CN107843906A - The navigation locating method and its system of mobile terminal - Google Patents
The navigation locating method and its system of mobile terminal Download PDFInfo
- Publication number
- CN107843906A CN107843906A CN201610836863.1A CN201610836863A CN107843906A CN 107843906 A CN107843906 A CN 107843906A CN 201610836863 A CN201610836863 A CN 201610836863A CN 107843906 A CN107843906 A CN 107843906A
- Authority
- CN
- China
- Prior art keywords
- module
- transmitting station
- mobile terminal
- wireless
- wireless transmitting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/34—Power consumption
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0273—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves using multipath or indirect path propagation signals in position determination
-
- 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
-
- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a kind of navigation locating method of mobile terminal and system, comprise the following steps：Obtain the current location of mobile terminal；The mobile terminal is calculated according to the position of next wireless transmitting station in the current location and course and reaches the direction of next wireless transmitting station and expected due in；The mobile terminal is advanced by the direction, wherein, the wireless communication module and the global positioning satellite module are closed during traveling before the expection due in, the wireless communication module is opened in the expection due in, if receiving the wireless signal of the wireless transmitting station, the transmitting station mark location in the wireless signal；If being not received by the wireless signal of the wireless transmitting station, open the global positioning satellite module and positioned.The present invention can reduce equipment power dissipation, extension device usage time.
Description
Technical field
The present invention relates to navigation field, and in particular to the navigator fix technology of mobile terminal.
Background technology
In recent years, satellite system location technology obtains more and more extensive application, but at the same time, in actual applications
Be found that some it is urgently to be resolved hurrily be, for example, because whole process needs to open the equipment such as location equipment, GPS for a long time, to cause
Equipment power dissipation is greatly increased, reduces equipment usage time and Consumer's Experience.
Therefore, this area there is an urgent need to it is a kind of can reduce equipment power dissipation, extension device usage time navigator fix side
Method and system.
The content of the invention
It is an object of the invention to provide a kind of navigation locating method of mobile terminal and its system, can reduce equipment work(
Consumption, extension device usage time, so as to improve the experience of user.
In the first aspect of the invention, there is provided a kind of navigation locating method of mobile terminal, in the row of mobile terminal
Enter in route and the wireless transmitting station of multiple known locations be present, each wireless transmitting station transmitting includes launching the wireless communication of station identification
Number；This method comprises the following steps：
According to global positioning satellite module in the mobile terminal or the wireless communication module for receiving the wireless signal
Positioning result obtains the current location of the mobile terminal；
Calculated according to the position of next wireless transmitting station in the current location and course under mobile terminal arrival
The direction of one wireless transmitting station and expected due in；
The mobile terminal by the direction advance, wherein, before the expection due in during traveling the channel radio
Letter module and the global positioning satellite module are closed, and open the wireless communication module in the expection due in, such as
Fruit receives the wireless signal of the wireless transmitting station, then the transmitting station mark location in the wireless signal；If do not connect
The wireless signal of the wireless transmitting station is received, then opens the global positioning satellite module and is positioned；
It is repeated several times and performs above steps.
The present invention preference in, the wireless transmitting station be WIFI access points, bluetooth transmitters, infrared transmitter or
Zigbee transmitters.
The present invention preference in, the wireless communication module be WIFI module, bluetooth module, infrared remote receiver or
Zigbee module.
In the preference of the present invention, the global positioning satellite module includes：GPS module, galileo satellite navigation system
Module, Beidou satellite navigation system module or GLONASS module.
In the preference of the present invention, at this " according to next wireless transmitting station in the current location and course
Position, calculate the mobile terminal and reach the direction of next wireless transmitting station and expected due in " the step of in, also include with
Lower sub-step：
Wind speed and direction value is obtained in real time, according to next wireless in the wind speed and direction value, the current location and course
The position of transmitting station, calculate the mobile terminal and reach the direction of next wireless transmitting station and expected due in.
In the second aspect of the invention, there is provided a kind of navigation positioning system of mobile terminal, wherein, mobile terminal
The wireless transmitting station of multiple known locations in course be present, each wireless transmitting station transmitting includes launching the nothing of station identification
Line signal, the system include：
Global positioning satellite module：For obtaining the current location of the mobile terminal；
Wireless communication module：The wireless signal sent for receiving the wireless transmitting station, and according to the wireless transmission signal
In transmitting station identification, obtain the current location of the mobile terminal；
Computing module：Position for next wireless transmitting station in the current location according to the mobile terminal and course
Put, calculate the mobile terminal and reach the direction of next wireless transmitting station and expected due in；
Traveling control module：For controlling the mobile terminal to be advanced by the direction；
Positioning control module：For before expected due in, wireless communication module and the whole world to be made during traveling
Satellite positioning module is closed, and the wireless communication module is opened in the expection due in, if it is wireless to receive this
The wireless signal of transmitting station, then the transmitting station mark location in the wireless signal；If it is not received by the wireless transmission
The wireless signal of platform, then open the global positioning satellite module and positioned.
The present invention preference in, the wireless transmitting station be WIFI access points, bluetooth transmitters, infrared transmitter or
Zigbee transmitters.
The present invention preference in, the wireless communication module be WIFI module, bluetooth module, infrared remote receiver or
Zigbee module.
In the preference of the present invention, the global positioning satellite module includes：GPS module, galileo satellite navigation system
Module, Beidou satellite navigation system module or GLONASS module.
In the preference of the present invention, the system also includes：
Wind speed and direction acquisition module, for obtaining wind speed and direction value in real time；
The computing module is additionally operable to obtain wind speed and direction value, the current location in real time according to the wind speed and direction acquisition module
With the position of next wireless transmitting station in course, calculate the mobile terminal reach next wireless transmitting station direction and
It is expected that due in.
Embodiment of the present invention compared with prior art, at least with following difference and effect：
Multiple wireless transmitting stations are pre-set in the region that mobile terminal is advanced, each wireless transmitting station transmitting is included certainly
Wireless signal including body mark.Global positioning satellite module and wireless communication module are provided with mobile terminal, wherein wirelessly
The power consumption of communication module is less than global positioning satellite module.Worked as using global positioning satellite module or wireless communication module
Behind front position, the direction of next wireless transmitting station and expected due in course are calculated according to current location, then
Direction row of the mobile terminal in the case where closing the low power consumpting state of wireless communication module and global positioning satellite module as obtained by calculating
Enter, and wireless communication module is reopened in expected due in, if receiving the signal of expected wireless transmitting station, say
It is bright to be carried out on desired trajectory, again calculate reach course in next one wireless transmitting station direction and anticipate up to when
Carve, advance again.If being not received by the signal of expected wireless transmitting station, illustrate the desired trajectory that may deviate, it is necessary to
Global positioning satellite module is changed to be positioned, after positioning successfully again as stated above again calculate reach course in again under
The direction of one wireless transmitting station and expected due in, advance again.In the solution of the present invention, in comparatively ideal situation
Under, the global positioning satellite module of higher power dissipation is hardly with starting shooting, even the wireless communication module of lower power consumption is also
Intermittently opened by the short time, the power consumption in whole navigation procedure is low in the extreme, the application in unmanned plane field
Effect is especially pronounced.
It should be understood that within the scope of the present invention, above-mentioned each technical characteristic of the invention and have in below (eg embodiment)
It can be combined with each other between each technical characteristic of body description, so as to form new or preferable technical scheme.As space is limited, exist
This no longer tires out one by one states.
Brief description of the drawings
Fig. 1 shows the schematic flow sheet of the navigation locating method of the mobile terminal of one embodiment of the present of invention；
Fig. 2 shows the schematic flow sheet of the navigation locating method of the mobile terminal of an alternative embodiment of the invention；
Fig. 3 shows the schematic flow sheet of the navigation positioning system of the mobile terminal of one embodiment of the present of invention.
Embodiment
The present inventor has found to pre-set in the range of mobile terminal course multiple by in-depth study extensively
Wireless transmitting station, mobile terminal according to it is predetermined at the time of gap open and close wireless communication module or global positioning satellite mould
Block, current location is positioned, the direction and distance for advancing to next wireless transmitting station are calculated, and to expecting
Expection due in up to next wireless transmitting station is calculated, hereafter can be to close wireless communication module and global satellite
Locating module, mobile terminal fly according to the direction being calculated, and until expected due in, are again turned on location equipment, from
And equipment power dissipation can be reduced, extension device usage time.
In the following description, in order that reader more fully understands the application and proposes many ins and outs.But this
Even if the those of ordinary skill in field is appreciated that without these ins and outs and many variations based on following embodiment
And modification, each claim of the application technical scheme claimed can also be realized.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with implementation of the accompanying drawing to the present invention
Mode is described in further detail.
Term
Hereinafter, " wireless transmitting station ", " target point " are interchangeable, and are referred in mobile terminal route of intended travel
Know the wireless transmitting station of position.
Embodiment 1：The navigation locating method of mobile terminal
In embodiment 1, the wireless transmitting station of multiple known locations, Mei Gewu in the course of mobile terminal be present
The transmitting of line transmitting station includes launching the wireless signal of station identification.
In an embodiment of the present invention, can be and known each according to beginning and end before mobile terminal sets out
The position of wireless transmitting station, plans course in advance, and is known that there is which specific wireless transmitting station is expert at route
In line.The planning process of course can be completed by network side, high in the clouds, can also be completed by the software of mobile terminal itself.
In one embodiment, wireless transmitting station is specially set, and is exclusively used in navigating.In another embodiment, wireless transmitting station
What is utilized is already present WIFI access points (AP) in region, first can carry differential GPS (if required precision is not high with one
GPS or other global position systems can also be used) unmanned plane make the flight of spreadability to designated area, WIFI in pickup area
Wireless signal and the corresponding relation of differential GPS position, the position of main WIFI access points is calculated according to the WIFI signal of collection
Put.
Referring to Fig. 1, the navigation locating method of the mobile terminal of embodiment 1 comprises the following steps：
Step 101：According to global positioning satellite module in the mobile terminal or the channel radio for receiving the wireless signal
The positioning result of letter module obtains the current location of the mobile terminal.Wireless transmitting station can be WIFI access points, Bluetooth transmission
Device, infrared transmitter or Zigbee transmitters etc., corresponding wireless communication module can be WIFI module, bluetooth module, red
Outer receiver or Zigbee module etc..Global positioning satellite module can be GPS module, GLONASS (GLONASS) mould
Block, the Big Dipper (BDS) module or Galileo modules etc..
Step 102：Movement end is calculated according to the position of next wireless transmitting station in the current location and course
End reaches the direction of next wireless transmitting station and expected due in.
Step 103：The mobile terminal is advanced by the direction, wherein, before the expection due in during traveling
The wireless communication module and the global positioning satellite module are closed, and the radio communication is opened in the expection due in
Module, if receiving the wireless signal of the wireless transmitting station, the transmitting station mark location in the wireless signal；If
The wireless signal of the wireless transmitting station is not received by, then opens the global positioning satellite module and is positioned.The present invention's is each
In embodiment, module closed mode can be powered off the states such as the dormancy of state or low-power consumption, as long as than normal work
The power consumption for making state is low.
In a preference, mobile terminal is radio machine, and the mode of traveling is to fly at a constant speed.In other examples,
Can be the vehicles such as vehicle or ship.
Step 104：Judge it is no arrived at, if do not reached also, above-mentioned steps 101 are returned to, if reached
Destination, then terminate this flow.
The advantages of above-mentioned embodiment, is as follows：
Navigation equipment is opened in gap, according to the position of next wireless transmitting station in mobile terminal current location and course
Put, direction and E.T.A that the mobile terminal reaches next wireless transmitting station are calculated, in mobile terminal traveling process
In, before expected due in, wireless communication module and global positioning satellite module are closed, and are reached until anticipating
At the moment, mobile terminal opens wireless communication module, according to whether receiving the wireless signal for anticipating the wireless transmitting station reached, phase
Ground is answered to be positioned according to the wireless signal or global positioning satellite module of wireless transmitting station.Hereafter, above-mentioned step is repeated
Suddenly, until arriving at.Due to wireless communication module power consumption, and global positioning satellite module power consumption is than wireless communication module also
It is big, and what the two modules were all closed within the most of the time that mobile terminal moves, only open channel radio in a small number of times
Believe that module is confirmed whether to deviate from travel path, further, power consumption is just only used when wireless communication module can not position
Maximum global positioning satellite module is positioned, therefore greatly reduces the power consumption that mobile terminal is used for navigator fix, is extended
Equipment usage time.
Embodiment 2：The navigation locating method of mobile terminal
In example 2, likewise, the wireless transmission of multiple known locations in the course of mobile terminal be present
Platform, each wireless transmitting station transmitting includes launching the wireless signal of station identification, referring to Fig. 2, the navigation of the mobile terminal of embodiment 2
Localization method comprises the following steps：
Step 201：Determinand obtains the details of current location.
Specifically, in this step, it is json forms to preserve current determinand positional information, such as：{location:
{lat:32.0006649331,lon:120.3093932708,alt:24.7602},flag:True,sensor_act:
True}。
Step 202：Judge whether determinand can be positioned by neighbouring base station, if it is, step 103 is performed,
Otherwise, step 104 is performed.
In the present embodiment, neighbouring base station includes：Base station that specialty is used to position, oneself open exact position and allow into
Mobile phone communications base station of row network service etc..It is appreciated that when following shared resources are economically developed, it is all to be based on
WiFi routers that family expenses/business router of high safety protection agreement, open exact position and allowing are communicated or its
He can arbitrarily send the wireless communication module of oneself precise position information, can also be used as neighbouring base station.
Step 203：Positioned by the wireless communication module for opening determinand.
Wireless communication module in the present embodiment can be any wireless communication module that can be used, comprising but do not limit to
In：WiFi module (801a/b/g/ac), bluetooth module (1.0~4.0+) etc..
Step 204：Positioned by the satellite modules for opening determinand.
Satellite modules in the present embodiment can be GPS module, GLONASS (GLONASS) module, the Big Dipper (BDS) mould
Block or Galileo modules etc..
Step 205：Calculate determinand and advance to the direction vector of next target point and apart from scalar, and expect and reach
Moment.
In the present embodiment, next wireless transmitting station in next target point, i.e. course.
In this step, earth pocket is interpreted as a plane, utilizes Euler's formula, it is assumed that current location
Longitude and latitude it is a height of (x1, y1, z1), next target BS position is (x2, y2, z2), then the direction vector of next position is：
S=(x2-x1, y2-y1)/sqrt ((x1-x2) ^2+ (y1-y2) ^2), it is noted that s is vector；And it is exactly L=sqrt apart from scalar
((x1-x2)^2+(y1-y2)^2)；Unmanned plane full speed speed is V；If it is json forms to preserve the data, i.e.,
{direction_vector:s,distance:L,speed:v}
In the present embodiment, from the point of view of visual angle is overlooked, the distance between 2 points are counted from the longitudes of 2 points, latitude
Calculating, i.e. x, y are calculated, in the little regional extent, it is believed that elevation z is 0, in other words, in the present embodiment,
Z can be not involved in calculating.
Step 206：Wind speed and direction value is obtained in real time, according to next in wind speed and direction value, current location and course
The position of wireless transmitting station, calculate mobile terminal and reach the direction of next wireless transmitting station and expected due in.
In the present embodiment, it is contemplated that the mobile terminal such as unmanned plane is larger by air speed influence, has been pre-configured with wind
Speed correction calculates soft mode block, and mobile terminal can install a wind speed wind direction sensor, calculates correction vector in real time, for example,
In some moment t, wind direction and wind velocity vector is St, the absolute value of its mould | St | it is the scalar of wind speed, s is the direction of theoretical calculation
Vector, then it is △ s=St+s to correct data.Pay attention to, △ s are the additions between vector；△ v=V- | St |；If preserve correction
Vector is json forms, then it can show as { correct_vector:{direction_delta:Sd,speed_
delta:△v}.In another embodiment, mobile terminal from Cloud Server obtain meteorological observatory issue one's respective area wind speed and
Wind direction, to correct the heading of unmanned plane, speed and the estimated due in for reaching next wireless transmitting station.
The correction mode of E.T.A is as follows：
T=L/Sa, wherein, it is two base distance between sites on L；Sa is straightening speed average.
Step 207：Mobile terminal closes satellite-signal, and the vector sum scalar after being calculated according to correction is advanced.
Step 208：Mobile terminal is again turned on wireless communication module or satellite modules according to the default time, repeats to walk
Rapid 101.
In an embodiment of the present invention, the default time can be advanced to according to the mobile terminal in step 206 it is next
The estimated due in of individual target point.
According to the example above, it is known that upper one and next base distance between sites D, be distance with rectifying according to the formula time
The business of positive speed, T=L/ △ v, calculate time of next opening module, wherein, T represent expect up to target point it is time-consuming when
Between, L=sqrt ((x1-x2) ^2+ (y1-y2) ^2), 2 base distance between sites are represented, △ v=V- | St | represent straightening speed scalar.
The advantages of above-mentioned embodiment, is as follows：
On the basis of embodiment 1, further increase and obtain wind speed and direction value in real time, corrected and calculated according to wind speed and direction
Module calculates correction vector sum scalar, thus further increases the precision of navigator fix, improves to next wireless target
The quasi- degree of certainty of orientation of point, i.e. wireless transmitting station, and and to advance to next target point estimated due in it is accurate
Degree.Mobile terminal is avoided because the factor of wind influences the accuracy of course, reducing the factor of wind causes navigator fix
It is not accurate enough and consume flight power consumption, so as to the usage time of extension device.
Embodiment 3：The navigation positioning system of mobile terminal
In the present embodiment, the wireless transmitting station of multiple known locations in the course of mobile terminal be present, each
Wireless transmitting station transmitting includes launching the wireless signal of station identification.As shown in figure 3, the navigator fix of the mobile terminal of the present embodiment
System includes：
Global positioning satellite module 301：For obtaining the current location of the mobile terminal.
Wireless communication module 302：The wireless signal sent for receiving wireless transmitting station, and according to the wireless transmission signal
In transmitting station identification, obtain the current location of the mobile terminal.
Computing module 303：For next wireless transmitting station in the current location according to mobile terminal and course
Position, calculate the mobile terminal and reach the direction of next wireless transmitting station and expected due in.
Traveling control module 304：For controlling mobile terminal to be advanced by the direction；
Positioning control module 305：For before expected due in, wireless communication module 302 to be made during traveling
It is closed with global positioning satellite module 301, the wireless communication module 302 is opened in the expection due in, if
The wireless signal of the wireless transmitting station is received, then the transmitting station mark location in the wireless signal；If do not receive
To the wireless signal of the wireless transmitting station, then open the global positioning satellite module and positioned.
It should be noted that foregoing embodiments are the embodiments of the method corresponding with the device of the present embodiment, this reality
The mode of applying can work in coordination implementation with above-mentioned embodiment.The relevant technical details mentioned in above-mentioned embodiment are in this embodiment party
In formula still effectively, in order to reduce repetition, repeat no more here.Correspondingly, the relevant technical details mentioned in present embodiment
It is also applicable in above-mentioned embodiment.
It should be noted that in another embodiment of the present invention, on the basis of embodiment 3, further comprise
Rectification module, for obtaining wind speed and direction value in real time, according to next nothing in wind speed and direction value, current location and course
The position of line transmitting station, calculate mobile terminal and reach the direction of next wireless transmitting station and expected due in.
Main advantages of the present invention include：
1) power consumption of the unmanned plane during traveling is significantly reduced, in the epoch that following shared economic height is flourishing, is appointed
What home router can sharing base, then in city scope, the high accuracy positioning of unmanned plane with little need for
Satellite positioning module is opened, global position system is only second to start motor in the power consumption of unmanned plane, so can be obvious
Reduce unmanned plane power consumption.
If 2) as described above, being operated in city, unmanned plane can almost save satellite modules and calculating in the near future
Module, reduce unmanned plane cost.
3) computational methods are extremely simplified, and software is realized and its conveniently, algorithm complex is low, and general geological coodinate system is high, and need not be into
This very high hardware cost.
In summary, the navigation locating method of mobile terminal provided by the invention and system have very in navigator fix field
Wide application prospect.
It should be noted that each unit mentioned in each equipment embodiment of the present invention is all logic unit, physically,
One logic unit can be a part for a physical location or a physical location, can also be with multiple physics
The combination of unit realizes that the Physical realization of these logic units in itself is not most important, and these logic units institute is real
The combination of existing function is only the key for solving technical problem proposed by the invention.In addition, in order to protrude the innovation of the present invention
Part, the above-mentioned each equipment embodiment of the present invention do not have the technical problem relation proposed by the invention with solution is less close
Unit introduce, this is not intended that the said equipment embodiment and other units is not present.
It should be noted that all it is incorporated as referring in this application in all documents that the present invention refers to, just as every
One document is individually recited as with reference to such.In addition, it is to be understood that after the above-mentioned instruction content of the present invention has been read, this
Art personnel can make various changes or modifications to the present invention, and these equivalent form of values equally fall within right appended by the application will
Seek book limited range.
Also, in claims and specification of this patent, such as first and second or the like relational terms are only
Only it is used for making a distinction an entity or operation with another entity or operation, and not necessarily requires or imply these realities
Any this actual relation or order be present between body or operation.Moreover, term " comprising ", "comprising" or its it is any its
His variant is intended to including for nonexcludability, so that process, method, article or equipment including a series of elements are not
Only include those key elements, but also the other element including being not expressly set out, or also include for this process, method,
Article or the intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence " including one ", and
It is not precluded within the process including the key element, method, article or equipment and other identical element is also present.The power of this patent
In sharp claim and specification, if it is mentioned that perform certain behavior according to certain key element, then refer to perform the row according at least to the key element
For the meaning, which includes two kinds of situations：The behavior is performed according only to the key element and is performed according to the key element and other key elements
The behavior.
Although by referring to some preferred embodiments of the present invention, the present invention is shown and described, this
The those of ordinary skill in field should be understood that can to it, various changes can be made in the form and details, without departing from the present invention
Spirit and scope.
Claims (10)
1., there is the wireless of multiple known locations in a kind of navigation locating method of mobile terminal in the course of mobile terminal
Transmitting station, each wireless transmitting station transmitting include launching the wireless signal of station identification, it is characterised in that methods described includes following
Step：
According to global positioning satellite module in the mobile terminal or the wireless communication module for receiving the wireless signal
Positioning result obtains the current location of the mobile terminal；
Calculated according to the position of next wireless transmitting station in the current location and course under the mobile terminal arrival
The direction of one wireless transmitting station and expected due in；
The mobile terminal by the direction advance, wherein, before the expected due in during traveling the nothing
Line communication module and the global positioning satellite module are closed, and the channel radio is opened in the expected due in
Believe module, if receiving the wireless signal of the wireless transmitting station, the transmitting station mark location in the wireless signal；
If being not received by the wireless signal of the wireless transmitting station, open the global positioning satellite module and positioned；
It is repeated several times and performs above steps.
2. the method as described in claim 1, it is characterised in that the wireless transmitting station be WIFI access points, bluetooth transmitters,
Infrared transmitter or Zigbee transmitters.
3. the method as described in claim 1, it is characterised in that the wireless communication module is WIFI module, bluetooth module, red
Outer receiver or Zigbee module.
4. the method as described in claim 1, it is characterised in that the global positioning satellite module includes：GPS module, Jia Li
Slightly satellite navigation system module, Beidou satellite navigation system module or GLONASS module.
5. the method as any one of Claims 1-4, it is characterised in that described " according to the current location and row
Enter the position of next wireless transmitting station in route, calculate the mobile terminal and reach the direction of next wireless transmitting station and pre-
In the step of phase due in ", also comprising following sub-step：
Wind speed and direction value is obtained in real time, according to next wireless in the wind speed and direction value, the current location and course
The position of transmitting station, calculate the mobile terminal and reach the direction of next wireless transmitting station and expected due in.
6. a kind of navigation positioning system of mobile terminal, wherein, multiple known locations in the course of mobile terminal be present
Wireless transmitting station, each wireless transmitting station transmitting include launching the wireless signal of station identification, it is characterised in that the system
Comprising：
Global positioning satellite module：For obtaining the current location of the mobile terminal；
Wireless communication module：The wireless signal sent for receiving the wireless transmitting station, and according to the wireless transmission signal
In transmitting station identification, obtain the current location of the mobile terminal；
Computing module：Position for next wireless transmitting station in the current location according to the mobile terminal and course
Put, calculate the mobile terminal and reach the direction of next wireless transmitting station and expected due in；
Traveling control module：For controlling the mobile terminal to be advanced by the direction；
Positioning control module：For before expected due in, wireless communication module and global satellite to be made during traveling
Locating module is closed, and the wireless communication module is opened in the expected due in, if receiving the nothing
The wireless signal of line transmitting station, then the transmitting station mark location in the wireless signal；If it is not received by the nothing
The wireless signal of line transmitting station, then open the global positioning satellite module and positioned.
7. system as claimed in claim 6, it is characterised in that the wireless transmitting station be WIFI access points, bluetooth transmitters,
Infrared transmitter or Zigbee transmitters.
8. system as claimed in claim 6, it is characterised in that the wireless communication module is WIFI module, bluetooth module, red
Outer receiver or Zigbee module.
9. system as claimed in claim 6, it is characterised in that the global positioning satellite module includes：GPS module, Jia Li
Slightly satellite navigation system module, Beidou satellite navigation system module or GLONASS module.
10. the system as any one of claim 6 to 9, it is characterised in that also include：
Wind speed and direction acquisition module, for obtaining wind speed and direction value in real time；
The computing module is additionally operable to obtain wind speed and direction value, the present bit in real time according to the wind speed and direction acquisition module
The position with next wireless transmitting station in course is put, calculates the side that the mobile terminal reaches next wireless transmitting station
To with expected due in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610836863.1A CN107843906B (en) | 2016-09-21 | 2016-09-21 | Navigation positioning method and system of mobile terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610836863.1A CN107843906B (en) | 2016-09-21 | 2016-09-21 | Navigation positioning method and system of mobile terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107843906A true CN107843906A (en) | 2018-03-27 |
| CN107843906B CN107843906B (en) | 2021-05-11 |
Family
ID=61656992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610836863.1A Active CN107843906B (en) | 2016-09-21 | 2016-09-21 | Navigation positioning method and system of mobile terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107843906B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111712861A (en) * | 2019-05-24 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Control method of remote control equipment and remote control equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101447129A (en) * | 2009-01-09 | 2009-06-03 | 吴鑫 | Intelligent public transportation system based on wireless sensor network |
| JP2011252720A (en) * | 2010-05-31 | 2011-12-15 | Ntt Docomo Inc | Positioning device and positioning method |
| CN102519479A (en) * | 2011-11-22 | 2012-06-27 | 四川长虹电器股份有限公司 | Map-free navigation system and navigation method based on cloud service |
| CN103222319A (en) * | 2010-09-29 | 2013-07-24 | 惠普发展公司，有限责任合伙企业 | Location tracking for mobile computing device |
| CN104198984A (en) * | 2014-08-01 | 2014-12-10 | 孙亚飞 | Urban vehicle navigation positioning method based on road lamp assistant positioning |
| CN104809902A (en) * | 2015-04-29 | 2015-07-29 | 贵州中科汉天下信息技术有限公司 | Method for reducing GPS (global positioning system) equipment power consumption |
| CN104950318A (en) * | 2015-06-29 | 2015-09-30 | 北京锤子数码科技有限公司 | Power-saving method for GPS (global position system) positioning module and mobile device |
-
2016
- 2016-09-21 CN CN201610836863.1A patent/CN107843906B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101447129A (en) * | 2009-01-09 | 2009-06-03 | 吴鑫 | Intelligent public transportation system based on wireless sensor network |
| JP2011252720A (en) * | 2010-05-31 | 2011-12-15 | Ntt Docomo Inc | Positioning device and positioning method |
| CN103222319A (en) * | 2010-09-29 | 2013-07-24 | 惠普发展公司，有限责任合伙企业 | Location tracking for mobile computing device |
| CN102519479A (en) * | 2011-11-22 | 2012-06-27 | 四川长虹电器股份有限公司 | Map-free navigation system and navigation method based on cloud service |
| CN104198984A (en) * | 2014-08-01 | 2014-12-10 | 孙亚飞 | Urban vehicle navigation positioning method based on road lamp assistant positioning |
| CN104809902A (en) * | 2015-04-29 | 2015-07-29 | 贵州中科汉天下信息技术有限公司 | Method for reducing GPS (global positioning system) equipment power consumption |
| CN104950318A (en) * | 2015-06-29 | 2015-09-30 | 北京锤子数码科技有限公司 | Power-saving method for GPS (global position system) positioning module and mobile device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111712861A (en) * | 2019-05-24 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Control method of remote control equipment and remote control equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107843906B (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9807569B2 (en) | Location based services provided via unmanned aerial vehicles (UAVs) | |
| CN105393139B (en) | GPS and WLAN hybrid position determines | |
| CN107017940B (en) | Unmanned plane repeat broadcast communication system route optimization method | |
| Liu et al. | HAWK: An unmanned mini-helicopter-based aerial wireless kit for localization | |
| CN104798420B (en) | Based on the recognizable radio signal source Estimated Time of Arrival for encountering surrounding along route | |
| CN103472459A (en) | GPS (Global Positioning System)-pseudo-range-differential-based cooperative positioning method for vehicles | |
| CN104181500A (en) | Real-time locating method based on inertia information and chance wireless signal characteristics | |
| Caballero et al. | A general gaussian-mixture approach for range-only mapping using multiple hypotheses | |
| CN103994767A (en) | Rescuer indoor cooperated positioning device and method | |
| CN104135749A (en) | Mobile beacon path planning method based on network density clustering of wireless sensor network | |
| CN102360076B (en) | Multidimensional positioning method and apparatus thereof | |
| US20210001981A1 (en) | Position determination of mobile objects | |
| CN104931051A (en) | Indoor electronic map drawing and navigating method and system based on big data | |
| CN103471586A (en) | Sensor-assisted terminal combination positioning method and sensor-assisted terminal combination positioning device | |
| CN107065848A (en) | A kind of underground mine locomotive Unmanned Systems and method based on high accuracy positioning navigation terminal | |
| Gorovyi et al. | Real-time system for indoor user localization and navigation using bluetooth beacons | |
| KR20160105628A (en) | Distance and position measurement method with beacon and acceleration sensor and indoor positioning system using the same | |
| CN105891772A (en) | Navigation method and device | |
| CN103995537A (en) | Indoor and outdoor mixed autonomous cruising system and method of aircraft | |
| CN108828512A (en) | Accurate positioning method and equipment based on the base station LBS | |
| CN104237846A (en) | Autonomous moving object indoor three-dimensional positioning and tracking system and method | |
| CN103929809A (en) | Indoor wireless positioning method | |
| JP6891950B2 (en) | Equipment, systems, methods, and programs | |
| CN103791898A (en) | Method and electronic equipment for navigation in building | |
| CN107843906A (en) | The navigation locating method and its system of mobile terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |