CN105589065A - Method and device for acquiring position information of target object and electronic equipment - Google Patents
Method and device for acquiring position information of target object and electronic equipment Download PDFInfo
- Publication number
- CN105589065A CN105589065A CN201610150900.3A CN201610150900A CN105589065A CN 105589065 A CN105589065 A CN 105589065A CN 201610150900 A CN201610150900 A CN 201610150900A CN 105589065 A CN105589065 A CN 105589065A
- Authority
- CN
- China
- Prior art keywords
- antenna
- information
- signal strength
- received signal
- auxiliary positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the invention discloses a method and a device for acquiring position information of a target object and electronic equipment. The method comprises the following steps: sequentially receiving signals sent by antenna arrays in a target object in a sending period, wherein the sent signals comprise antenna array information, and calculating strength indications of all received signals; selecting a first antenna which meets the received signal strength indication mapping of a preset first selection strategy, and extracting a second antenna and a third antenna which are adjacent to the first antenna; selecting a received signal strength indication meeting a preset second selection strategy from the obtained received signal strength indications mapped by the second antenna and the third antenna to obtain an auxiliary positioning antenna; and acquiring the position information of the target relative to the electronic equipment for receiving the signal according to the first antenna, the auxiliary positioning antenna and the antenna array information. By applying the invention, the precision of positioning the target object can be improved.
Description
Technical field
The present invention relates to location technology, relate in particular to a kind of method of obtaining object positional information, device andElectronic equipment.
Background technology
Along with the development of compunication and Internet technology, the application of electronic equipment is more and more general,For example, intelligent mobile phone, personal digital assistant, palm PC and desktop computer have obtained more and moreApplication widely. For example, taking position application as example, on the one hand, can utilize and be arranged in electronic equipmentApplication program (APP, Application), mutual by with base station and navigation system, can be to electronicsEquipment positions navigation, thereby guiding is used the user of electronic equipment to arrive electronic chart along navigation wayIn destination. Application is on the other hand, builds the navigation system of electronic equipment and object, passes throughSmall base station is set in object, utilizes the position-location application of installing in electronic equipment, object is carried outLocation, and guide user to find this object, for instance, when vehicle is parked in larger underground garage,When user can not find or be not easy to this vehicle, can for example, by the base station (, bluetooth module) arranging in vehicleThe signal of stand-alone antenna transmitting, electronic equipment is according to received signal strength indicator (RSSI, ReceiveSignalStrengthIndicator), calculate the approximate distance of this electronic equipment and vehicle, thereby can know that vehicle is relativeThe positional information of electronic equipment, and search for and search in the circumference range of this distance.
But this obtains the method for object positional information, utilize receive RSSI calculated signals electronic equipment withThe distance R of vehicle, the positional information obtaining (locating information) is range information just, and cannot provide electronics to establishThe azimuth information of standby and vehicle, search for and searches in the circumference that needs user to be R at radius, makes to search forFind the required time of object longer, especially object, in moving scene, is R along radiusIn circumference, search for and search, if orientation and the residing orientation of object that search is searched are inconsistent, mayMake the distance between object and electronic equipment increasing, thereby cause the essence of the method localizing objects thingSpend lower.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of method, device and electricity that obtains object positional informationSubset, the precision of lifting localizing objects thing.
For achieving the above object, embodiments of the invention adopt following technical scheme:
First aspect, the embodiment of the present invention provides a kind of method of obtaining object positional information, comprising:
Within a transmission cycle, the signal that the aerial array in receiving target thing sends successively, described transmissionSignal in include aerial array information, calculate each received signal strength indicator;
Choose the first antenna of the received signal strength indicator mapping that meets the first Selection Strategy setting in advance,Extract second antenna and the third antenna adjacent with described the first antenna;
From the received signal strength indicator of the second antenna of obtaining and third antenna mapping, choose meet pre-The received signal strength indicator of the second Selection Strategy first arranging, obtains auxiliary positioning antenna;
According to described the first antenna, described auxiliary positioning antenna and described aerial array information, described in obtainingThe object positional information of electronic equipment of collecting mail number that connects.
Optionally, described within a transmission cycle, the letter that the aerial array in receiving target thing sends successivelyNumber comprise:
The broadcast singal that receiving target thing sends, resolves the described broadcast singal receiving;
If the transmission time slot in the described broadcast singal of resolving is not first time slot in described transmission cycle, touchSend out and described in next, send first time slot in cycle and receive;
Sequentially receive broadcast singal storage that the described transmission cycle sends in affiliated each time slot, until described inSend end cycle.
Optionally, the each received signal strength indicator of described calculating comprises:
Extract the broadcast singal of the same time slot of storage, calculate and extract according to the signal strength signal intensity algorithm setting in advanceThe received signal strength indicator of described broadcast singal.
Optionally, described broadcast singal also comprises: Media Access Control Address information and gap information.
Optionally, described the first antenna of described foundation, described auxiliary positioning antenna and described aerial array letterBreath, obtains the described object positional information of electronic equipment of collecting mail number that connects and comprises:
Calculate the described object electricity of collecting mail number that connects according to the received signal strength indicator of described the first antennaThe range information of subset;
According to described the first antenna, described auxiliary positioning antenna and described aerial array information, described in determiningThe azimuth information of object.
Optionally, described aerial array information also comprises: electronic compass azimuth information, and described method also comprises:
Electronic compass azimuth information and the described auxiliary positioning antenna corresponding according to described the first antenna are correspondingElectronic compass azimuth information, calculates the angle orientation information of described object.
Optionally, described aerial array information also comprises: antenna absolute orientation information and/or, antenna is relativeAzimuth information, described the first antenna of described foundation, described auxiliary positioning antenna and described aerial array information,The azimuth information of determining described object comprises:
According to the antenna absolute orientation information of described the first antenna and described auxiliary positioning antenna and/or, dayLine relative orientation information, calculates the angle orientation information of described object.
Optionally, described method also comprises:
The range information calculating and azimuth information are presented in the mode of user interface.
Optionally, described method also comprises:
The range information calculating and azimuth information are carried out to voice broadcast.
Second aspect, the embodiment of the present invention provides a kind of device that obtains object positional information, comprising: letterNumber intensity computing module, signal strength signal intensity processing module, auxiliary positioning Antenna selection module and locating module,Wherein,
Signal strength signal intensity is calculated module, within a transmission cycle, and the antenna array in receiving target thing successivelyThe signal that row send, includes aerial array information in the signal of described transmission, calculate each received signal strengthInstruction;
Signal strength signal intensity processing module, for choosing, to meet the reception signal of the first Selection Strategy of setting in advance strongThe first antenna of degree instruction mapping, extracts second antenna and the third antenna adjacent with described the first antenna;
Auxiliary positioning Antenna selection module, for the reception of the second antenna from obtaining and third antenna mappingIn signal strength signal intensity instruction, choose the received signal strength indicator that meets the second Selection Strategy setting in advance,To auxiliary positioning antenna;
Locating module, for described the first antenna of foundation, described auxiliary positioning antenna and described aerial arrayInformation, obtains the described object positional information of electronic equipment of collecting mail number that connects.
Optionally, described signal strength signal intensity is calculated module and is comprised: signal resolution unit, time slot judging unit, letterNumber memory cell and signal strength signal intensity are calculated unit, wherein,
Signal resolution unit, the broadcast singal sending for receiving target thing, includes in described broadcast singalAerial array information, resolves the described broadcast singal receiving;
Time slot judging unit, if the transmission time slot in the described broadcast singal of resolving is not the described transmission cycleThe first time slot, trigger and described in next, send first time slot in cycle and receive;
Signal memory cell, for sequentially receiving the broadcast letter that the described transmission cycle sends at affiliated each time slotNumber and storage, until described transmission end cycle;
Signal strength signal intensity is calculated unit, for calculating each received signal strength indicator.
Optionally, the each received signal strength indicator of described calculating comprises:
Extract the broadcast singal of the same time slot of storage, calculate and extract according to the signal strength signal intensity algorithm setting in advanceThe received signal strength indicator of described broadcast singal.
Optionally, described broadcast singal also comprises: Media Access Control Address information and gap information.
Optionally, described locating module comprises: range information computing unit and azimuth information computing unit,Wherein,
Range information computing unit, described in calculating for the received signal strength indicator according to described the first antennaThe object range information of electronic equipment of collecting mail number that connects;
Azimuth information computing unit, for according to described the first antenna, described auxiliary positioning antenna and described inAerial array information, determines the azimuth information of described object.
Optionally, described aerial array information also comprises: electronic compass azimuth information, described azimuth information meterCalculate unit also for foundation corresponding electronic compass azimuth information and the described auxiliary positioning sky of described the first antennaThe electronic compass azimuth information that line is corresponding, calculates the angle orientation information of described object.
Optionally, described aerial array information also comprises: antenna absolute orientation information and/or, antenna is relativeAzimuth information, described azimuth information computing unit is also for described the first antenna of foundation and described auxiliary positioningThe antenna absolute orientation information of antenna and/or, antenna relative orientation information, calculates the angle of described objectAzimuth information.
Optionally, described device also comprises:
Information presents module, for the side with user interface by the range information calculating and azimuth informationFormula presents.
Optionally, described device also comprises:
Voice broadcast module, for carrying out voice broadcast to the range information calculating and azimuth information.
The third aspect, the embodiment of the present invention provides a kind of electronic equipment, and described electronic equipment comprises: housing,Processor, memory, circuit board and power circuit, wherein, circuit board is placed in the space that housing surroundsPortion, processor and memory are arranged on circuit board; Power circuit, is used to each of above-mentioned electronic equipmentCircuit or device power supply; Memory is for stores executable programs code; Processor is by read memoryThe executable program code of storage moves the program corresponding with executable program code, for carrying out aforementionedThe method of obtaining object positional information described in one.
Method, device and the electronic equipment of object positional information that what the embodiment of the present invention provided obtain, oneIn the individual transmission cycle, the signal that the aerial array in receiving target thing sends successively, in the signal of described transmissionInclude aerial array information, calculate each received signal strength indicator; Choose and meet the first choosing setting in advanceGet the first antenna of tactful received signal strength indicator mapping, extract adjacent with described the first antenna secondAntenna and third antenna; From the received signal strength indicator of the second antenna of obtaining and third antenna mappingIn, choose the received signal strength indicator that meets the second Selection Strategy setting in advance, obtain auxiliary positioning skyLine; According to described the first antenna, described auxiliary positioning antenna and described aerial array information, described in obtainingThe object positional information of electronic equipment of collecting mail number that connects. Like this, by antenna is set in objectArray, the received signal strength indicator of the signal of launching by calculating aerial array, can determine the strongest connecingReceive the relative direction that signal strength signal intensity instruction is positioned at electronic equipment, obtain with the mapping of the strongest received signal strengthThe antenna that antenna is adjacent, then by the received signal strength indicator of comparison adjacent antenna, can obtain receiving letterThe auxiliary positioning antenna that the instruction of number intensity is stronger, thereby the orientation that can determine object is positioned at, to receive signal strongBetween the antenna and auxiliary positioning antenna of degree mapping, can effectively dwindle search seek scope, reduce search and look intoFind the required time of object, promote the precision of localizing objects thing.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will be to implementingIn example or description of the Prior Art, the accompanying drawing of required use is briefly described, and apparently, the following describesIn accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not payingGo out under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the method flow schematic diagram that the embodiment of the present invention is obtained object positional information;
Fig. 2 be the embodiment of the present invention within a transmission cycle, the aerial array in receiving target thing is sent out successivelyThe schematic flow sheet of the signal sending;
Fig. 3 is that the embodiment of the present invention is according to described the first antenna, described auxiliary positioning antenna and described antennaArray information, obtains the connect schematic flow sheet of positional information of the electronic equipment of collecting mail number of described object;
Fig. 4 is the apparatus structure schematic diagram that the embodiment of the present invention is obtained object positional information;
Fig. 5 is the structural representation of an embodiment of electronic equipment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail.
Should be clear and definite, described embodiment is only the present invention's part embodiment, instead of whole realitiesExecute example. Based on the embodiment in the present invention, those of ordinary skill in the art are not making before creative workPut obtained all other embodiment, all belong to the scope of protection of the invention.
Fig. 1 is the method flow schematic diagram that the embodiment of the present invention is obtained object positional information. Referring to Fig. 1, shouldMethod comprises:
Step 11, within a transmission cycle, the signal that the aerial array in receiving target thing sends successively,In the signal of described transmission, include aerial array information, calculate each received signal strength indicator;
In this step, as an optional embodiment, aerial array can be the antenna array based on iBeacon base stationRow, can be also the aerial arrays based on WIFI base station or Zigbee base station, and the embodiment of the present invention is not to thisBe construed as limiting.
As an optional embodiment, taking the aerial array based on iBeacon base station as example, aerial array is two daysAerial array more than line, for example, can be triantennary array, can be also four aerial arrays, all rightBe six aerial arrays etc., in aerial array, comprise the precision that the concrete quantity of antenna can locate as required and carry outDetermine, if the positioning precision needing is higher, antenna amount is also just more, and the embodiment of the present invention is same to thisSample is not construed as limiting. Preferably, the embodiment of the present invention adopts four aerial arrays.
In the embodiment of the present invention, utilize electronic equipment and be provided with the object composition positioning systems of aerial arraySystem. In object, install and be provided with iBeacon base station, iBeacon base station comprises: bluetooth module withAnd the aerial array being formed by four groups of Bluetooth RF directional aerials, electronic equipment (for example, mobile electronic device)Support bluetooth, for example, support bluetooth 4.0 technology. Like this, in the embodiment of the present invention, based on the iBeacon of many antennasBase station, switches the directional aerial that uses the upper different angles in iBeacon base station (emitter) by timesharing, thenIn conjunction with the absolute direction of emitter (bluetooth module) and receiving system (electronic equipment), comprisedThere is the positional information (locating information) of relative distance information and azimuth information.
In the embodiment of the present invention, as an optional embodiment, aerial array is panel antenna array, iBeaconBase station adopts broadcast and the scan method of low-power consumption bluetooth (BLE, BluetoothLowEnergy) to carry outThe sending and receiving of information, because the process of broadcast and scanning is very quick, therefore, adopts iBeacon technologyCommunication mode very convenient and efficient, be widely used in in-plant location.
As an optional embodiment, Fig. 2 be the embodiment of the present invention within a transmission cycle, receive successively orderThe schematic flow sheet of the signal that the aerial array in mark thing sends. Referring to Fig. 2, this flow process comprises:
Step 21, the broadcast singal that receiving target thing sends, resolves the described broadcast singal receiving;
In this step, as an optional embodiment, broadcast singal is iBeacon broadcast singal, and iBeacon is wideBroadcasting signal comprises: aerial array information; As another optional embodiment, iBeacon broadcast singal comprises: matchmakerBody Access Control (MAC, MediaAccessControl) address information, aerial array information and time slotInformation. Obtain mac address information by parsing, can determine whether that the iBeacon sending into object is wideBroadcast signal, by gap information, can know the temporal information of each antenna transmission broadcast singal, pass through antennaArray information, can know the positional information of each antenna. Wherein, as an optional embodiment, aerial arrayInformation comprises: aerial position identification information and each aerial array relative position information, aerial position mark letterBreath can arrange according to the strategy setting in advance, for example, for four aerial arrays, corresponding aerial positionIdentification information can be set to: a1, a2, a3 and a4, accordingly, each aerial array relative position letterBreath can be: the relative a1 of a2 is that 90 degree, the relative a2 of a3 are that 90 degree, the relative a3 of a4 are 90 degree, a1 coupleA4 is 90 degree.
As another optional embodiment, comprise in aerial array information: aerial position identification information and each dayOn the basis of linear array relative position information, aerial array information can also comprise: antenna absolute orientation information,Antenna absolute orientation information is the concrete orientation being drawn by electronic compass in follow-up, by obtaining a certain antenna positionPut the absolute orientation information of the antenna that identification information is corresponding, in conjunction with the relative position information of other aerial array,Can obtain the angle orientation information of each antenna.
As an optional embodiment again, comprise in aerial array information: aerial position identification information and each dayOn the basis of linear array relative position information, aerial array information can also comprise: antenna relative orientation information,Antenna relative orientation information refers to the angle of antenna and absolute position, like this, then in conjunction with other aerial arrayRelative position information, also can obtain the angle orientation information of each antenna.
In the embodiment of the present invention, antenna absolute orientation information and antenna relative orientation information are the angle of calculating antennaTwo kinds of different modes of degree azimuth information.
As another optional embodiment, in iBeacon broadcast singal, can also comprise: RSSI signal strength information.Preferably, aerial array adopts same RSSI signal strength signal intensity to transmit, so that can be according to reception in follow-upThe RSSI signal strength signal intensity of signal is determined best reception signal.
In the embodiment of the present invention, one sends periodic packets containing one or more time slots. Corresponding transmission week of each antennaThe time slot of phase, the corresponding iBeacon broadcast singal that sends of each time slot. For example, for four aerial arrays,Suppose not comprise the time slots such as other pilot tones, four antennas take four time slots, send successively an iBeacon broadcastSignal is a transmission cycle (sending four times that iBeacon broadcast singal is required).
Step 22, if the transmission time slot in the described broadcast singal of resolving is not first of the described transmission cycleTime slot, triggering sends first time slot in cycle and receives described in next;
Step 23, sequentially receives broadcast singal storage that the described transmission cycle sends in affiliated each time slot,Until described transmission end cycle.
In this step, if the transmission time slot in the described broadcast singal of resolving is first of the described transmission cycleTime slot, sequentially receives broadcast singal storage that this transmission cycle sends in the each time slot of residue; If separatedTransmission time slot in the described broadcast singal of analysing, for first time slot in described transmission cycle, does not sequentially receive and depositsStore up the broadcast singal that the transmission cycle sends in each time slot described in next.
In the embodiment of the present invention, as an optional embodiment, calculate each received signal strength indicator and comprise:
Extract the broadcast singal of the same time slot of storage, calculate and extract according to the signal strength signal intensity algorithm setting in advanceThe received signal strength indicator of described broadcast singal.
In this step, as an optional embodiment, can utilize following formula to calculate received signal strength indicator:
In formula,
RSSIiIt is the received signal strength indicator of i time slot;
PiIt is the amplitude after training sequence code (midamble) the jayrator computing energy stack of i time slot;
N sends the timeslot number that periodic packets contains.
In the embodiment of the present invention, the antenna in each time slot respective antenna array, calculates received signal strengthBe designated as known technology, omit detailed description at this.
Step 12, choose meet the first Selection Strategy of setting in advance received signal strength indicator mapping theOne antenna, extracts second antenna and the third antenna adjacent with described the first antenna;
In this step, as an optional embodiment, the first Selection Strategy is to choose the strongest received signal strengthInstruction. Certainly,, in practical application, the first Selection Strategy can be also other strategy, for example, choosesWeak received signal strength indicators etc., the embodiment of the present invention does not limit this.
Utilize following formula to choose the received signal strength indicator that meets the first Selection Strategy setting in advance:
RSSImax＝Max(RSSIi)
In formula,
RSSImaxFor the strongest received signal strength indicator.
In the embodiment of the present invention, if aerial array is four aerial arrays, each aerial array relative position informationFor arranging according to clockwise direction, the station location marker of the first antenna of the strongest received signal strength indicator mappingInformation is antenna 1, with adjacent second day of the first antenna of described the strongest received signal strength indicator mappingLine and third antenna are respectively antenna 2 and antenna 4.
In the embodiment of the present invention, for instance, taking four aerial arrays as example, if the antenna calculating 1Corresponding received signal strength indicator is 70, and the received signal strength indicator of antenna 2 correspondences is 80, antenna 3Corresponding received signal strength indicator is 90, and the received signal strength indicator of antenna 4 correspondences is 85, the strongestThe first antenna of received signal strength indicator mapping be antenna 1, with the strongest described received signal strength indicatorAdjacent the second antenna and the third antenna of the first antenna of mapping is respectively antenna 2 and antenna 4.
Step 13, from the received signal strength indicator of the second antenna of obtaining and third antenna mapping, choosingGet the received signal strength indicator that meets the second Selection Strategy setting in advance, obtain auxiliary positioning antenna;
In this step, as an optional embodiment, the second Selection Strategy is for choosing received signal strength indicatorStrong antenna. As another optional embodiment, the second Selection Strategy can be also other strategy, for example,From two received signal strength indicators that obtain, choose weak received signal strength indicator etc., the present inventionEmbodiment does not limit this.
As previously mentioned, if the stronger auxiliary positioning antenna of the received signal strength indicator of choosing is antenna 2,Show in scope that object forms in antenna 1 and antenna 2.
Step 14, according to described the first antenna, described auxiliary positioning antenna and described aerial array information,Obtain the described object positional information of electronic equipment of collecting mail number that connects.
In this step, as an optional embodiment, Fig. 3 be the embodiment of the present invention according to described the first antenna,Described auxiliary positioning antenna and described aerial array information, obtain described object connect collect mail number electricityThe schematic flow sheet of the positional information of subset. Referring to Fig. 3, this flow process comprises:
Step 31, calculates described object according to the received signal strength indicator of described the first antenna and relatively receivesThe range information of the electronic equipment of signal;
In this step, as an optional embodiment, utilize following formula calculate object connect collect mail number electronicsThe range information of equipment:
d＝10(|RSSI|-A)/(10n)
In formula,
D is the object range information of electronic equipment of collecting mail number that connects;
RSSI is the received signal strength indicator of the first antenna of calculating;
A is the received signal strength indicator that the receiving terminal of antenna transmission end and electronic equipment is separated by 1 meter time;
N is the environmental attenuation factor setting in advance.
Step 32, according to described the first antenna, described auxiliary positioning antenna and described aerial array information,Determine the azimuth information of described object.
In this step, the relative bearing of object, between the first antenna and auxiliary positioning antenna, is passed through antennaArray information, can determine the absolute orientation information of the first antenna, thereby, according to aerial array information, canTo obtain the absolute orientation information of the first antenna and auxiliary positioning antenna, taking the first antenna as the center of circle, with orderThe mark thing range information of the first antenna of collecting mail number that connects is that radius is drawn circle, then taking auxiliary positioning antenna as roundThe heart, taking object connect collect mail number auxiliary positioning antenna range information as radius draw circle, two circle phasesHanding over region is the scope at object place, and the absolute orientation of this scope can be by the first antenna and auxiliary positioning skyThe absolute orientation information of line is definite, thereby can know the absolute orientation of object.
The method of the embodiment of the present invention, within a transmission cycle, the aerial array in receiving target thing successivelyThe signal sending, calculates each received signal strength indicator, includes aerial array letter in the signal of described transmissionBreath; Choose the first antenna of the received signal strength indicator mapping that meets the first Selection Strategy setting in advance,Extract second antenna and the third antenna adjacent with described the first antenna; From the second antenna and obtainingIn the received signal strength indicator of triantennary mapping, choose the reception that meets the second Selection Strategy setting in advanceSignal strength signal intensity instruction, obtains auxiliary positioning antenna; According to described the first antenna, described auxiliary positioning antenna withAnd described aerial array information, obtain the described object positional information of electronic equipment of collecting mail number that connects.Like this, by aerial array is set in object, the reception letter of the signal of launching by calculating aerial arrayThe instruction of number intensity, can determine that the strongest received signal strength indicator is positioned at the relative direction of electronic equipment, obtainsGet the antenna adjacent with the antenna of the strongest received signal strength mapping, then by the reception of comparison adjacent antennaSignal strength signal intensity instruction, can obtain the auxiliary positioning antenna that received signal strength indicator is stronger, thereby can be trueSet the goal the orientation of thing between the antenna and auxiliary positioning antenna of received signal strength mapping. Can realizeThe efficient bluetooth of simple and flexible location, has avoided complicated networking and communication pattern, the ingenious directional aerial that utilizesDirectionality, well realized location requirement, can effectively dwindle search seek scope, reduce search look intoFind the required time of object, promote the precision of localizing objects thing; Meanwhile, only need be by electronic equipment justCan search corresponding object, easily promote the use of.
In the embodiment of the present invention, as an optional embodiment, can also in object, arrange electronic compass orGyro position indicator, thereby, in (iBeacon) broadcast singal sending at object, can also comprise: electricitySub-compass azimuth information; The method can further include:
Electronic compass azimuth information and the described auxiliary positioning antenna corresponding according to described the first antenna are correspondingElectronic compass azimuth information, calculates the angle orientation information of described object.
In this step, in above-mentioned example, can determine that object is positioned at the first antenna and auxiliary positioning antennaBetween, but cannot provide object to depart from the concrete angle information of the first antenna (auxiliary positioning antenna). DoFor further embodiment, the present invention, by electronic compass is set in object, can further determine orderMark thing departs from the concrete angle information of the first antenna (auxiliary positioning antenna), thereby further lifting locationPrecision, especially in the moving scene of object, can be more effectively, precision localizing objects thing more.
In the embodiment of the present invention, as an optional embodiment, can be taking user's current location as initial point, withUser current towards right side be X-axis forward, taking user current towards front as Y-axis forward,Set up rectangular coordinate system, in the time that user's current location changes, the reference axis of rectangular coordinate system also along withUser's change in location is carried out respective change, according to the first antenna and electronics sieve corresponding to auxiliary positioning antennaDish azimuth information, calculates the angle orientation information of described object in rectangular coordinate system, and according to aforementioned meterThe range information obtaining, for object provides accurate location.
Be known technology about calculating angle orientation information according to electronic compass azimuth information, omit detailed description at this.
As another optional embodiment, as previously mentioned, if aerial array information also comprises: antenna is definitely squarePosition information and/or, antenna relative orientation information, described the first antenna of described foundation, described auxiliary positioning skyLine and described aerial array information, determine that the azimuth information of described object comprises:
According to the antenna absolute orientation information of described the first antenna and described auxiliary positioning antenna and/or, dayLine relative orientation information, calculates the angle orientation information of described object.
As another optional embodiment, the method can also comprise:
The range information calculating and angle orientation information are presented in the mode of user interface.
As an optional embodiment again, the method can also comprise:
The range information calculating and angle orientation information are carried out to voice broadcast.
In this step, according to the report cycle setting in advance, dynamic calculation object is in rectangular coordinate systemRange information and angle orientation information, report to user by voice, thus prompting user search objectCorrect course.
Fig. 4 is the apparatus structure schematic diagram that the embodiment of the present invention is obtained object positional information. Referring to Fig. 4, shouldDevice comprises: signal strength signal intensity is calculated module 41, signal strength signal intensity processing module 42, auxiliary positioning Antenna selection mouldPiece 43 and locating module 44, wherein,
Signal strength signal intensity is calculated module 41, within a transmission cycle, and the antenna in receiving target thing successivelyThe signal that array sends, includes aerial array information in the signal of described transmission, calculate each reception signal strongDegree instruction;
In the embodiment of the present invention, as an optional embodiment, aerial array can be based on iBeacon base stationAerial array, can be also the aerial array based on WIFI base station or Zigbee base station, and aerial array is twoAerial array more than antenna, for example, can be triantennary array, can be also four aerial arrays, also canTo be six aerial arrays etc., the embodiment of the present invention is not construed as limiting this.
In the embodiment of the present invention, as an optional embodiment, signal strength signal intensity is calculated module 41 and is comprised: signal solutionAnalyse unit, time slot judging unit, signal memory cell and signal strength signal intensity and calculate unit (not shown),Wherein,
Signal resolution unit, the broadcast singal sending for receiving target thing, includes in described broadcast singalAerial array information, resolves the described broadcast singal receiving;
In the embodiment of the present invention, as an optional embodiment, broadcast singal also comprises: media Access Control groundLocation information and gap information. Aerial array information comprises: aerial position identification information, each aerial array phaseLocation information, antenna absolute orientation information, antenna relative orientation information.
Time slot judging unit, if the transmission time slot in the described broadcast singal of resolving is not the described transmission cycleThe first time slot, trigger and described in next, send first time slot in cycle and receive;
Signal memory cell, for sequentially receiving the broadcast letter that the described transmission cycle sends at affiliated each time slotNumber and storage, until described transmission end cycle;
Signal strength signal intensity is calculated unit, for calculating each received signal strength indicator.
As an optional embodiment, can utilize following formula to calculate received signal strength indicator:
In the embodiment of the present invention, as an optional embodiment, the each received signal strength indicator of described calculating comprises:
Extract the broadcast singal of the same time slot of storage, calculate and extract according to the signal strength signal intensity algorithm setting in advanceThe received signal strength indicator of described broadcast singal.
Signal strength signal intensity processing module 42, for choosing the reception signal that meets the first Selection Strategy setting in advanceThe first antenna of intensity instruction mapping, extracts second antenna and the third antenna adjacent with described the first antenna;
Auxiliary positioning Antenna selection module 43, for connecing of the second antenna from obtaining and third antenna mappingReceive in signal strength signal intensity instruction, choose the received signal strength indicator that meets the second Selection Strategy setting in advance,Obtain auxiliary positioning antenna;
Locating module 44, for described the first antenna of foundation, described auxiliary positioning antenna and described antenna arrayColumn information, obtains the described object positional information of electronic equipment of collecting mail number that connects.
As an optional embodiment, locating module 44 comprises: range information computing unit and azimuth information meterCalculate unit (not shown), wherein,
Range information computing unit, described in calculating for the received signal strength indicator according to described the first antennaThe object range information of electronic equipment of collecting mail number that connects;
In the embodiment of the present invention, as an optional embodiment, utilize following formula calculate object connect collect mail numberThe range information of electronic equipment:
d＝10(|RSSI|-A)/(10n)
Azimuth information computing unit, for according to described the first antenna, described auxiliary positioning antenna and described inAerial array information, determines the azimuth information of described object.
In the embodiment of the present invention, as an optional embodiment, described aerial array information also comprises: electronics sieveDish azimuth information, described azimuth information computing unit is also for electronic compass corresponding to described the first antenna of foundationAzimuth information and electronic compass azimuth information corresponding to described auxiliary positioning antenna, calculate described objectAngle orientation information.
As another optional embodiment, described aerial array information also comprises: antenna absolute orientation information and/Or, antenna relative orientation information, described azimuth information computing unit also for according to described the first antenna andThe antenna absolute orientation information of described auxiliary positioning antenna and/or, antenna relative orientation information, described in calculatingThe angle orientation information of object.
In the embodiment of the present invention, as an optional embodiment, this device also comprises:
Information presents module 45, for by the range information calculating and azimuth information with user interfaceMode presents.
As another optional embodiment, this device also comprises:
Voice broadcast module 46, for carrying out voice broadcast to the range information calculating and azimuth information.
The embodiment of the present invention also provides a kind of electronic equipment, and described electronic equipment comprises aforementioned arbitrary embodiment instituteThe device of stating.
Fig. 5 is the structural representation of an embodiment of electronic equipment of the present invention, can realize Fig. 1-4 of the present inventionThe flow process of illustrated embodiment, as shown in Figure 5, above-mentioned electronic equipment can comprise: housing 51, processor 52,Memory 53, circuit board 54 and power circuit 55, wherein, circuit board 54 is placed in that housing 51 surroundsInterior volume, processor 52 and memory 53 are arranged on circuit board 54; Power circuit 55, is used toState each circuit or the device power supply of electronic equipment; Memory 53 is for stores executable programs code; ProcessDevice 52 moves and executable program code pair by the executable program code of storage in read memory 53The program of answering, for carrying out the method for obtaining object positional information described in aforementioned arbitrary embodiment.
Concrete implementation and the processor 52 of processor 52 to above-mentioned steps passes through operation executable programThe step that code is further carried out, can be referring to the description of Fig. 1-4 of the present invention illustrated embodiment, at this no longerRepeat.
This electronic equipment exists in a variety of forms, includes but not limited to:
(1) mobile communication equipment: the feature of this kind equipment is to possess mobile communication function, and with provide speech,Data communication is main target. This Terminal Type comprises: smart mobile phone (for example iPhone), multimedia handset,Functional mobile phone, and low-end mobile phone etc.
(2) super mobile personal computer equipment: this kind equipment belongs to the category of personal computer, has and calculates and locateReason function, generally also possesses mobile Internet access characteristic. This Terminal Type comprises: PDA, MID and UMPC establishStandby etc., for example iPad.
(3) portable entertainment device: this kind equipment can show and play multimedia content. This kind equipment comprises:Audio frequency, video player (for example iPod), handheld device, e-book, and intelligent toy and portableIn-vehicle navigation apparatus.
(4) server: the equipment of calculation services is provided, the formation of server comprise processor, hard disk, internal memory,System bus etc., server and general computer architecture are similar, but due to highly reliable clothes need to be providedBusiness, therefore at aspects such as disposal ability, stability, reliability, security, extensibility, manageabilitysHave relatively high expectations.
(5) other have the electronic equipment of data interaction function.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method,Be can carry out the hardware that instruction is relevant by computer program to complete, described program can be stored in a calculatingIn machine read/write memory medium, this program, in the time carrying out, can comprise as the flow process of the embodiment of above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-OnlyMemory,Or random store-memory body (RandomAccessMemory, RAM) etc. ROM).
The above be only the specific embodiment of the present invention, but protection scope of the present invention is not limited toThis, any be familiar with those skilled in the art the present invention disclose technical scope in, can expect easilyVariation or replacement, within all should being encompassed in protection scope of the present invention. Therefore, protection scope of the present inventionShould be as the criterion with the protection domain of claim.
Claims (10)
1. a method of obtaining object positional information, is characterized in that, the method comprises:
Within a transmission cycle, the signal that the aerial array in receiving target thing sends successively, described transmissionSignal in include aerial array information, calculate each received signal strength indicator;
Choose the first antenna of the received signal strength indicator mapping that meets the first Selection Strategy setting in advance,Extract second antenna and the third antenna adjacent with described the first antenna;
From the received signal strength indicator of the second antenna of obtaining and third antenna mapping, choose meet pre-The received signal strength indicator of the second Selection Strategy first arranging, obtains auxiliary positioning antenna;
According to described the first antenna, described auxiliary positioning antenna and described aerial array information, described in obtainingThe object positional information of electronic equipment of collecting mail number that connects.
2. method according to claim 1, is characterized in that, described within a transmission cycle, complies withThe signal that aerial array in inferior receiving target thing sends comprises:
The broadcast singal that receiving target thing sends, resolves the described broadcast singal receiving;
If the transmission time slot in the described broadcast singal of resolving is not first time slot in described transmission cycle, touchSend out and described in next, send first time slot in cycle and receive;
Sequentially receive broadcast singal storage that the described transmission cycle sends in affiliated each time slot, until described inSend end cycle.
3. method according to claim 2, is characterized in that, the each received signal strength of described calculating refers toShow and comprise:
Extract the broadcast singal of the same time slot of storage, calculate and extract according to the signal strength signal intensity algorithm setting in advanceThe received signal strength indicator of described broadcast singal.
4. method according to claim 2, is characterized in that, described broadcast singal also comprises: mediaAccess control address information and gap information.
5. according to the method described in claim 1 to 4 any one, it is characterized in that described foundation describedOne antenna, described auxiliary positioning antenna and described aerial array information, obtain described object and relatively receiveThe positional information of the electronic equipment of signal comprises:
Calculate the described object electricity of collecting mail number that connects according to the received signal strength indicator of described the first antennaThe range information of subset;
According to described the first antenna, described auxiliary positioning antenna and described aerial array information, described in determiningThe azimuth information of object.
6. method according to claim 5, is characterized in that, described aerial array information also comprises:Electronic compass azimuth information, described method also comprises:
Electronic compass azimuth information and the described auxiliary positioning antenna corresponding according to described the first antenna are correspondingElectronic compass azimuth information, calculates the angle orientation information of described object.
7. method according to claim 5, is characterized in that, described aerial array information also comprises:Antenna absolute orientation information and/or, antenna relative orientation information, described the first antenna of described foundation, described inAuxiliary positioning antenna and described aerial array information, determine that the azimuth information of described object comprises:
According to the antenna absolute orientation information of described the first antenna and described auxiliary positioning antenna and/or, dayLine relative orientation information, calculates the angle orientation information of described object.
8. method according to claim 5, is characterized in that, described method also comprises:
The range information calculating and azimuth information are presented in the mode of user interface.
9. a device that obtains object positional information, is characterized in that, this device comprises: signal strength signal intensityComputing module, signal strength signal intensity processing module, auxiliary positioning Antenna selection module and locating module, wherein,
Signal strength signal intensity is calculated module, within a transmission cycle, and the antenna array in receiving target thing successivelyThe signal that row send, includes aerial array information in the signal of described transmission, calculate each received signal strengthInstruction;
Signal strength signal intensity processing module, for choosing, to meet the reception signal of the first Selection Strategy of setting in advance strongThe first antenna of degree instruction mapping, extracts second antenna and the third antenna adjacent with described the first antenna;
Auxiliary positioning Antenna selection module, for the reception of the second antenna from obtaining and third antenna mappingIn signal strength signal intensity instruction, choose the received signal strength indicator that meets the second Selection Strategy setting in advance,To auxiliary positioning antenna;
Locating module, for described the first antenna of foundation, described auxiliary positioning antenna and described aerial arrayInformation, obtains the described object positional information of electronic equipment of collecting mail number that connects.
10. an electronic equipment, is characterized in that, described electronic equipment comprises: housing, processor, depositReservoir, circuit board and power circuit, wherein, circuit board is placed in the interior volume that housing surrounds, processorBe arranged on circuit board with memory; Power circuit, is used to each circuit or the device of above-mentioned electronic equipmentPower supply; Memory is for stores executable programs code; Processor is by holding of storing in read memoryLine program code moves the program corresponding with executable program code, for carrying out aforementioned arbitrary claimThe method of obtaining object positional information described in 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150900.3A CN105589065A (en) | 2016-03-16 | 2016-03-16 | Method and device for acquiring position information of target object and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150900.3A CN105589065A (en) | 2016-03-16 | 2016-03-16 | Method and device for acquiring position information of target object and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105589065A true CN105589065A (en) | 2016-05-18 |
Family
ID=55928792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610150900.3A Pending CN105589065A (en) | 2016-03-16 | 2016-03-16 | Method and device for acquiring position information of target object and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105589065A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019224A (en) * | 2016-07-11 | 2016-10-12 | 上海智臻智能网络科技股份有限公司 | Positioning method based on single hot spot and device based on single hot spot |
| CN106101980A (en) * | 2016-05-25 | 2016-11-09 | 龙发明 | The direction recognizing method of Bluetooth system, equipment and Bluetooth signal |
| CN107024676A (en) * | 2017-05-31 | 2017-08-08 | 杨涌 | A kind of position search method and device |
| CN107770731A (en) * | 2017-07-28 | 2018-03-06 | 南京中孚信息技术有限公司 | A kind of target direction localization method calculated based on mobile phone energy point of view |
| CN108732560A (en) * | 2018-05-21 | 2018-11-02 | 奕通信息科技（上海）股份有限公司 | The universal turning bench of WiFi localization methods and application this method based on signal launch angle |
| CN109671329A (en) * | 2019-02-18 | 2019-04-23 | 成都众志天成科技有限公司 | Direction-finding station simulation system and method |
| CN110873859A (en) * | 2018-08-30 | 2020-03-10 | 北京松果电子有限公司 | Method, device, medium and equipment for determining transmitting and receiving end positions based on directional antenna |
| CN111220944A (en) * | 2020-01-20 | 2020-06-02 | 黄凯 | Unmanned aerial vehicle positioning method and system |
| CN111290434A (en) * | 2020-03-10 | 2020-06-16 | 英华达（南京）科技有限公司 | Unmanned aerial vehicle guiding method, system, equipment and storage medium |
| CN111294745A (en) * | 2020-01-22 | 2020-06-16 | 清研讯科（北京）科技有限公司 | Indoor distribution system capable of being used for positioning |
| CN111948604A (en) * | 2019-05-15 | 2020-11-17 | 南宁富桂精密工业有限公司 | Positioning system and method |
| WO2021023046A1 (en) * | 2019-08-02 | 2021-02-11 | 华为技术有限公司 | Electronic device control method and electronic device |
| CN112699189A (en) * | 2019-10-23 | 2021-04-23 | 阿里巴巴集团控股有限公司 | Position information updating method and device and computer system |
| CN112752340A (en) * | 2020-12-31 | 2021-05-04 | Oppo广东移动通信有限公司 | Base station position calibration method, storage medium and positioning base station |
| CN112834984A (en) * | 2019-11-22 | 2021-05-25 | 阿里巴巴集团控股有限公司 | Positioning method, device, system, equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070179670A1 (en) * | 2002-01-24 | 2007-08-02 | Irobot Corporation | Navigational control system for a robotic device |
| CN101965050A (en) * | 2009-07-21 | 2011-02-02 | 北方电讯网络有限公司 | Use multi-beam to launch the method and apparatus of the position of estimating wireless station |
| CN104053229A (en) * | 2013-03-14 | 2014-09-17 | 中兴通讯股份有限公司 | Mobile terminal, and positioning method and apparatus |
| CN204360218U (en) * | 2014-12-31 | 2015-05-27 | 深圳市大疆创新科技有限公司 | Mobile object |
| CN104684072A (en) * | 2013-11-26 | 2015-06-03 | 华为技术有限公司 | Real-time positioning method, real-time positioning device, AP, and terminal |
-
2016
- 2016-03-16 CN CN201610150900.3A patent/CN105589065A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070179670A1 (en) * | 2002-01-24 | 2007-08-02 | Irobot Corporation | Navigational control system for a robotic device |
| CN101965050A (en) * | 2009-07-21 | 2011-02-02 | 北方电讯网络有限公司 | Use multi-beam to launch the method and apparatus of the position of estimating wireless station |
| CN104053229A (en) * | 2013-03-14 | 2014-09-17 | 中兴通讯股份有限公司 | Mobile terminal, and positioning method and apparatus |
| CN104684072A (en) * | 2013-11-26 | 2015-06-03 | 华为技术有限公司 | Real-time positioning method, real-time positioning device, AP, and terminal |
| CN204360218U (en) * | 2014-12-31 | 2015-05-27 | 深圳市大疆创新科技有限公司 | Mobile object |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106101980A (en) * | 2016-05-25 | 2016-11-09 | 龙发明 | The direction recognizing method of Bluetooth system, equipment and Bluetooth signal |
| CN106019224A (en) * | 2016-07-11 | 2016-10-12 | 上海智臻智能网络科技股份有限公司 | Positioning method based on single hot spot and device based on single hot spot |
| CN107024676A (en) * | 2017-05-31 | 2017-08-08 | 杨涌 | A kind of position search method and device |
| CN107770731A (en) * | 2017-07-28 | 2018-03-06 | 南京中孚信息技术有限公司 | A kind of target direction localization method calculated based on mobile phone energy point of view |
| CN108732560A (en) * | 2018-05-21 | 2018-11-02 | 奕通信息科技（上海）股份有限公司 | The universal turning bench of WiFi localization methods and application this method based on signal launch angle |
| CN110873859A (en) * | 2018-08-30 | 2020-03-10 | 北京松果电子有限公司 | Method, device, medium and equipment for determining transmitting and receiving end positions based on directional antenna |
| CN109671329A (en) * | 2019-02-18 | 2019-04-23 | 成都众志天成科技有限公司 | Direction-finding station simulation system and method |
| CN109671329B (en) * | 2019-02-18 | 2020-12-08 | 成都众志天成科技有限公司 | Radio direction finding simulation system and method |
| CN111948604A (en) * | 2019-05-15 | 2020-11-17 | 南宁富桂精密工业有限公司 | Positioning system and method |
| CN111948604B (en) * | 2019-05-15 | 2024-05-17 | 南宁富联富桂精密工业有限公司 | Positioning system and method |
| WO2021023046A1 (en) * | 2019-08-02 | 2021-02-11 | 华为技术有限公司 | Electronic device control method and electronic device |
| CN112699189A (en) * | 2019-10-23 | 2021-04-23 | 阿里巴巴集团控股有限公司 | Position information updating method and device and computer system |
| CN112699189B (en) * | 2019-10-23 | 2024-06-04 | 盒马(中国)有限公司 | Position information updating method and device and computer system |
| CN112834984A (en) * | 2019-11-22 | 2021-05-25 | 阿里巴巴集团控股有限公司 | Positioning method, device, system, equipment and storage medium |
| CN112834984B (en) * | 2019-11-22 | 2024-06-11 | 阿里巴巴集团控股有限公司 | Positioning method, device, system, equipment and storage medium |
| CN111220944B (en) * | 2020-01-20 | 2023-08-18 | 北京历正科技有限责任公司 | Unmanned aerial vehicle positioning method and system |
| CN111220944A (en) * | 2020-01-20 | 2020-06-02 | 黄凯 | Unmanned aerial vehicle positioning method and system |
| CN111294745A (en) * | 2020-01-22 | 2020-06-16 | 清研讯科（北京）科技有限公司 | Indoor distribution system capable of being used for positioning |
| CN111294745B (en) * | 2020-01-22 | 2021-08-06 | 清研讯科（北京）科技有限公司 | Indoor distribution system capable of being used for positioning |
| CN111290434A (en) * | 2020-03-10 | 2020-06-16 | 英华达（南京）科技有限公司 | Unmanned aerial vehicle guiding method, system, equipment and storage medium |
| CN112752340A (en) * | 2020-12-31 | 2021-05-04 | Oppo广东移动通信有限公司 | Base station position calibration method, storage medium and positioning base station |
| CN112752340B (en) * | 2020-12-31 | 2022-12-27 | Oppo广东移动通信有限公司 | Base station position calibration method, storage medium and positioning base station |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105589065A (en) | Method and device for acquiring position information of target object and electronic equipment | |
| CN103592622B (en) | A kind of signal framing system and localization method thereof | |
| CN100486355C (en) | Method and apparatus for realizing mobile station positioning in radio communication system | |
| CN103995251A (en) | Positioning system and method of indoor mobile device | |
| CN103813448A (en) | Indoor positioning method based on RSSI | |
| CN102045837A (en) | Mobile node positioning method and device | |
| US20210399775A1 (en) | Dynamic switch pattern selection for angle of arrival | |
| CN105891866A (en) | Positioning method and device and electronic equipment | |
| CN109640262B (en) | Positioning method, system, equipment and storage medium based on mixed fingerprints | |
| CN110764048A (en) | Target searching method and device, storage medium and computer equipment | |
| CN104144496A (en) | Indoor positioning method and system based on beacon devices | |
| CN107959925A (en) | A kind of smart home device assisted location method | |
| CN104297728A (en) | Indoor ultrasonic positioning system and positioning method | |
| US11486957B2 (en) | Dynamic switch pattern selection for angle of arrival | |
| CN104735781A (en) | Indoor positioning system and positioning method thereof | |
| CN105578420A (en) | WLAN based indoor positioning method and device | |
| CN105444755B (en) | Indoor orientation method based on space noise signal | |
| CN201294639Y (en) | Single base station wireless locating device | |
| CN106303954B (en) | A kind of bluetooth self-help tourist guide apparatus based on zone location distinguished number | |
| CN102812378B (en) | For testing the method and apparatus of received signal in radio signal positioning system | |
| CN101635985A (en) | Positioning method, positioning device and recording medium | |
| CN203191541U (en) | Novel portable electronic tracking and positioning system | |
| US11356158B2 (en) | Dynamic switch pattern selection for angle of arrival | |
| CN101672907B (en) | System and method for positioning radio-frequency | |
| CN101616207A (en) | The method of positioning signal strength of mobile communication equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160518 |