CN105611500A - Positioning system and method in scheduled space - Google Patents
Positioning system and method in scheduled space Download PDFInfo
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- CN105611500A CN105611500A CN201610055089.0A CN201610055089A CN105611500A CN 105611500 A CN105611500 A CN 105611500A CN 201610055089 A CN201610055089 A CN 201610055089A CN 105611500 A CN105611500 A CN 105611500A
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- acoustic signals
- transmitter unit
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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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
Abstract
The invention discloses a positioning system and method in a scheduled space. At least four sound wave signal transmitting units are arranged at different fixing locations in the scheduled space, are not located on the same circle and are used for transmitting sound wave signals; the at least four sound wave signal transmitting units are synchronous in time; a positioned device is located in the scheduled space, is asynchronous with the time of the at least four sound wave signal transmitting units and is used for receiving the sound wave signals transmitted by the at least four sound wave signal transmitting units and determining the measurement distances with the at least four sound wave signal transmitting units; and the relative location of the positioned device in the scheduled space is calculated based on the measurement distances of the positioned device with the at least four sound wave signal transmitting units.
Description
Technical field
Embodiment of the present invention relates to wireless communication technology field, more specifically, relates to a kind of predetermined spaceInterior navigation system and method.
Background technology
Along with the quick increase of data service and multimedia service, people to the demand of location and navigation day by dayIncrease, especially in complicated indoor environment, as building, airport hall, exhibition room, warehouse, supermarket, figureIn the environment such as book shop, underground parking, mine, usually need to determine mobile terminal or its holder, establishGrant article in indoor positional information. But be subject to positioning time, positioning precision and complex indoor environmentEtc. the restriction of condition, fairly perfect location technology also cannot be utilized at present well.
Further, outdoor among a small circle if any factory, the company of many factory buildings, community, groups of building etc., needThe positional information of determining mobile terminal or its holder, facility, the location technologies such as GPS cannot be accurate to certainConcrete building.
About indoor positioning technology, experts and scholars have proposed many solutions, as A-GPS location technology,Acoustic location technology, Bluetooth technology, infrared technology, REID, super-broadband tech, wirelessLAN, light track and localization technology, and graphical analysis, beacon location, computer vision location skillArt etc.
Except above-mentioned location technology, also have based on computer vision, light track and localization, based on figurePicture analysis, magnetic field and beacon location etc. In addition, also have location technology, the beacon based on graphical analysisLocation, triangle location etc. At present a lot of technology are also in the development test stage, as based on magnetic field feeling of stressThe technology that should position. Various location technologies respectively have pluses and minuses above, but and do not mean that these technologyJust should use comprehensively or be abandoned because of its shortcoming because of its advantage.
No matter which kind of positioning means of the prior art, is all difficult to keep essence on location between indoor floorExactness, and how to keep the convenience and the property with low cost that use simultaneously, all more or less existDefect.
Substantially be all the methods such as applying GPS at present about outdoor positional information among a small circle, but GPS cannotBe accurate to certain concrete building, some building GPS can locate, but the specifying information of building,As distributing, the entrance of building, outlet, interior of building information, building all cannot obtain. GPS coupleBuilding information renewal speed is very slow, and cost is very high, and market, groups of building or factory building etc. cannot be timelyUpgrade these information.
Summary of the invention
In view of this, embodiment of the present invention proposes a kind of navigation system and the method in predetermined space.
The technical scheme of embodiment of the present invention is as follows:
The present invention proposes the navigation system in a kind of predetermined space, comprising:
At least four acoustic signals transmitter units, be arranged in different fixed position place in predetermined space andBe not positioned on same circle, be respectively used to launch acoustic signals; Described at least four acoustic signals transmitter unitsTime synchronized;
The equipment that is positioned, be positioned at described predetermined space and not with described at least four acoustic signals transmitter unitsTime synchronized, for the acoustic signals of at least four acoustic signals transmitter unit transmittings described in receiving, respectively reallyThe measuring distance of fixed and described at least four acoustic signals transmitter units, and based on described at least four sound wavesThe relative position of equipment in described predetermined space is positioned described in the measuring distance of signal transmitter unit calculates.
Preferably, described predetermined space is the interior space with multiple floors, and at each floorArrange respectively described navigation system; Or
Described predetermined space is the interior space with a floor, arranges described navigation system in this floor;Or
Described predetermined space is the interior space with multiple floors, and at least one floor, arranges instituteState navigation system; Or
Described predetermined space is a space movably, and described movably space comprises at least one in followingIndividual:
Subway, train, automobile, aircraft or steamer.
Preferably, described acoustic signals transmitter unit is four;
The equipment of being positioned has clock correction Vto；
The equipment that is positioned, for calculate based on following formula the coordinate of the equipment that is positioned in predetermined space (x,Y, z); Also for calculating described clock correction V based on described formulato：
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)＝d4；
Wherein:
(x, y, z) is for being positioned the coordinate of equipment in predetermined space; (x1、y1、z1) be first soundThe coordinate of ripple signal transmitter unit in predetermined space; (x2、y2、z2) be that second acoustic signals transmitting is singleThe coordinate of unit in predetermined space; (x3、y3、z3) be that the 3rd acoustic signals transmitter unit is at predetermined spaceInterior coordinate; (x4、y4、z4) be the coordinate of the 4th acoustic signals transmitter unit in predetermined space; D1For the measuring distance of the equipment of being positioned and first acoustic signals transmitter unit; D2 is the equipment of being positioned and secondThe measuring distance of individual acoustic signals transmitter unit; D3 is the equipment of being positioned and the 3rd acoustic signals transmitter unitMeasuring distance; D4 is the measuring distance of the equipment that is positioned and the 4th acoustic signals transmitter unit; Vt1ForThe clock correction of first acoustic signals transmitter unit; Vt2Be the clock correction of second acoustic signals transmitter unit; Vt3Be the clock correction of the 3rd acoustic signals transmitter unit; Vt4Be the clock correction of the 4th acoustic signals transmitter unit; CFor the aerial spread speed of sound wave.
Preferably, also comprise:
Forward signal unit, is arranged in the fixed position outside fixed position place or the predetermined space in predetermined spacePlace, for receiving GPS framing signal to determine the gps coordinate of described forward signal unit;
At least four acoustic signals transmitter units, for receive described GPS framing signal from forward signal unit,And respectively based on determining gps coordinate separately with the predetermined location relationship of forward signal unit;
The equipment that is positioned, for the relative position based in described predetermined space and described at least four soundThe gps coordinate of ripple signal transmitter unit, the gps coordinate of the equipment that is positioned described in determining.
Preferably, described gps coordinate comprises longitude, latitude and geodetic height.
Preferably, described in the equipment of being positioned be the mobile terminal with microphone, under described mobile terminal comprisesAt least one in row:
Functional mobile phone, personal digital assistant, panel computer or smart mobile phone.
The present invention also proposes the localization method in a kind of predetermined space, comprising:
Different fixed position place in predetermined space and be not positioned on same circle and arrange respectively at least four soundRipple signal transmitter unit, described at least four acoustic signals transmitter unit time synchronized;
At least four acoustic signals transmitter units are launched respectively acoustic signals;
Be positioned at described predetermined space and not with the quilt of described at least four acoustic signals transmitter unit time synchronizedPositioning equipment, the acoustic signals of at least four acoustic signals transmitter unit transmittings described in reception, determine respectively withThe measuring distance of described at least four acoustic signals transmitter units, and based on described at least four acoustic signalsThe relative position of equipment in described predetermined space is positioned described in the measuring distance of transmitter unit calculates.
Preferably, the method also comprises:
Fixed position place outside fixed position place or predetermined space in predetermined space arranges and is used for receiving GPSThe forward signal unit of framing signal, thereby the gps coordinate of definite described forward signal unit;
At least four acoustic signals transmitter units receive described GPS framing signal from forward signal unit, and pointNot based on determining gps coordinate separately with the predetermined location relationship of forward signal unit;
Relative position and described at least four acoustic signals of the equipment that is positioned based in described predetermined spaceThe gps coordinate of transmitter unit, the gps coordinate of the equipment that is positioned described in determining.
Preferably, described acoustic signals transmitter unit is four;
The equipment of being positioned has clock correction Vto；
The equipment that is positioned calculates based on following formula the coordinate (x, y, z) of equipment in predetermined space that be positioned;Also calculate described clock correction V based on described formulato; Wherein:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)＝d4；
(x, y, z) is for being positioned the coordinate of equipment in predetermined space; (x1、y1、z1) be first soundThe coordinate of ripple signal transmitter unit in predetermined space; (x2、y2、z2) be that second acoustic signals transmitting is singleThe coordinate of unit in predetermined space; (x3、y3、z3) be that the 3rd acoustic signals transmitter unit is at predetermined spaceInterior coordinate; (x4、y4、z4) be the coordinate of the 4th acoustic signals transmitter unit in predetermined space; D1For the measuring distance of the equipment of being positioned and first acoustic signals transmitter unit; D2 is the equipment of being positioned and secondThe measuring distance of individual acoustic signals transmitter unit; D3 is the equipment of being positioned and the 3rd acoustic signals transmitter unitMeasuring distance; D4 is the measuring distance of the equipment that is positioned and the 4th acoustic signals transmitter unit; Vt1ForThe clock correction of first acoustic signals transmitter unit; Vt2Be the clock correction of second acoustic signals transmitter unit; Vt3Be the clock correction of the 3rd acoustic signals transmitter unit; Vt4Be the clock correction of the 4th acoustic signals transmitter unit; CFor the aerial spread speed of sound wave.
Preferably, described predetermined space is Static-state Space or space movably;
Described Static-state Space comprises at least one in following: building, airport hall, exhibition room, warehouse, superCity, library, underground parking, mine, classroom;
Described movably space comprises at least one in following: subway, train, automobile, aircraft or wheelShip.
Can find out from technique scheme, in embodiment of the present invention, at least four acoustic signals are sent outPenetrate unit, be arranged in the different fixed position place in predetermined space and be not positioned on same circle, respectivelyBe used for launching acoustic signals; At least four acoustic signals transmitter unit time synchronized; The equipment that is positioned, is positioned atIn predetermined space and not with at least four acoustic signals transmitter unit time synchronized, for receiving at least four soundThe acoustic signals of ripple signal transmitter unit transmitting, determines respectively the distance with at least four acoustic signals transmitter unitsFrom, and based on calculating and be positioned equipment at described predetermined sky with the distance of at least four acoustic signals transmitter unitsInterior relative position. Be positioned equipment and signal transmitter unit can be realized location without synchronised clock, because ofThis present invention is very easy to use, and can significantly reduce costs.
And embodiment of the present invention combines with GPS location, has realized indoor accurate GPS fixedPosition, is applicable to the mobile space such as subway, train, automobile, aircraft or steamer.
And embodiment of the present invention cannot for GPS such as underground parking, building, airport hallsPinpoint place, the present invention can well realize accurate indoor positioning. Not only therewith, thisBright embodiment not only can provide the such two-dimensional signal of longitude and latitude, can also provide altitude information, carriesFor a three-dimensional localization method, can be as accurate as different floors. Based on this, embodiment of the present inventionCan be applied to widely in LBS, the boundless market space is provided. And, can be by existingGPS location technology in technology combines with localization method of the present invention, realizes indoor and outdoor locationSeamless connection.
Further, embodiment of the present invention has advantages of that volume is little, with low cost, and signal transmitting is singleUnit can combine with permanent plant or fixed position in several ways, is easy to use various.
Brief description of the drawings
Fig. 1 is according to the positioning system structure figure in the predetermined space of embodiment of the present invention;
Fig. 2 is according to the indoor relative positioning schematic diagram in the predetermined space of embodiment of the present invention;
Fig. 3 is according to the indoor accurate position schematic diagram in the predetermined space of embodiment of the present invention;
Fig. 4 is according to the localization method flow chart in the predetermined space of embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to the present inventionBe described in further detail.
Succinct and directly perceived on describing, below comes this by describing some representational embodimentsThe scheme of invention is set forth. Details a large amount of in embodiment are only for helping to understand the solution of the present invention.Can be not limited to these details when but clearly, technical scheme of the present invention realizes. For fear of notFuzzy necessarily the solution of the present invention, some embodiments are not described meticulously, but only giveGo out framework. Hereinafter, " comprising " refers to " including but not limited to ", " according to ... " refer to " extremelyFew basis ..., but be not limited to only basis ... ". Due to the speech habits of Chinese, hereinafter there is no spyWhile not pointing out the quantity of a composition, mean that it can be also multiple that this composition can be one, maybe can manageSeparate as at least one.
Indoor map location, as " last kilometer " of outdoor map, is subject to paying close attention to widely both at home and abroad.Along with the quick increase of data service and multimedia service, the demand of people to indoor positioning and indoor navigationDay by day increase, especially in complicated indoor environment, as building, megastore, airport hall, exhibition room,In the environment such as warehouse, supermarket, library, underground parking, mine, usually need to determine mobile terminalOr its holder, facility and article are in indoor positional information. But, be subject to positioning time, positioning precision,The restriction of the condition such as various disturbing factors in complex indoor environment, environment, fairly perfect location technology orderBefore also cannot utilize well.
General, indoor acoustic location has the signal transmitter unit of three known location to locate to be positionedEquipment, but only have the distance that mensuration is positioned between equipment and three signal transmitter units at one timeJust can locate, realize and synchronously must have unified time reference. In the time of sound ranging, in three-dimensionalIn space coordinates, only have and measure at one time three distances and just can locate, be i.e. object A and eachWhen signal transmitter unit has synchronised clock, could accurately measure ground testee A in coordinate systemParticular location. If record the distance of object A to 1 of signal transmitter unit, A point is positioned at soCentered by signal transmitter unit 1, on the ball taking measured distance as radius. If record an A simultaneouslyTo the distance of another two signal transmitter units 2,3, this A is on two crossing points of Tri-ball.Because acoustic signals transmitting has directive property, some A can only be positioned at three transmitter unit acoustic emission directions.The position of known transmitter unit is measured to again the distance of three signal transmitter units 1,2,3 simultaneously,Can position.
But, because propagating in air, sound wave can produce error, may cause the propagation time asynchronous.In order to make propagation data synchronous, the present invention introduces the 4th transmitter unit time data is provided.
Locate mode of the present invention adopts the signal transmitting of at least four (being preferably four) clock synchronous singleUnit, be positioned equipment and signal transmitter unit are without synchronised clock, and wherein three signal transmitter units are used forCoordinate setting, a signal transmitter unit is as clock alignment. Due to the uniqueness of the device location that is positioned,Four signal transmitter units can not be simultaneously on a circle, and the position of four signal transmitter units is forKnow.
, in predetermined space of the present invention, location comprises the three-dimensional coordinate of a definite point and realizes synchronousThese four unknown parameters, must could determine quilt by the distance that is measured at least 4 signal transmitter unitsPosition equipment positions.
Localization method in the accurate predetermined space that the present invention proposes. Positioning precision within the scope of 50 meters of the methodCan reach 7 millimeters. When location needs acoustic signals transmitting in predetermined space of the present invention, do not have barrier to stop,In sonic transmissions process, more or less have a multi-mirror reflecting, can affect positioning precision. This indoor positioning sideMethod positioning precision within the scope of 50 meters is 7 millimeters, can not increase or scope because of precision among a small circleLarge precision diminishes.
Fig. 1 is according to the positioning system structure figure in the predetermined space of embodiment of the present invention.
As shown in Figure 1, this system comprises:
N (n is at least four natural number) acoustic signals transmitter unit (or ultrasonic signal transmitter unit),Be arranged in the different fixed position place in predetermined space and be not positioned on same circle, being respectively used to transmittingAcoustic signals (or ultrasonic signal); Described at least four acoustic signals transmitter unit time synchronized;
The equipment that is positioned, be positioned at described predetermined space and not with described at least four acoustic signals transmitter unitsTime synchronized, for the acoustic signals of at least four acoustic signals transmitter unit transmittings described in receiving, respectively reallyThe measuring distance of fixed and described at least four acoustic signals transmitter units, and based on described at least four sound wavesThe relative position of equipment in described predetermined space is positioned described in the measuring distance of signal transmitter unit calculates.
Signal transmitter unit can be arranged on socket, electric light etc. can be provided on the equipment of power supply, also can rootInstall according to needs, be easier to like this positional information of picked up signal transmitter unit, it is right that this positional information is kept atIn the signal transmitter unit of answering.
In one embodiment, predetermined space is the interior space with multiple floors, and at eachFloor is all arranged respectively described navigation system; Or
Described predetermined space is the interior space with a floor, arranges described navigation system in this floor;Or
Described predetermined space is the interior space with multiple floors, and at least one floor, arranges instituteState navigation system; Or
Described predetermined space is a space movably, and described movably space comprises at least one in followingIndividual:
Subway, train, automobile, aircraft or steamer.
In one embodiment, acoustic signals transmitter unit is four; The equipment of being positioned has clock correction Vto；
The equipment that is positioned, for calculate based on following formula the coordinate of the equipment that is positioned in predetermined space (x,Y, z); Also for calculating described clock correction V based on described formulato：
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)＝d4；
Wherein:
(x, y, z) is for being positioned the coordinate of equipment in predetermined space; (x1、y1、z1) be first soundThe coordinate of ripple signal transmitter unit in predetermined space; (x2、y2、z2) be that second acoustic signals transmitting is singleThe coordinate of unit in predetermined space; (x3、y3、z3) be that the 3rd acoustic signals transmitter unit is at predetermined spaceInterior coordinate; (x4、y4、z4) be the coordinate of the 4th acoustic signals transmitter unit in predetermined space; D1For the measuring distance of the equipment of being positioned and first acoustic signals transmitter unit; D2 is the equipment of being positioned and secondThe measuring distance of individual acoustic signals transmitter unit; D3 is the equipment of being positioned and the 3rd acoustic signals transmitter unitMeasuring distance; D4 is the measuring distance of the equipment that is positioned and the 4th acoustic signals transmitter unit; Vt1ForThe clock correction of first acoustic signals transmitter unit; Vt2Be the clock correction of second acoustic signals transmitter unit; Vt3The clock correction of the 3rd acoustic signals transmitter unit; Vt4Be the clock correction of the 4th acoustic signals transmitter unit; C isThe aerial spread speed of sound wave.
In one embodiment, this system also comprises:
Forward signal unit, is arranged in the fixed position outside fixed position place or the predetermined space in predetermined spacePlace, for receiving GPS framing signal to determine the gps coordinate of described forward signal unit;
At least four acoustic signals transmitter units, for receive described GPS framing signal from forward signal unit,And respectively based on determining gps coordinate separately with the predetermined location relationship of forward signal unit;
The equipment that is positioned, for the relative position based in described predetermined space and described at least four soundThe gps coordinate of ripple signal transmitter unit, the gps coordinate of the equipment that is positioned described in determining.
Preferably, gps coordinate comprises longitude, latitude and geodetic height.
In one embodiment, described in the equipment of being positioned be the mobile terminal with microphone, described movementTerminal comprises at least one in following: functional mobile phone, personal digital assistant, panel computer or smart mobile phone,Etc..
Fig. 2 is according to the indoor relative positioning schematic diagram in the predetermined space of embodiment of the present invention.
As shown in Figure 2, in predetermined space, four signal transmitter units are installed in the optional position of (as indoor)A, b, c, d, these four signal transmitter unit a, b, c, d can not be on same circle. Certain is a bit in predetermined spaceAs origin of coordinates O, four signal transmitter unit a, b, c, the coordinate of d in this coordinate system, isThe a (x1, y1, z1) knowing, b (x2, y2, z2), c (x3, y3, z3), d (x4, y4, z4), sends out four signalsPenetrate unit a, b, c, the positional information that d is corresponding writes signal transmitter unit a separately, b, c, in d.
The current coordinate of supposing the equipment e that is positioned is e (x, y, z). Signal transmitter unit a, b, c, d can holdContinue and constantly send acoustic location signal, in acoustic location signal, can comprise positional information, signal transmittingAccurate transmitting time, command signal and the framing signal of unit and other information. The equipment e of being positioned entersWhile entering indoor positioning scope, receive signal transmitter unit a, b, c, the sound wave of d transmitting.
The measuring distance of equipment e and signal transmitter unit of being positioned is d, wherein d=(T2-T1) × C;C is the aerial spread speed of sound wave; The time of reception point of acoustic signals is T2, from acoustic signalsIn the transmitting time point that parses be T1. T1 is the acoustic signals launch time of signal transmitter unit side;T2 is the acoustic signals time of reception of the equipment e side that is positioned.
The equipment e of being positioned calculates respectively: with the measuring distance ae of signal transmitter unit a; Launch with signalThe measuring distance be of unit b; Measuring distance ce with signal transmitter unit c; With signal transmitter unit dMeasuring distance de. Wherein:
Ae=(T2a-T1a) × C; C is the aerial spread speed of sound wave; Signal transmitter unit aThe acoustic signals sending further comprises the acoustic signals transmitting time point T1a of signal transmitter unit a side,The equipment e that is positioned can obtain T1a by resolving this acoustic signals; T2a is the equipment e record that is positioned, the time of reception point of the acoustic signals that sends for signal transmitter unit a.
Be=(T2b-T1b) × C; C is the aerial spread speed of sound wave; Signal transmitter unit bThe acoustic signals sending further comprises the acoustic signals transmitting time point T1b of signal transmitter unit b side,The equipment e that is positioned can obtain T1b by resolving this acoustic signals; T2b is the equipment e record that is positioned, the time of reception point of the acoustic signals that sends for signal transmitter unit b.
Ce=(T2c-T1c) × C; C is the aerial spread speed of sound wave; Signal transmitter unit cThe acoustic signals sending further comprises the acoustic signals transmitting time point T1c of signal transmitter unit c side,The equipment e that is positioned can obtain T1c by resolving this acoustic signals; T2c is the equipment e record that is positioned, the time of reception point of the acoustic signals that sends for signal transmitter unit c.
De=(T2d-T1d) × C; C is the aerial spread speed of sound wave; Signal transmitter unit dThe acoustic signals sending further comprises the acoustic signals transmitting time point T1d of signal transmitter unit d side,The equipment e that is positioned can obtain T1d by resolving this acoustic signals; T2da is the equipment e record that is positioned, the time of reception point of the acoustic signals that sends for signal transmitter unit d.
The precondition of sound ranging is that the equipment of transmitting sound wave will be synchronizeed with the equipment clock that receives sound wave,Just can record the time that sound wave is walked in air, and then obtain the distance that sound wave is walked in air,It is the distance between two equipment.
But, signal transmitter unit a in the present invention, b, c, d does not require and synchronizes with the equipment e of being positioned, fourSignal transmitter unit a, b, c, the d retention time itself is synchronous, therefore introduce a delay parameter Vto, in order to meterThe be positioned positional information of equipment e of calculation. Ae is the measurement distance of signal transmitter unit a and the equipment e that is positionedFrom; Be is the measuring distance of signal transmitter unit b and the equipment e that is positioned; Ce is signal transmitter unit cMeasuring distance with the equipment e that is positioned; De is the measurement distance of signal transmitter unit d and the equipment e that is positionedFrom.
Like this, calculate the coordinate of equipment e of being positioned and be converted into mathematical computations.
Known: four point coordinates a (x1, y1, z1), b (x2, y2, z2), c (x3, y3, z3), d (x4, y4, z4), ae=d1;be＝d2；ce＝d3；de＝d4；
Ask e point coordinates e (x, y, z):
Equation:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)＝d4；
In above-mentioned four equations, (x, y, z) is the coordinate of tested point e in coordinate system, and Vt0 is by fixedThe clock correction of the receiver of position equipment e; (x, y, z) and Vt0For unknown parameter. (x1, y1, z1) sends out for signalPenetrate the coordinate of unit a in coordinate system, (x2, y2, z2) is the coordinate of signal transmitter unit b in coordinate system,(x3, y3, z3) is the coordinate of signal transmitter unit c in coordinate system, and (x4, y4, z4) is signal transmitter unit dCoordinate in coordinate system; D1, d2, d3, d4 is respectively signal transmitter unit a, b, c, d is to being determinedMeasuring distance between the equipment of position; Vt1For the clock correction of first acoustic signals transmitter unit; Vt2It is secondThe clock correction of acoustic signals transmitter unit; Vt3Be the clock correction of the 3rd acoustic signals transmitter unit; Vt4Be the 4thThe clock correction of individual acoustic signals transmitter unit; C is the speed that sound is propagated in air. (x1, y1, z1), (x2,y2,z2)(x3,y3,z3)，(x4,y4,z4)，Vt1,Vt2,Vt3,Vt4Be known with C; D1, d2, d3 andD4 also can observe and obtaining.
Can calculate the coordinate (x, y, z) of tested point and the clock correction V of receiver by above four equationsto。
Visible, though be positioned equipment and signal transmitter unit not the retention time synchronize, the present invention also can realizeRelative positioning for the equipment of being positioned at predetermined space. This predetermined space can be Static-state Space or removableSpace. Static-state Space comprises at least one in following: building, airport hall, exhibition room, warehouse, superCity, library, underground parking, mine, classroom, etc. Movably space comprise following at leastOne: subway, train, automobile, aircraft or steamer, etc.
By introducing gps signal, the present invention can also realize the accurate location of the equipment of being positioned at predetermined space.
GPS is the most successful navigation system up to now, but must capture at least in the time of location and navigationThe signal of four satellites just can. At the indoor signal almost catching less than four satellites, so GPS is basicCan not be used for indoor positioning and navigation. The present invention is according to positioning principle in the predetermined space shown in Fig. 1 and Fig. 2,Propose a kind of satellite-signal that solves and arrive weak when ground, can not to penetrate building problem, finally locate thingThe current residing position of body, the problem of solution GPS location " last kilometer ".
The present invention proposes localization method in a kind of predetermined space combining based on GPS and sound wave, mainly by fourAnd above gps satellite, forward signal unit, four and above indoor positioning device unit, indoor by fixedPosition equipment composition. Method is as follows:
Gps satellite: gps satellite navigation system is made up of the satellite network of 24 high approximately 20,000 kms, these are 24 years oldSatellite distribution is at 6 evenly on the tracks of configuration. The distribution that satellite is such is mainly at earth tableThe arbitrary place of face all can receive more than 4 satellite-signal simultaneously.
Forward signal unit: be arranged in predetermined space or predetermined space outer (as the periphery of building) certain is solidLocation, forward signal unit is corresponding to the station location marker value of this geographic location, forward signal unit information;Forward signal unit can receive gps signal, and forward signal unit can forward GPS information.
Indoor locating system: each floor is all equipped with the navigation system shown in a set of Fig. 1 and Fig. 2, positioning systemsSystem is made up of four signal transmitter units (being indoor positioning unit), and four signal transmitter units are installed on respectivelyThe fixed position of floor, its geographic location information is known, and reception is sent by forward signal unitGPS information, sends acoustic location signal to the equipment of being positioned. Install after signal transmitter unit, arrange eachThe station location marker value of signal transmitter unit geographic location information.
Equipment is positioned: when the equipment moving that is positioned is to certain position, receive the sound being sent by signal transmitter unitRipple signal. The equipment of being positioned can have microphone, determines for receiving the acoustic signals that signal transmitter unit sends.Acoustic signals comprises transmitter unit geographic location latitude and longitude information and altitude information.
GPS can measure ground point the earth longitude and latitude and geodetic height, and satellite fix is at the earth right angle, space, the earth's coreIn coordinate system, carry out, this coordinate system and the earth's core earth coordinates can be changed mutually by geometrical relationship.Different from GPS location, the above-mentioned indoor locating system of the present invention is to obtain relative position, indoor four lettersNumber transmitter unit is fixedly mounted on certain position, and a selected point, as the origin of coordinates, can obtain fourThe coordinate of signal transmitter unit in this coordinate system.
For the indoor positioning of the building of multiple floors, each floor is provided with one or more positioning systemsSystem, to navigation system in this multi-room, can set the same origin of coordinates as indoor locating systemO. General, the origin of coordinates of indoor locating system can be elected the installation site of forward signal unit as.
The coordinate system of GPS location has two kinds of the earth rectangular coordinate system and the earth's core earth coordinates, these two kinds of coordinate systemsCan mutually change by geometrical relationship. The selected point that is easier to record longitude and latitude and geodetic height is as indoor fixedPosition system coordinate system initial point, this coordinate system and the earth rectangular coordinate system or and the earth's core earth coordinates all canMutually to change by geometrical relationship. If the coordinate system of above-mentioned indoor locating system can be transformed into satelliteIn the coordinate system of position, also can obtain the earth longitude and latitude and the geodetic height of indoor measured point, can pass through thus GPSCarry out indoor positioning.
Particularly, indoor positioning of the present invention and navigation scheme are described below:
The first step: the longitude and latitude and the geodetic height that record forward signal unit: forward signal cellular installation is at buildingOutdoor fixed position, can record by GPS longitude and latitude and the geodetic height of forward signal unit.
Second step: each signal transmitter unit installation site of indoor locating system is fixed, with forward signal unitRelative position is fixed, and can calculate geographical position ident value corresponding to indoor each signal transmitter unit.
The 3rd step: longitude and latitude and the geodetic height of the equipment that is positioned in counting chamber: gps satellite, forward signal unit,The relative position relation of the signal transmitter unit that indoor positioning is used is known, by above-mentioned indoor accurate positioning method,Calculating can obtain longitude and latitude and the geodetic height of the indoor equipment that is positioned.
Fig. 3 is according to the indoor accurate position schematic diagram in the predetermined space of embodiment of the present invention.
The position of the GPS receiver of earth surface, for the earth, therefore, be described GPS and connectThe position of receipts machine, needs to adopt to be fixed on the coordinate system in company with earth rotation on the earth, and terrestrial coordinate system is doneFor reference system.
Terrestrial coordinate system has two kinds of geometric expression forms, i.e. earth rectangular coordinate system and earth earth coordinates. GroundThe definition of ball rectangular coordinate system is: initial point O overlaps with earth centroid, and Z axis points to the earth arctic, and X-axis refers toTo earth equatorial plane and the meridian intersection point of Greenwich (i.e. 0 longitudinal), Y-axis under the line in plane withXOZ forms right-handed coordinate system (point to east longitude 90 and spend direction).
The definition of earth earth coordinates is: the center of earth ellipsoid overlaps with earth centroid, the minor axis of ellipsoid withEarth's axis overlaps. Two kinds of coordinate systems frequent cross-reference in navigation system, can pass through geometrical relationshipMutually change.
In Fig. 3, forward signal unit A (x5, y5, z5) can record by gps system. Indoor positioning unitThe position of each signal transmitter unit fix, with respect to the location aware of forward signal unit, calculate by geometryMethod, can obtain the geographical position of each signal transmitter unit. As from the foregoing, (x1, y1, z1), (x2, y2, z2),(x3, y3, z3), (x4, y4, z4), (x5, y5, z5) is known, accurately determines based on the indoor of sound wave by above-mentionedMethod for position, can obtain the geographical position (x, y, z) of the equipment of being positioned, and this geographical location information is longitude and latitude and largeGround is high. In sum, " last kilometer " of GPS location, i.e. indoor positioning and navigation is resolved.
Four stars location can also be applied to the location of Indoor Robot, if sweeping robot is by accurate indoor fixedPosition forms indoor map, then plans the path of effectively sweeping the floor, and improves the efficiency of sweeping the floor. Also can be applied to boatRelative positioning and absolute fix in each floor of seagoing vessel in row, can also be applied in high speed travelRelative positioning and absolute fix in each compartment of high ferro, etc.
Location technology of the present invention can also be used for the transmission of multimedia intelligent device file. On multimedia intelligent equipmentTwo acoustic receivers between distance while being greater than 7mm, indoor locating system can accurately record two sound wavesThe position of receiver, obtains the sensing of smart machine, when smart machine turns to certain angle, and can be to thisSmart machine transfer files and other operations that angle covers.
Location technology of the present invention can be applied to indoor map, in market, the public affairs such as hospital, airport, railway stationLocation and navigation are realized in place altogether.
Fig. 4 is according to the localization method flow chart in the predetermined space of embodiment of the present invention.
As shown in Figure 4, the method comprises:
Step 401: the different fixed position place in predetermined space and not being positioned on same circle respectively arrangesAt least four acoustic signals transmitter units, described at least four acoustic signals transmitter unit time synchronized;
Step 402: at least four acoustic signals transmitter units are launched respectively acoustic signals;
Step 403: be positioned at described predetermined space and during not with described at least four acoustic signals transmitter unitsBetween the synchronous equipment that is positioned, the acoustic signals of at least four acoustic signals transmitter unit transmittings described in reception,Determine and the measuring distance of described at least four acoustic signals transmitter units respectively, and based on described at least fourThe equipment that is positioned described in the measuring distance of individual acoustic signals transmitter unit calculates in described predetermined space relativelyPosition.
In one embodiment, the method also comprises:
Fixed position place outside fixed position place or predetermined space in predetermined space arranges and is used for receiving GPSThe forward signal unit of framing signal, thereby the gps coordinate of definite described forward signal unit;
At least four acoustic signals transmitter units receive described GPS framing signal from forward signal unit, and pointNot based on determining gps coordinate separately with the predetermined location relationship of forward signal unit;
Relative position and described at least four acoustic signals of the equipment that is positioned based in described predetermined spaceThe gps coordinate of transmitter unit, the gps coordinate of the equipment that is positioned described in determining.
In one embodiment, described acoustic signals transmitter unit is four;
The equipment of being positioned has clock correction Vto；
The equipment that is positioned calculates based on following formula the coordinate (x, y, z) of equipment in predetermined space that be positioned;Also calculate described clock correction V based on described formulato; Wherein:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)＝d4；
(x, y, z) is for being positioned the coordinate of equipment in predetermined space; (x1、y1、z1) be first soundThe coordinate of ripple signal transmitter unit in predetermined space; (x2、y2、z2) be that second acoustic signals transmitting is singleThe coordinate of unit in predetermined space; (x3、y3、z3) be that the 3rd acoustic signals transmitter unit is at predetermined spaceInterior coordinate; (x4、y4、z4) be the coordinate of the 4th acoustic signals transmitter unit in predetermined space; D1For the measuring distance of the equipment of being positioned and first acoustic signals transmitter unit; D2 is the equipment of being positioned and secondThe measuring distance of individual acoustic signals transmitter unit; D3 is the equipment of being positioned and the 3rd acoustic signals transmitter unitMeasuring distance; D4 is the measuring distance of the equipment that is positioned and the 4th acoustic signals transmitter unit; Vt1ForThe clock correction of first acoustic signals transmitter unit; Vt2Be the clock correction of second acoustic signals transmitter unit; Vt3Be the clock correction of the 3rd acoustic signals transmitter unit; Vt4Be the clock correction of the 4th acoustic signals transmitter unit; CFor the aerial spread speed of sound wave.
In one embodiment, described predetermined space is Static-state Space or space movably;
Described Static-state Space comprises at least one in following: building, airport hall, exhibition room, warehouse, superCity, library, underground parking, mine, classroom;
Described movably space comprises at least one in following: subway, train, automobile, aircraft or steamer.
In sum, at least four acoustic signals transmitter units, the difference being arranged in predetermined space is consolidatedAllocation place and not being positioned on same circle, is respectively used to launch acoustic signals; Described at least four sound waves letterNumber transmitter unit time synchronized; The equipment that is positioned, be positioned at described predetermined space and not with described at least fourAcoustic signals transmitter unit time synchronized, at least four acoustic signals transmitter unit transmittings described in receivingAcoustic signals, determines and the distance of described at least four acoustic signals transmitter units respectively, and based on describedThe phase of equipment in described predetermined space is positioned described in the distance calculating of at least four acoustic signals transmitter unitsTo position, be positioned equipment and signal transmitter unit are without synchronised clock, and therefore the present invention uses veryConvenient, and can significantly reduce costs.
And embodiment of the present invention combines with GPS location, has realized indoor accurate GPS fixedPosition, is applicable to the mobile space such as subway, train, automobile, aircraft or steamer.
And embodiment of the present invention cannot for GPS such as underground parking, building, airport hallsPinpoint place, the present invention can well realize accurate indoor positioning. Not only therewith, thisBright embodiment not only can provide the such two-dimensional signal of longitude and latitude, can also provide altitude information, carriesFor a three-dimensional localization method, can be as accurate as different floors. For groups of building among a small circle, when buildingWhen the informational needs such as geographical position of building group upgrades, only need to upgrade the information of network side, market orFactory buildings etc. can upgrade voluntarily, very quick, and cost is very low.
Based on this, embodiment of the present invention can be applied in LBS widely, provides boundlessThe market space. And, can be by GPS location technology of the prior art and localization method of the present inventionCombine, realize the seamless connection of location, indoor and outdoor.
Further, embodiment of the present invention has advantages of that volume is little, with low cost, and signal transmitting is singleUnit can combine with permanent plant or fixed position in several ways, is easy to use various.
The above, be only preferred embodiment of the present invention, is not intended to limit protection of the present inventionScope. Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc.,Within all should being included in protection scope of the present invention.
Claims (10)
1. the navigation system in predetermined space, is characterized in that, comprising:
At least four acoustic signals transmitter units, be arranged in different fixed position place in predetermined space andBe not positioned on same circle, be respectively used to launch acoustic signals; Described at least four acoustic signals transmitter unitsTime synchronized;
The equipment that is positioned, be positioned at described predetermined space and not with described at least four acoustic signals transmitter unitsTime synchronized, for the acoustic signals of at least four acoustic signals transmitter unit transmittings described in receiving, respectively reallyThe measuring distance of fixed and described at least four acoustic signals transmitter units, and based on described at least four sound wavesThe relative position of equipment in described predetermined space is positioned described in the measuring distance of signal transmitter unit calculates.
2. the navigation system in predetermined space according to claim 1, is characterized in that, described predeterminedSpace is the interior space with multiple floors, and arranges respectively described navigation system at each floor;Or
Described predetermined space is the interior space with a floor, arranges described navigation system in this floor;Or
Described predetermined space is the interior space with multiple floors, and at least one floor, arranges instituteState navigation system; Or
Described predetermined space is a space movably, and described movably space comprises at least one in followingIndividual:
Subway, train, automobile, aircraft or steamer.
3. the navigation system in predetermined space according to claim 1, is characterized in that,
Described acoustic signals transmitter unit is four;
The equipment of being positioned has clock correction Vto；
The equipment that is positioned, for calculate based on following formula the coordinate of the equipment that is positioned in predetermined space (x,Y, z); Also for calculating described clock correction V based on described formulato：
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)＝d4；
Wherein:
(x, y, z) is for being positioned the coordinate of equipment in predetermined space; (x1、y1、z1) be first soundThe coordinate of ripple signal transmitter unit in predetermined space; (x2、y2、z2) be that second acoustic signals transmitting is singleThe coordinate of unit in predetermined space; (x3、y3、z3) be that the 3rd acoustic signals transmitter unit is at predetermined spaceInterior coordinate; (x4、y4、z4) be the coordinate of the 4th acoustic signals transmitter unit in predetermined space; D1For the measuring distance of the equipment of being positioned and first acoustic signals transmitter unit; D2 is the equipment of being positioned and secondThe measuring distance of individual acoustic signals transmitter unit; D3 is the equipment of being positioned and the 3rd acoustic signals transmitter unitMeasuring distance; D4 is the measuring distance of the equipment that is positioned and the 4th acoustic signals transmitter unit; Vt1ForThe clock correction of first acoustic signals transmitter unit; Vt2Be the clock correction of second acoustic signals transmitter unit; Vt3Be the clock correction of the 3rd acoustic signals transmitter unit; Vt4Be the clock correction of the 4th acoustic signals transmitter unit; CFor the aerial spread speed of sound wave.
4. the navigation system in predetermined space according to claim 1, is characterized in that, also comprises:
Forward signal unit, is arranged in the fixed position outside fixed position place or the predetermined space in predetermined spacePlace, for receiving GPS framing signal to determine the gps coordinate of described forward signal unit;
At least four acoustic signals transmitter units, for receive described GPS framing signal from forward signal unit,And respectively based on determining gps coordinate separately with the predetermined location relationship of forward signal unit;
The equipment that is positioned, for the relative position based in described predetermined space and described at least four soundThe gps coordinate of ripple signal transmitter unit, the gps coordinate of the equipment that is positioned described in determining.
5. the navigation system in predetermined space according to claim 4, is characterized in that, described GPSCoordinate comprises longitude, latitude and geodetic height.
6. according to the navigation system in the predetermined space described in any one in claim 1-5, it is characterized in that,
The described equipment of being positioned is the mobile terminal with microphone, described mobile terminal comprise following in extremelyFew one:
Functional mobile phone, personal digital assistant, panel computer or smart mobile phone.
7. the localization method in predetermined space, is characterized in that, comprising:
Different fixed position place in predetermined space and be not positioned on same circle and arrange respectively at least four soundRipple signal transmitter unit, described at least four acoustic signals transmitter unit time synchronized;
At least four acoustic signals transmitter units are launched respectively acoustic signals;
Be positioned at described predetermined space and not with the quilt of described at least four acoustic signals transmitter unit time synchronizedPositioning equipment, the acoustic signals of at least four acoustic signals transmitter unit transmittings described in reception, determine respectively withThe measuring distance of described at least four acoustic signals transmitter units, and based on described at least four acoustic signalsThe relative position of equipment in described predetermined space is positioned described in the measuring distance of transmitter unit calculates.
8. the localization method in predetermined space according to claim 7, is characterized in that, also comprises:
Fixed position place outside fixed position place or predetermined space in predetermined space arranges and is used for receiving GPSThe forward signal unit of framing signal, thereby the gps coordinate of definite described forward signal unit;
At least four acoustic signals transmitter units receive described GPS framing signal from forward signal unit, and pointNot based on determining gps coordinate separately with the predetermined location relationship of forward signal unit;
Relative position and described at least four acoustic signals of the equipment that is positioned based in described predetermined spaceThe gps coordinate of transmitter unit, the gps coordinate of the equipment that is positioned described in determining.
9. the localization method in predetermined space according to claim 7, is characterized in that,
Described acoustic signals transmitter unit is four;
The equipment of being positioned has clock correction Vto；
The equipment that is positioned calculates based on following formula the coordinate (x, y, z) of equipment in predetermined space that be positioned;Also calculate described clock correction V based on described formulato; Wherein:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)＝d4；
(x, y, z) is for being positioned the coordinate of equipment in predetermined space; (x1、y1、z1) be first soundThe coordinate of ripple signal transmitter unit in predetermined space; (x2、y2、z2) be that second acoustic signals transmitting is singleThe coordinate of unit in predetermined space; (x3、y3、z3) be that the 3rd acoustic signals transmitter unit is at predetermined spaceInterior coordinate; (x4、y4、z4) be the coordinate of the 4th acoustic signals transmitter unit in predetermined space; D1For the measuring distance of the equipment of being positioned and first acoustic signals transmitter unit; D2 is the equipment of being positioned and secondThe measuring distance of individual acoustic signals transmitter unit; D3 is the equipment of being positioned and the 3rd acoustic signals transmitter unitMeasuring distance; D4 is the measuring distance of the equipment that is positioned and the 4th acoustic signals transmitter unit; Vt1ForThe clock correction of first acoustic signals transmitter unit; Vt2Be the clock correction of second acoustic signals transmitter unit; Vt3Be the clock correction of the 3rd acoustic signals transmitter unit; Vt4Be the clock correction of the 4th acoustic signals transmitter unit; CFor the aerial spread speed of sound wave.
10. the localization method in predetermined space according to claim 7, is characterized in that,
Described predetermined space is Static-state Space or space movably;
Described Static-state Space comprises at least one in following: building, airport hall, exhibition room, warehouse, superCity, library, underground parking, mine, classroom;
Described movably space comprises at least one in following: subway, train, automobile, aircraft or wheelShip.
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| PCT/CN2016/103654 WO2017097054A1 (en) | 2015-12-07 | 2016-10-27 | Positioning system and method in predetermined space |
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| CN201610055089.0A CN105611500A (en) | 2015-12-07 | 2016-01-27 | Positioning system and method in scheduled space |
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| WO2017097054A1 (en) | 2017-06-15 |
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