CN105813182A - Low-power-consumption positioning method and low-power-consumption positioning device - Google Patents

Low-power-consumption positioning method and low-power-consumption positioning device Download PDF

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Publication number
CN105813182A
CN105813182A CN201610362790.7A CN201610362790A CN105813182A CN 105813182 A CN105813182 A CN 105813182A CN 201610362790 A CN201610362790 A CN 201610362790A CN 105813182 A CN105813182 A CN 105813182A
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China
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unit
described
main control
control unit
low
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CN201610362790.7A
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Chinese (zh)
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刘洋
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福州瑞芯微电子股份有限公司
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Priority to CN201610362790.7A priority Critical patent/CN105813182A/en
Publication of CN105813182A publication Critical patent/CN105813182A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/34Power consumption
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W52/00Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02Power saving arrangements
    • H04W52/0209Power saving arrangements in terminal devices
    • H04W52/0225Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W52/00Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/04TPC
    • H04W52/18TPC being performed according to specific parameters
    • H04W52/28TPC being performed according to specific parameters using user profile, e.g. mobile speed, priority or network state, e.g. standby, idle or non transmission
    • H04W52/285TPC being performed according to specific parameters using user profile, e.g. mobile speed, priority or network state, e.g. standby, idle or non transmission taking into account the mobility of the user
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THIR OWN ENERGY USE
    • Y02D70/00Techniques for reducing energy consumption in wireless communication networks

Abstract

The invention provides a low-power-consumption positioning method and a low-power-consumption positioning device. The low-power-consumption positioning method includes steps of positioning initial locations of users by the aid of a positioning unit and acquiring coordinate information corresponding to the initial locations; enabling the positioning unit to be in a dormant state under the control of a main control unit; starting to sample movement tracks of the users from the initial locations at a preset sampling frequency by the aid of a sampling unit and acquiring and recording sampling information of a plurality of sampling points; computing vector displacement between current locations and the initial locations of the users by the aid of a computing unit according to the sampling information of the multiple sampling points; judging whether the vector displacement between the current locations and the initial locations of the users is larger than preset threshold values or not by the aid of a judging unit, transmitting first signals to the main control unit if the vector displacement is larger than the preset threshold values. The first signals are not transmitted to the main control unit if the vector displacement is not larger than the preset threshold values. The low-power-consumption positioning method and the low-power-consumption positioning device have the advantage that electricity consumption of targets in frequent movement scenes within preset ranges can be reduced to a great extent by the aid of the low-power-consumption positioning method.

Description

A kind of low-power consumption localization method and device

Technical field

The present invention relates to field of computer technology, particularly to a kind of low-power consumption localization method and device.

Background technology

Along with development and the social progress of science and technology, smart machine is widely applied, and has now become a part indispensable in people's daily life.Current portable intelligent device size is more and more less, provisioned battery capacity is also more and more less, and existing positioning strategy is still that and completes location by locating module (such as GPS module), smart machine needs repeatedly to set up with base station to be connected, and then just can complete location, cause that smart machine power consumption when positioning is greatly increased, it is impossible to meet the demand that baby battery capacity is continued a journey for a long time.

Summary of the invention

For this reason, it may be necessary to provide the technical scheme that a kind of low-power consumption positions, in order to solve existing smart machine, when positioning, power consumption is big, cannot meet the problems such as baby battery capacity continuation of the journey for a long time.

For achieving the above object, inventor providing a kind of low-power consumption positioner, described device includes positioning unit, main control unit, computing unit, judging unit and sampling unit;Described positioning unit is connected with main control unit, and main control unit is connected with judging unit, and described judging unit is connected with computing unit, and described computing unit is connected with sampling unit;

Described positioning unit is used for positioning user's initial position, obtains the coordinate information that initial position is corresponding;

Described main control unit is used for controlling positioning unit in a dormant state;

Described sampling unit is for, from initial position, sampling to the movement locus of user with a preset sample frequency, obtain and record the sample information of some sampled points;

Described computing unit, for the sample information according to some sampled points, calculates the vector shift of user current location and initial position;

Described judging unit is for judging that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.

Further, described main control unit is used for controlling self and enters resting state, and after receiving the first signal, wakes up from resting state.

Further, described main control unit is additionally operable to receive secondary signal, and wakes positioning unit in a dormant state up;Described positioning unit is used for reorientating user current location, and obtains the coordinate information of user current location.

Further, described main control unit is additionally operable to receive secondary signal, and sends information.

Further, computing unit including for " sample information according to some sampled points; calculate the vector shift of user current location and initial position ": computing unit is for adding up to the vector shift of each neighbouring sample point, obtain the vector shift of user current location and initial position, and then determine the coordinate information of user current location.

Further, the preset sample frequency of described sampling unit is 0~120 sampled point/second.

Inventor additionally provides a kind of low-power consumption localization method, and described method is applied to low-power consumption positioner, and described device includes positioning unit, main control unit, computing unit, judging unit and sampling unit;Described positioning unit is connected with main control unit, and main control unit is connected with judging unit, and described judging unit is connected with computing unit, and described computing unit is connected with sampling unit;Said method comprising the steps of:

Positioning unit location user's initial position, obtains the coordinate information that initial position is corresponding;

Main control unit controls positioning unit in a dormant state;

The movement locus of user, from initial position, is sampled by sampling unit with a preset sample frequency, obtains and record the sample information of some sampled points;

The computing unit sample information according to some sampled points, calculates the vector shift of user current location and initial position;

Judging unit judges that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.

Further, described method is further comprising the steps of:

Main control unit controls self and enters resting state, and after receiving the first signal, wakes up from resting state.

Further, described method is further comprising the steps of:

Main control unit receives the secondary signal that judging unit sends, and wakes positioning unit in a dormant state up;

Positioning unit reorientates user current location, and obtains the coordinate information of user current location.

Further, described method includes:

Main control unit receives secondary signal, and sends information.

Further, described step " computing unit sample information according to some sampled points; calculate the vector shift of user current location and initial position " including: the vector shift of each neighbouring sample point is added up by computing unit, obtain the vector shift of user current location and initial position, and then determine the coordinate information of user current location.

Further, the preset sample frequency of described sampling unit is 0~120 sampled point/second.

Low-power consumption localization method described in technique scheme and device, described method is applied to low-power consumption positioner, and described device includes positioning unit, main control unit, computing unit, judging unit and sampling unit;Said method comprising the steps of: first positioning unit location user's initial position, obtain the coordinate information that initial position is corresponding;Then main control unit controls positioning unit in a dormant state;Then sampling unit is from initial position, with a preset sample frequency, the movement locus of user is sampled, and obtains and record the sample information of some sampled points;The then computing unit sample information according to some sampled points, calculates the vector shift of user current location and initial position;Then judging unit judges that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.Said method can greatly reduce target electric quantity consumption of frequent moving scene in preset range, can pass through to recalibrate the current location of user when the position that user moves is beyond preset range, and then allow positioning unit in a dormant state again, it is greatly saved power consumption.Meanwhile, said method, by indoor and outdoor environmental limitation, is supplementing of being highly profitable of of current market product orientation scheme.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of the low-power consumption positioner that an embodiment of the present invention relates to;

Fig. 2 is the schematic diagram that the sampling unit that an embodiment of the present invention relates to carries out sampling process;

Fig. 3 is the flow chart of the low-power consumption localization method that an embodiment of the present invention relates to;

Description of reference numerals:

101, positioning unit;

102, main control unit;

103, computing unit;

104, judging unit;

105, sampling unit.

Detailed description of the invention

By describing the technology contents of technical scheme, structural feature in detail, being realized purpose and effect, below in conjunction with specific embodiment and coordinate accompanying drawing to be explained in detail.

Refer to Fig. 1, for the schematic diagram of the low-power consumption positioner that an embodiment of the present invention relates to.Described low-power consumption positioner can be mobile phone, flat board etc..Described device includes positioning unit 101, main control unit 102, computing unit 103, judging unit 104 and sampling unit 105;Described positioning unit 101 is connected with main control unit 102, and main control unit 102 is connected with judging unit 104, and described judging unit 104 is connected with computing unit 103, and described computing unit 103 is connected with sampling unit 105;

Described positioning unit 101 is used for positioning user's initial position, obtains the coordinate information that initial position is corresponding;

Described main control unit 102 is used for controlling positioning unit in a dormant state;

Described sampling unit 105 is for, from initial position, sampling to the movement locus of user with a preset sample frequency, obtain and record the sample information of some sampled points;

Described computing unit 103, for the sample information according to some sampled points, calculates the vector shift of user current location and initial position;

Described judging unit 104 is for judging that whether the user current location vector shift with initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.

When using low-power consumption positioner, first positioning unit 101 positions user's initial position, obtains the coordinate information that initial position is corresponding.In the present embodiment, positioning unit is GPS module.After GPS module sets up communication connection with base station, user can accurately know the coordinate position that initial position is corresponding.Then main control unit 102 controls positioning unit in a dormant state.After positioning unit completes initial alignment, it is possible in a dormant state, thus reducing the power consumption that user moves in preset range.

Then sampling unit 105 is from initial position, with a preset sample frequency, the movement locus of user is sampled, and obtains and record the sample information of some sampled points.Described sample information includes the sampling order of each sampled point.Described sampling unit can be sensor, and described sensor can be integrated in smart machine, it is also possible to is separately provided independent of smart machine.Described sample information includes the current sampling point vector shift compared to a upper sampled point.In the present embodiment, the preset sample frequency of described sampling unit is 0~120 sampled point/second.Main control unit can also be connected with sampling unit, for arranging the preset sample frequency of sampling unit.

The then computing unit 103 sample information according to some sampled points, calculates the vector shift of user current location and initial position.In the present embodiment, " computing unit sample information according to some sampled points; calculate the vector shift of user current location and initial position " including: the vector shift of each neighbouring sample point is added up by computing unit, obtain the vector shift of user current location and initial position, and then determine the coordinate information of user current location.

Then judging unit 104 judges that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.In the present embodiment, main control unit positioning unit in a dormant state time, also can control self enter resting state, thus saving power consumption further.After main control unit receives the first signal, will wake up from resting state, and after receiving the secondary signal that judging unit sends, wake positioning unit in a dormant state up;Described positioning unit is used for reorientating user current location, and obtains the coordinate information of user current location.Or, described main control unit is additionally operable to after being waken up receive the secondary signal that judging unit sends, and sends information.Described information can include information of voice prompt, text prompt information etc..

As in figure 2 it is shown, the initial position co-ordinates at user place that A0 point positions for positioning unit, the vector shift between A0 point and B0 point is sized to the size of predetermined threshold value;With A0 point for the center of circle, A0 point is sized to the preset range that circle is User Activity of radius to the vector shift between B0 point, and the B0 point that is easy to get is the critical point of this preset range;A1 point and A2 point are intermediate samples point.When user movement to A1 position, vector shift is sized to the A0 point distance to A1 point, due to the size less than predetermined threshold value, thus judging unit will not wake up main control unit, and main control unit is without waking positioning unit up, main control unit and positioning unit are still in resting state, and A0 coordinate can be added to the vector shift size of A1 point by user with A0 point, namely can determine that the coordinate of current A1 point.During point outside user movement to preset range, main control unit receives the first signal and is waken up, and then receives the secondary signal that judging unit sends, wakes positioning unit up.User current location is reorientated by positioning unit, confirms the coordinate of current location, it is ensured that the accuracy of location.Then current location is again as the center of circle (i.e. initial position) of new preset range, when the motion vector displacement of user is again above new preset range (sampling optimization that sampling unit samples is outside new preset range), positioning unit is again waken up by main control unit and reorientates, so repeatedly.Due to main control unit and positioning unit in preset range all in resting state, the coordinate position of user carries out cumulative according to the vector shift of each neighbouring sample point and obtains, thus being greatly saved user's power consumption of smart machine when positioning.

And inventor additionally provides a kind of low-power consumption localization method, described method is applied to low-power consumption positioner, and described device includes positioning unit, main control unit, computing unit, judging unit and sampling unit;Described positioning unit is connected with main control unit, and main control unit is connected with judging unit, and described judging unit is connected with computing unit, and described computing unit is connected with sampling unit;Said method comprising the steps of:

Initially enter step S301 positioning unit location user's initial position, obtain the coordinate information that initial position is corresponding.In the present embodiment, positioning unit is GPS module.After GPS module sets up communication connection with base station, user can accurately know the coordinate position that initial position is corresponding.Then enter step S302 main control unit and control positioning unit in a dormant state.After positioning unit completes initial alignment, it is possible in a dormant state, thus reducing the power consumption that user moves in preset range.

Then enter step S303 sampling unit from initial position, with a preset sample frequency, the movement locus of user is sampled, obtain and record the sample information of some sampled points.Described sample information includes the sampling order of each sampled point.Described sampling unit can be sensor, and described sensor can be integrated in smart machine, it is also possible to is separately provided independent of smart machine.Described sample information includes the current sampling point vector shift compared to a upper sampled point.In the present embodiment, the preset sample frequency of described sampling unit is 0~120 sampled point/second.Main control unit can also be connected with sampling unit, for arranging the preset sample frequency of sampling unit.

Then enter the step S304 computing unit sample information according to some sampled points, calculate the vector shift of user current location and initial position.Specifically, the vector shift of each neighbouring sample point can be added up by computing unit according to the sampling order of sampled point, obtains the vector shift of user current location and initial position, and then determines the coordinate information of user current location.Such as sampled four sampled points A, B, C, D successively, wherein A is initial position, computing unit can first calculate respectively A point to B point, B point to C point, C point is to the vector shift of D point, and then three is added up, thus obtaining the A point vector shift to D point, and then determine the coordinate position of D point.In other embodiments, user can also pass through main control unit and actively wake positioning unit up, and then completes the coordinate setting of current location.

Then entering step S305 judging unit and judge that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then entering step S306 to send the first signal to main control unit, otherwise entrance step S307 does not send the first signal to main control unit.In the present embodiment, main control unit positioning unit in a dormant state time, also can control self enter resting state, thus saving power consumption further.After main control unit receives the first signal, will wake up from resting state, and after receiving the secondary signal that judging unit sends, wake positioning unit in a dormant state up;Described positioning unit is used for reorientating user current location, and obtains the coordinate information of user current location.Or, described main control unit is additionally operable to after being waken up receive the secondary signal that judging unit sends, and sends information.Described information can include information of voice prompt, text prompt information etc..

Low-power consumption localization method described in technique scheme and device, described method is applied to low-power consumption positioner, and described device includes positioning unit, main control unit, computing unit, judging unit and sampling unit;Said method comprising the steps of: first positioning unit location user's initial position, obtain the coordinate information that initial position is corresponding;Then main control unit controls positioning unit in a dormant state;Then sampling unit is from initial position, with a preset sample frequency, the movement locus of user is sampled, and obtains and record the sample information of some sampled points;The then computing unit sample information according to some sampled points, calculates the vector shift of user current location and initial position;Then judging unit judges that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.Said method can greatly reduce target electric quantity consumption of frequent moving scene in preset range, can pass through to recalibrate the current location of user when the position that user moves is beyond preset range, and then allow positioning unit in a dormant state again, it is greatly saved power consumption.Meanwhile, said method, by indoor and outdoor environmental limitation, is supplementing of being highly profitable of of current market product orientation scheme.

It should be noted that, in this article, the relational terms of such as first and second or the like is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that include the process of a series of key element, method, article or terminal unit not only include those key elements, but also include other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or terminal unit.When there is no more restriction, statement " including ... " or " comprising ... " key element limited, it is not excluded that there is also other key element in including the process of described key element, method, article or terminal unit.Additionally, in this article, " more than ", " less than ", " exceeding " etc. be interpreted as not including this number;" more than ", " below ", " within " etc. be interpreted as including this number.

Those skilled in the art are it should be appreciated that the various embodiments described above can be provided as method, device or computer program.These embodiments can adopt the form of complete hardware embodiment, complete software implementation or the embodiment in conjunction with software and hardware aspect.All or part of step in the method that the various embodiments described above relate to can be completed by the hardware that program carrys out instruction relevant, described program can be stored in the storage medium that computer equipment can read, for performing all or part of step described in the various embodiments described above method.Described computer equipment, includes but not limited to: personal computer, server, general purpose computer, special-purpose computer, the network equipment, embedded device, programmable device, intelligent mobile terminal, intelligent home device, wearable intelligent equipment, vehicle intelligent equipment etc.;Described storage medium, includes but not limited to: the storage of RAM, ROM, magnetic disc, tape, CD, flash memory, USB flash disk, portable hard drive, storage card, memory stick, the webserver, network cloud storage etc..

The various embodiments described above are that flow chart and/or block diagram with reference to the method according to embodiment, equipment (system) and computer program describe.It should be understood that can by the combination of the flow process in each flow process in computer program instructions flowchart and/or block diagram and/or square frame and flow chart and/or block diagram and/or square frame.These computer program instructions can be provided to produce a machine to the processor of computer equipment so that the instruction performed by the processor of computer equipment is produced for realizing the device of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

These computer program instructions may be alternatively stored in the computer equipment readable memory that computer equipment can be guided to work in a specific way, the instruction making to be stored in this computer equipment readable memory produces to include the manufacture of command device, and this command device realizes the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

These computer program instructions also can be loaded on computer equipment, make to perform sequence of operations step on a computing device to produce computer implemented process, thus the instruction that performs on a computing device provides for realizing the step of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

Although the various embodiments described above being described; but those skilled in the art are once know basic creative concept; then these embodiments can be made other change and amendment; so the foregoing is only embodiments of the invention; not thereby the scope of patent protection of the present invention is limited; every equivalent structure utilizing description of the present invention and accompanying drawing content to make or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical fields, all in like manner include within the scope of patent protection of the present invention.

Claims (12)

1. a low-power consumption positioner, it is characterised in that described device includes positioning unit, main control unit, computing unit, judging unit and sampling unit;Described positioning unit is connected with main control unit, and main control unit is connected with judging unit, and described judging unit is connected with computing unit, and described computing unit is connected with sampling unit;
Described positioning unit is used for positioning user's initial position, obtains the coordinate information that initial position is corresponding;
Described main control unit is used for controlling positioning unit in a dormant state;
Described sampling unit is for, from initial position, sampling to the movement locus of user with a preset sample frequency, obtain and record the sample information of some sampled points;
Described computing unit, for the sample information according to some sampled points, calculates the vector shift of user current location and initial position;
Described judging unit is for judging that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.
2. low-power consumption positioner as claimed in claim 1, it is characterised in that described main control unit is used for controlling self and enters resting state, and after receiving the first signal, wakes up from resting state.
3. low-power consumption positioner as claimed in claim 2, it is characterised in that described main control unit is additionally operable to receive secondary signal, and wakes positioning unit in a dormant state up;Described positioning unit is used for reorientating user current location, and obtains the coordinate information of user current location.
4. low-power consumption positioner as claimed in claim 2, it is characterised in that described main control unit is additionally operable to receive secondary signal, and sends information.
5. low-power consumption positioner as claimed in claim 1, it is characterized in that, computing unit including for " sample information according to some sampled points; calculate the vector shift of user current location and initial position ": computing unit is for adding up to the vector shift of each neighbouring sample point, obtain the vector shift of user current location and initial position, and then determine the coordinate information of user current location.
6. the low-power consumption positioner as described in claim 1 or 5, it is characterised in that the preset sample frequency of described sampling unit is 0~120 sampled point/second.
7. a low-power consumption localization method, it is characterised in that described method is applied to low-power consumption positioner, and described device includes positioning unit, main control unit, computing unit, judging unit and sampling unit;Described positioning unit is connected with main control unit, and main control unit is connected with judging unit, and described judging unit is connected with computing unit, and described computing unit is connected with sampling unit;Said method comprising the steps of:
Positioning unit location user's initial position, obtains the coordinate information that initial position is corresponding;
Main control unit controls positioning unit in a dormant state;
The movement locus of user, from initial position, is sampled by sampling unit with a preset sample frequency, obtains and record the sample information of some sampled points;
The computing unit sample information according to some sampled points, calculates the vector shift of user current location and initial position;
Judging unit judges that whether the vector shift of user current location and initial position is more than predetermined threshold value, if then sending the first signal to main control unit, does not otherwise send the first signal to main control unit.
8. low-power consumption localization method as claimed in claim 7, it is characterised in that described method is further comprising the steps of:
Main control unit controls self and enters resting state, and after receiving the first signal, wakes up from resting state.
9. low-power consumption localization method as claimed in claim 8, it is characterised in that described method is further comprising the steps of:
Main control unit receives the secondary signal that judging unit sends, and wakes positioning unit in a dormant state up;
Positioning unit reorientates user current location, and obtains the coordinate information of user current location.
10. low-power consumption localization method as claimed in claim 8, it is characterised in that described method includes:
Main control unit receives secondary signal, and sends information.
11. low-power consumption localization method as claimed in claim 7, it is characterized in that, described step " computing unit sample information according to some sampled points; calculate the vector shift of user current location and initial position " including: the vector shift of each neighbouring sample point is added up by computing unit, obtain the vector shift of user current location and initial position, and then determine the coordinate information of user current location.
12. the low-power consumption localization method as described in claim 7 or 11, it is characterised in that the preset sample frequency of described sampling unit is 0~120 sampled point/second.
CN201610362790.7A 2016-05-27 2016-05-27 Low-power-consumption positioning method and low-power-consumption positioning device CN105813182A (en)

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