation multi-point verification method |
| CN114567901B (en) * | 2022-03-03 | 2023-09-08 | 浙江瑞瀛物联科技有限公司 | Rapid product testing system and testing method for Zigbee equipment |
| WO2024072094A1 (en) * | 2022-09-29 | 2024-04-04 | 엘지전자 주식회사 | Method and device for transmitting and receiving wireless signal in wireless communication system |
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| CN101470188A (en) * | 2007-12-26 | 2009-07-01 | 陈澎 | Movable positioning system and method |
| CN101464509A (en) * | 2008-12-26 | 2009-06-24 | 深圳和而泰智能控制股份有限公司 | Wireless apparatus for tourism and its positioning method |
| CN102196560A (en) * | 2011-05-24 | 2011-09-21 | 国电南京自动化股份有限公司 | Method for positioning high-accuracy nodes in Zigbee network |
| CN102348282A (en) * | 2011-10-09 | 2012-02-08 | 山东大学 | Real-time location method based on ZigBee network |
| CN102883428A (en) * | 2012-08-07 | 2013-01-16 | 广州星博信息技术有限公司 | ZigBee wireless sensor network-based node positioning method |
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