CN107295480A - Indoor orientation method and device, computer equipment and storage medium - Google Patents
Indoor orientation method and device, computer equipment and storage medium Download PDFInfo
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- CN107295480A CN107295480A CN201710571752.7A CN201710571752A CN107295480A CN 107295480 A CN107295480 A CN 107295480A CN 201710571752 A CN201710571752 A CN 201710571752A CN 107295480 A CN107295480 A CN 107295480A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The present invention relates to a kind of indoor orientation method and device, computer equipment and storage medium, this method includes：The identification marking of each bluetooth equipment searched is sent to server；Receive and show the building associated with the identification marking of each bluetooth equipment and floor information of the server return；Obtain the building and floor information of user's selection；Obtain the coordinate information of each bluetooth equipment in the floor selected in user searched；It is determined that the distance with each bluetooth equipment in the building and floor of user's selection；According to the distance of determination, the coordinate information of corresponding bluetooth equipment and selected building and floor information positioning current location.This method can be accurate to floor residing for user, and setting accuracy is high.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of indoor orientation method and device, computer equipment and
Storage medium.
Background technology
With the quickening of urbanization process, the building with many floors is continued to bring out.Existing location technology, example
Such as GPS and Big Dipper satellite positioning tech are suitable for greatly outdoor positioning, and for can not in the building of closing and many floors
It is applicable.
For indoor positioning, there has been proposed the indoor positioning technologies based on various wireless technologys, including conventional interior
Wireless location technology mainly has Wi-Fi, infrared ray, ultra wide band, RFID, ZigBee and ultrasonic wave etc..But indoor ring complexity is various,
Mostly there is the problem of precision is not high in present wireless location system.
The content of the invention
Based on this, it is necessary to for indoor positioning accuracy it is not high the problem of there is provided a kind of indoor orientation method and device,
Computer equipment and storage medium.
A kind of indoor orientation method, including：
The identification marking of each bluetooth equipment searched is sent to server；
Receive and show the building and building that are associated with the identification marking of each bluetooth equipment that the server is returned
Layer information；
Obtain the building and floor information of user's selection；
Obtain the coordinate information of the building selected in user searched and each bluetooth equipment in floor；
It is determined that the distance with each bluetooth equipment in the building and floor of user's selection；
Positioned according to the distance of determination, the coordinate information of corresponding bluetooth equipment and selected building and floor information
Current location.
A kind of indoor positioning device, including：Sending module, receiving module, acquisition module, apart from determining module and positioning mould
Block；
The sending module, the identification marking for sending each bluetooth equipment searched to server；
The receiving module, for receiving and showing the identification marking with each bluetooth equipment that the server is returned
The building and floor information of association；
The acquisition module, building and floor information for obtaining user's selection, is additionally operable to obtain the place searched
The coordinate information of each bluetooth equipment in the building and floor that user selects；
It is described apart from determining module, in the building and floor that determine to select with user each bluetooth equipment away from
From；
The locating module, for the distance according to determination, the coordinate information of corresponding bluetooth equipment and selected builds
Build thing and floor information positioning current location.
A kind of computer equipment, including memory, processor and storage can be run on a memory and on a processor
Computer program, the step of above-mentioned indoor orientation method is realized during the computing device described program.
A kind of storage medium, is stored thereon with computer program, when the program is executed by processor, and realizes above-mentioned interior
The step of localization method.
Above-mentioned indoor orientation method, by sending the identification marking of the bluetooth equipment searched out to server, receives service
Coordinate information and building and floor information that device is returned according to identification marking, can select actually located building for user
And floor information, with reference to the distance of each bluetooth equipment in the floor selected with user, it can be accurately obtained including residing for user
The positional information of floor.This method can be accurate to floor residing for user, and setting accuracy is high.
Brief description of the drawings
Fig. 1 is the flow chart of the indoor orientation method of one embodiment；
In the floor that Fig. 2 selects for the determination and user of one embodiment each bluetooth equipment apart from the step of stream
Cheng Tu；
Fig. 3 is the flow chart of the indoor orientation method of another embodiment；
Fig. 4 is the application principle figure that trilateration is positioned；
Fig. 5 is the principle schematic that trilateration is positioned；
Fig. 6 is the flow chart of the indoor orientation method of further embodiment；
Fig. 7 is the structured flowchart for determining interior locating device of one embodiment；
Fig. 8 is the structured flowchart of the indoor positioning device of further embodiment.
Embodiment
Fig. 1 is the flow chart of the indoor orientation method of one embodiment.As shown in figure 1, this method comprises the following steps：
S102：The identification marking of each bluetooth equipment searched is sent to server.
Indoor orientation method in the present embodiment is run on the mobile terminal device of indoor occupant.Mobile terminal device can
Think smart mobile phone, intelligent wearable device and tablet personal computer etc..The identification marking of bluetooth equipment be bluetooth equipment it is general only
One identification code (UUID, Universally Unique Identifier), it is ensured that the knowledge of aerial all bluetooth equipments when same
It is all unique not identify.Bluetooth equipment in the present embodiment may be mounted in the fire-fighting device of interior, such as passageway for fire apparatus
Fire-fighting indicator lamp in.Using the indoor orientation method of the present invention, with reference to the fire-fighting indicator lamp of passageway for fire apparatus, dredged available for fire-fighting
Dissipate.Server in the present embodiment can be fire-fighting evacuation server.
Specifically, the indoor orientation method of the present embodiment can be used in a kind of fire-fighting evacuation program, and the program provides fire-fighting
Exit signs function, the program operates in mobile terminal.When user is in scene of fire, the fire-fighting evacuation of mobile terminal is opened
Program, the Bluetooth switch of mobile terminal, the bluetooth equipment searched in its residing scope are opened by the program.The room of the present embodiment
Interior localization method can be also used in other application program, for example Navigator, when in the corresponding application journey of mobile terminal opening
During sequence, the Bluetooth switch of mobile terminal, the bluetooth equipment searched in its residing scope are opened by the program.
S104：Receive and show the building associated with the identification marking of each bluetooth equipment and floor letter that server is returned
Breath.
Building and floor information in the present embodiment include building information and floor information.Server is to pre-save
Bluetooth equipment information list, list includes the identification marking of each bluetooth equipment, and the corresponding bluetooth of each identification marking is set
Standby title, residing building and residing floor and coordinate information etc..When its for the mobile terminal upload for receiving user is searched
Bluetooth equipment identification marking when, residing building, residing floor and coordinate information are inquired according to identification marking, and feed back
To the mobile terminal of user.The bluetooth equipment information list of one embodiment is as shown in table 1.
The bluetooth equipment information list of table 1
| Bluetooth equipment | Identification marking | Residing building | Residing floor | Coordinate information |
| Bluetooth equipment 1 | E2C56 | A markets | 1 building | (X1, Y1) |
| Bluetooth equipment 2 | E2C57 | A markets | 2 buildings | (X2, Y2) |
| Bluetooth equipment 3 | E2C58 | B markets | 3 buildings | (X3, Y3) |
It should be appreciated that the coordinate information in the present embodiment is the relative coordinate in same floor space.In placement bluetooth
During equipment, a space coordinates are set up for all bluetooth equipments of same floor, according to the installation position of each bluetooth equipment
Put and obtain its coordinate information respectively, and preserve in the server.
Specifically, the corresponding building of bluetooth equipment and floor information searched on the mobile terminal device of user,
Building and residing floor i.e. residing for bluetooth equipment.Believed by exhibition building thing information on the mobile terminal device and floor
Breath, user can combine the position being presently in and select corresponding building and floor information.
S106：Obtain the building and floor information of user's selection.
The building associated with each bluetooth equipment and the floor letter that the server of one embodiment is returned according to identification marking
Breath is as shown in table 2.
Building and floor information that the server of table 2 is returned
By interactive operation, building and floor information are selected in the operation interface of mobile device.In other embodiment party
In formula, the building and floor information that mobile device can also select user are sent to fire-fighting evacuation server.
S108：Obtain the coordinate information of the building selected in user searched and each bluetooth equipment in floor.
Specifically, the coordinate information of bluetooth equipment can be stored in bluetooth equipment information list in server, work as mobile terminal
When uploading the identification marking of its bluetooth equipment searched, while server returns to building and floor information, also at return
The coordinate information of bluetooth equipment in the building and floor that user selects.In other embodiments, can also be by bluetooth
Equipment stores its coordinate information, when with bluetooth devices, by bluetooth equipment obtain in user select building and
The coordinate information of bluetooth equipment in floor.
S110：It is determined that the distance with each bluetooth equipment in the building and floor of user's selection.
Specifically, using Bluetooth beacon (Bluetooth Beacon) technology, according to RSSI (signal intensity), transmission power
And broadcasting power, the distance of estimation mobile terminal device to bluetooth equipment.It should be noted that because the bluetooth of the present embodiment is set
Standby coordinate information is relative coordinate, therefore the determination of distance in the present embodiment is to determine what mobile terminal device was selected with user
The distance of each bluetooth equipment in building and floor.
In one embodiment, as shown in Fig. 2 step S110 specifically includes step S1101 and step S1102：
S1101：In the building and floor that are selected according to the signal intensity of each bluetooth equipment in hunting zone, selection user
The bluetooth equipment of predetermined number.
RSSI refers to that the signal intensity received indicates for judging the link quality with bluetooth equipment, and whether increase
Broadcast transmission intensity.RSSI size, is read generally by program, or hardware is carried.It is vertical due in indoor environment, existing
Body relation, for ease of the calculating of relative coordinate, in the present embodiment, should select present count in the building and floor that user selects
The bluetooth equipment of amount.
S1102：Calculate the distance with each bluetooth equipment of selection.
Specifically, the distance of each bluetooth equipment with selecting is calculated according to signal intensity.Formula is：
D=10^ ((abs (RSSI)-A)/(10*n))
Wherein, d represents distance, and A represents signal intensity during one meter of distance, and RSSI represents the signal intensity of bluetooth equipment
Value, N represents attenuation coefficient of the environment to signal, depending on specific environment.
S112：Believed according to the distance of determination, the coordinate information of corresponding bluetooth equipment and selected building and floor
Breath positioning current location.
Specifically, the coordinate information of each bluetooth equipment in the building and floor that are selected using user, according to mobile whole
End equipment and the distance of these bluetooth equipments, by multiple spot Information locating current location, current location also includes residing building
Thing and floor information.
In specifically applying, especially apply down, the position of user is real-time change fire-fighting evacuation.For example,
Apply down, system instructs user to be withdrawn from passageway for fire apparatus according to fire condition fire-fighting evacuation, and in evacuation process, relate to
And the movement in different floors.Therefore when detecting user not in selected floor according to current location, return to service
The step of device sends the identification marking of each bluetooth equipment searched, provides user's selection floor and is positioned, so as to reality again
The current location of Shi Gengxin user.
Above-mentioned indoor orientation method, by sending the identification marking of the bluetooth equipment searched out to server, receives service
Coordinate information and building and floor information that device is returned according to identification marking, can select actually located building for user
And floor information, with reference to the distance of each bluetooth equipment in the floor selected with user, it can be accurately obtained including residing for user
The positional information of floor.This method can be accurate to floor residing for user, and setting accuracy is high.
The present invention also provides the indoor orientation method of another embodiment, on the basis of a upper embodiment, in user institute
Selection signal most strong three bluetooth equipments, are positioned according to trilateration location algorithm in the building and floor of selection.
As shown in figure 3, comprising the following steps：
S302：The identification marking of each bluetooth equipment searched is sent to server.
The identification marking of bluetooth equipment is general unique identifier (UUID, the Universally Unique of bluetooth equipment
Identifier), it is ensured that the identification marking of aerial all bluetooth equipments is all unique when same.Using the interior of the present invention
Localization method, with reference to the fire-fighting indicator lamp of passageway for fire apparatus, available for fire-fighting evacuation.Server in the present embodiment can be fire-fighting
Evacuate server.Specifically, when user uses fire-fighting evacuation function, the Bluetooth switch of mobile terminal is opened, is searched for residing for it
In the range of bluetooth equipment.
S304：Receive and show the being associated with the identification marking of each bluetooth equipment of server return, building and floor
Information.
Building and floor information in the present embodiment include building information and floor information.Server is to pre-save
Bluetooth equipment information list, the identification mark and each identification marking corresponding bluetooth that list includes each bluetooth equipment is set
Standby title, residing building and residing floor and coordinate information etc..When its for the mobile terminal upload for receiving user is searched
Bluetooth equipment identification marking when, residing building, residing floor and coordinate information are inquired according to identification marking.One reality
The bluetooth equipment information list for applying example is as shown in table 1.
Specifically, the corresponding building of bluetooth equipment and floor information searched on the mobile terminal device of user,
Building and residing floor i.e. residing for bluetooth equipment.Believed by exhibition building thing information on the mobile terminal device and floor
Breath, user can combine the position being presently in and select corresponding building and floor information.
S306：Obtain the building and floor information of user's selection.
S308：Obtain the building selected in user of search and the coordinate information of each bluetooth equipment in floor.
S310：With each bluetooth devices searched, the signal intensity of each bluetooth equipment is obtained.
RSSI refers to that the signal intensity received indicates for judging the link quality with bluetooth equipment, and whether increase
Broadcast transmission intensity.RSSI size, is read generally by program, or hardware is carried.
S312：Three signal intensities are most strong in the floor selected according to the signal intensity of each bluetooth equipment, selection user
Three bluetooth equipments.
S314：It is determined that the distance with each bluetooth equipment in the building and floor of user's selection.
Specifically, the distance of each bluetooth equipment with selecting is determined according to signal intensity.Formula is：
D=10^ ((abs (RSSI)-A)/(10*n))
Wherein, d represents distance, and A represents signal intensity during one meter of distance, and RSSI represents the signal intensity of bluetooth equipment
Value, N represents attenuation coefficient of the environment to signal, depending on specific environment.
S316：Based on trilateration location algorithm, respectively according to the coordinate information of three bluetooth equipments and with three bluetooths
The distance of equipment determines current location in corresponding building and the coordinate of floor.
The application principle figure of trilateration positioning is as shown in Figure 4.Known 3 points rest upon (x1, y1), (x2, y2), x3, y3), and
Unknown point (x0, y0) to 3 points apart from d1, d2, d3
With d1, d2, d3 is that radius makees three circles, according to Pythagorean theorem, draws the position meter of the i.e. unknown point of intersection point
Calculate formula：
(x1-x0)2+(y1-y0)2=d1 2
(x2-x0)2+(y2-y0)2=d2 2
(x3-x0)2+(y3-y0)2=d3 2
As shown in figure 5, setting unknown point position as (x, y), the sphere centre coordinate for making first spherical P1 therein is (0,0),
P2 is in identical ordinate, and sphere centre coordinate is (d, 0), and P3 sphere centre coordinates are (i, j), and three spherical radius are respectively r1,r2,r3,
Z is three spherical joinings and elevation of water.Then have：
r1 2=x2+y2+z2(formula one)
r2 2=(x-d)2+y2+z2(formula two)
r3 2=(x-i)2+(y-j)2+z2(formula three)
As z=0, as three circles intersect a bit, x to be solved first in the horizontal plane:
X=(r1 2-r2 2+d2)/2d
Formula two is deformed, by the z of formula one2Formula two is substituted into, then substitutes into the calculation formula that formula three obtains y：
Y=(r1 2-r3 2-x2+(x-i)+j2/2j
In the present embodiment, by trilateration localization method, the coordinate for obtaining current location is calculated.
The present invention also provides the indoor orientation method of another embodiment, this method also obtain user's selection building and
The corresponding floor plan of floor, and behind positioning current location, current location is marked in floor plan and is shown.As schemed
6 show, comprise the following steps：
S602：The identification marking of each bluetooth equipment searched is sent to server.
S604：Receive and show the building associated with the identification marking of each bluetooth equipment and floor letter that server is returned
Breath.
S606：Obtain the building and floor information of user's selection.
S608：Obtain the coordinate information of the building selected in user searched and each bluetooth equipment in floor.
Above-mentioned method is similar with the corresponding method of preceding embodiment, and here is omitted.
S610：The building and floor information of user's selection are sent to server.
S612：The floor plan that the building and floor information that the reception server is selected according to user are returned.
Server prestores the floor plan in every building of every solitary building, user often select one layer just will be corresponding
Floor plan is sent to the mobile terminal device of user.
S614：It is determined that the distance with each bluetooth equipment in the building and floor of user's selection.
S616：Believed according to the distance of determination, the coordinate information of corresponding bluetooth equipment and selected building and floor
Breath positioning current location.
S618：Current location is marked in floor plan and is shown.
Above-mentioned indoor orientation method, the positioning real-time exhibition of user is on the plan of correspondence floor.In this method
On the basis of, it can apply in different scenes.For example, in the scene of fire-fighting evacuation, with reference to the current location of user, system
Make fire-fighting evacuation route and show fire-fighting evacuation route in corresponding floor plan, help user to be rapidly separated predicament.
A kind of indoor positioning device, as shown in fig. 7, comprises：Sending module 701, receiving module 702, acquisition module 703,
Apart from determining module 704 and locating module 705.
Sending module 701, the identification marking for sending each bluetooth equipment searched to server.
Receiving module 702, for receiving and showing the seat associated with the identification marking of each bluetooth equipment that server is returned
Mark information, building and floor information.
Acquisition module 703, building and floor information for obtaining user's selection are additionally operable to obtain being in of searching
The building of user's selection and the coordinate information of each bluetooth equipment in floor.
Apart from determining module 704, the distance for determining each bluetooth equipment in building and floor with user's selection.
Locating module 705, for the distance according to determination, the coordinate information of corresponding bluetooth equipment and selected building
Thing and floor information positioning current location.
Above-mentioned indoor positioning device, by sending the identification marking of the bluetooth equipment searched out to server, receives service
Coordinate information and building and floor information that device is returned according to identification marking, can select actually located building for user
And floor information, with reference to the distance of each bluetooth equipment in the floor selected with user, it can be accurately obtained including residing for user
The positional information of floor.The device can be accurate to floor residing for user, and setting accuracy is high.
In another embodiment, as shown in figure 8, including selecting module 7041 and apart from calculating apart from determining module 704
Module 7042.
Selecting module 7041, for the signal intensity according to each bluetooth equipment in hunting zone, what selection user selected builds
Build the bluetooth equipment of predetermined number in thing and floor.
Distance calculation module 7042, for the distance for each bluetooth equipment for calculating and selecting.
In a specific embodiment, selecting module 7041 is obtained specifically for each bluetooth devices with searching
Take the signal intensity of each bluetooth equipment；Three signals in the floor selected according to the signal intensity of each bluetooth equipment, selection user
Intensity most strong three bluetooth equipments.
In this embodiment, locating module 705, based on trilateration location algorithm, respectively according to three bluetooth equipments
Coordinate information and determine current location in corresponding building and the coordinate of floor with the distance of three bluetooth equipments.
In a further embodiment, as shown in figure 8, indoor positioning device also includes display module 706.
Sending module 701, is additionally operable to send the building and floor information of user's selection to server；
Receiving module 702, is additionally operable to the building that the reception server selects according to user and the floor that floor information is returned
Plan.
Display module 706, is additionally operable to mark current location in floor plan and shows.
Above-mentioned indoor positioning device, the positioning real-time exhibition of user is on the plan of correspondence floor.On this basis
On, it can apply in different scenes.For example, in the scene of fire-fighting evacuation, with reference to the current location of user, having formulated and having disappeared
Anti- evacuation route simultaneously shows fire-fighting evacuation route in corresponding floor plan, helps user to be rapidly separated predicament.
Based on the above embodiments there is provided a kind of computer equipment, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, it is characterised in that realize that above-mentioned interior is determined during computing device program
The step of position method.
Based on the above embodiments, a kind of storage medium is also provided, computer program is stored thereon with, it is characterised in that
When the program is executed by processor, the step of realizing above-mentioned indoor orientation method.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of indoor orientation method, it is characterised in that including：
The identification marking of each bluetooth equipment searched is sent to server；
Receive and show the building associated with the identification marking of each bluetooth equipment and floor letter that the server is returned
Breath；
Obtain the building and floor information of user's selection；
Obtain the coordinate information of the building selected in user searched and each bluetooth equipment in floor；
It is determined that the distance with each bluetooth equipment in the building and floor of user's selection；
It is current according to the distance of determination, the coordinate information of corresponding bluetooth equipment and selected building and floor information positioning
Position.
2. indoor orientation method according to claim 1, it is characterised in that it is determined that the building and floor that are selected with user
In each bluetooth equipment distance, including：
Present count in the building and floor that are selected according to the signal intensity of each bluetooth equipment in hunting zone, selection user
The bluetooth equipment of amount；
Calculate the distance with each bluetooth equipment of selection.
3. indoor orientation method according to claim 2, it is characterised in that according to each bluetooth equipment in hunting zone
Signal intensity, selection user selection building and floor in predetermined number bluetooth equipment, including：
With each bluetooth devices searched, the signal intensity of each bluetooth equipment is obtained；
According to the signal intensity of each bluetooth equipment, three signal intensities most strong three indigo plants in the floor of selection user's selection
Tooth equipment；
It is described to be positioned according to the distance of determination, the coordinate information of corresponding bluetooth equipment and selected building and floor information
Current location, including：Based on trilateration location algorithm, respectively according to the coordinate information of three bluetooth equipments and with three bluetooths
The distance of equipment determines current location in corresponding building and the coordinate of floor.
4. indoor orientation method according to claim 1, it is characterised in that：
After the step of obtaining building and the floor information of user's selection, in addition to：Building for user's selection is sent to server
Build thing and floor information；The floor plan that the building and floor information that the reception server is selected according to user are returned；
It is current according to the distance of determination, the coordinate information of corresponding bluetooth equipment and selected building and floor information positioning
After the step of position, in addition to：Current location is marked in the floor plan and is shown.
5. indoor orientation method according to claim 1, it is characterised in that do not exist when detecting user according to current location
During selected floor, the step of returning to the identification marking of each bluetooth equipment searched to server transmission.
6. a kind of indoor positioning device, it is characterised in that including：Sending module, receiving module, acquisition module, distance determine mould
Block and locating module；
The sending module, the identification marking for sending each bluetooth equipment searched to server；
The receiving module, for receiving and showing being associated with the identification marking of each bluetooth equipment for the server return
Building and floor information；
The acquisition module, building and floor information for obtaining user's selection, be additionally operable to obtain search in using
The building of family selection and the coordinate information of each bluetooth equipment in floor；
The distance of each bluetooth equipment in determining module, the building and floor that are selected for determination with user；
The locating module, for the distance according to determination, the coordinate information of corresponding bluetooth equipment and selected building
And floor information positioning current location.
7. indoor positioning device according to claim 6, it is characterised in that described to include selecting module apart from determining module
And distance calculation module；
The selecting module, for the signal intensity according to each bluetooth equipment in hunting zone, what selection user selected builds
Build the bluetooth equipment of predetermined number in thing and floor；
The distance calculation module, for the distance for each bluetooth equipment for calculating and selecting.
8. indoor positioning device according to claim 6, it is characterised in that
The sending module, is additionally operable to send the building and floor information of user's selection to server；
The receiving module, is additionally operable to the building that the reception server selects according to user and the floor level that floor information is returned
Figure；
The display module, is additionally operable to mark current location in the floor plan and shows.
9. a kind of computer equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, it is characterised in that the room described in any one of claim 1 to 5 is realized during the computing device described program
The step of interior localization method.
10. a kind of storage medium, is stored thereon with computer program, it is characterised in that when the program is executed by processor, realize
The step of indoor orientation method described in any one of claim 1 to 5.
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| WO2022227688A1 (en) * | 2021-04-30 | 2022-11-03 | 上海美控智慧建筑有限公司 | Method and apparatus for grouping air conditioning devices, and device and storage medium |
| CN115550844A (en) * | 2022-04-27 | 2022-12-30 | 荣耀终端有限公司 | Region division method and device, electronic equipment and readable storage medium |
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| CN116723569A (en) * | 2023-08-10 | 2023-09-08 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
| CN116723569B (en) * | 2023-08-10 | 2023-11-03 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
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Application publication date: 20171024 |