CN107889215A - Multistage positioning method and system based on mark management - Google Patents
Multistage positioning method and system based on mark management Download PDFInfo
- Publication number
- CN107889215A CN107889215A CN201711251700.8A CN201711251700A CN107889215A CN 107889215 A CN107889215 A CN 107889215A CN 201711251700 A CN201711251700 A CN 201711251700A CN 107889215 A CN107889215 A CN 107889215A
- Authority
- CN
- China
- Prior art keywords
- positioning
- positioner
- positioning method
- management server
- management
- 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
-
- 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
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to Internet of Things field of locating technology, Multistage positioning method and system, methods described specially based on mark management include：ID management server registration object information, establish the ID of positioning object and the object identifier OID of positioner mapping relations；Positioner determines positioning method, and positioning method convert requests order is sent into ID management server；Each location technology locator label is integrated in positioner by the present invention, and object identifier OID codings are carried out to positioner, and the object identifier OID by managing positioner substitutes the management to locator tag ID, reduces the complexity to positioning Object Management group；Positioner switches positioning method according to actual environment to positioning precision demand, gathers positional information using the positioning subtab of different accuracy alignment system, improves the positioning precision of alignment system step by step.
Description
Technical field
The present invention relates to Internet of Things field of locating technology, it is more particularly to a kind of based on mark management Multistage positioning method and
System.
Background technology
The distinguishing features such as traditional satellite positioning tech has efficient, low cost, function is more, has a wide range of application, but position
Precision is had a great influence by terminal local environment.When its terminal is in higher site coverage or indoor environment, due to that can receive
Satellite-signal it is too weak, its precision is greatly reduced, therefore location Calculation can not be carried out and complete to position.Internet of Things indoor positioning
Technology can solve that site coverage that global position system can not be related to is higher or indoor environment location.
The location technology that Internet of Things field now uses mainly have LoRa location technologies, ultra wide band (Ultra Wideband,
UWB) location technology, WiFi location technologies, ZigBee location technologies etc..LoRa technologies have remote, low-power consumption, multinode with
And the characteristic of low cost；UWB location technologies have low-power consumption, anti-multipath effect, it is safe, system complexity is low the characteristics of,
Its positioning precision is up to Centimeter Level；WiFi location technologies are a kind of IEEE802.11 location solutions, applied to small range
Indoor positioning, cost is relatively low, but covering is limited, and easily by other signal interferences；ZigBee positioning is with low-power consumption, time delay
The advantages of short, low rate, low cost, big network capacity, but because its data transfer rate is relatively low, be not suitable for the high applied field of transmission rate
Scape, can only private network it is special.
Corresponding location technology is selected generally according to requirement of the actual environment to positioning precision, if under actual environment not
Different with requirement of the scene to positioning precision, selection can meet the alignment system of peak demand precision, then whole alignment system into
This meeting is very high, and the low positioning scene of required precision is also not necessarily to use high-precision alignment system.Therefore, using single fixed
The alignment system of position technology tends not to both consider positioning accuracy request, it is further contemplated that alignment system cost.
Different location technologies are merged, using the method for multistage positioning, can solve to use above-mentioned single alignment system institute
The problem of bringing.But existing location technology uses the positioning tag ID mark location object of different coding mode, difference positioning
Mode by managing positioning tag ID come track and localization object, when position tag ID quantity it is very big when, due to each positioning skill
Art is supplied to the positioning tag ID coded system of positioning object different, and positioning is managed by way of simple management positions tag ID
Object will become highly difficult.
The content of the invention
In view of the above-mentioned problems, the present invention proposes a kind of Multistage positioning method and system based on mark management.
A kind of Multistage positioning method based on mark management of the present invention, including：
S1：ID management server registration object information, establish the ID of positioning object and the object mark of positioner
Know symbol OID mapping relations；
S2：Positioner determines positioning method, and positioning method convert requests order is sent to ID management server；
S3：ID management server receives the positioning method convert requests order of positioner transmission, mark management clothes
Business device replys positioning method conversion acknowledgement command to positioner；The positioner changes response life according to the positioning method
Make to change positioning method；
S4：Positioner sends positioning object location information to ID management server, the ID management server will
Positioning object location information is stored in positioning Obj State information table corresponding to database；
S5：If positioning object enters next stage localizing environment, step S3 is gone to；Otherwise, it is determined whether reach target position
Put, if not reaching target location, go to step S4；If reaching target location, terminate to position.
Preferably, the ID management server registration object information, the ID and positioner of positioning object are established
Object identifier OID mapping relations include：Registration pair of the positioner in the database of ID management server
As status information table, the positioning Obj State information table stores the location information on the positioner, and location information includes
Position the ID of object and the object identifier OID of positioner mapping relations, position positioning method used by object, and
Locator label position information at different levels.
Preferably, the positioner determines that positioning method includes：Positioner is according to actual environment to positioning precision need
Switching positioning method is sought, positional information is gathered using the positioning subtab of different accuracy alignment system, improves alignment system step by step
Positioning precision.
Preferably, the positioning subtab includes：GPS labels, LoRa labels, WiFi labels, ZigBee labels and UWB marks
Any or a variety of combination in label.
Further, the ID management server receives the positioning method convert requests order of positioner transmission,
ID management server replys positioning method conversion acknowledgement command to positioner；The positioner is according to the positioning method
Conversion acknowledgement command specifically includes to change positioning method：ID management server receives the positioning method of positioner transmission
Convert requests order, ID management server Search and Orientation Obj State information table in its database, if the positioning
The order of mode convert requests and the positioning Obj State information table are inconsistent, then update the positioning Obj State information table,
The ID management server sends positioning method and changes acknowledgement command to positioner, and the ID management server is to positioning
Device replys positioning method conversion acknowledgement command；Otherwise, the ID management server orders the positioning method convert requests
Order beams back positioner as positioning method conversion acknowledgement command, and the positioner is changed response according to the positioning method and ordered
Make to change positioning method.
A kind of multistage alignment system based on mark management of the present invention, including：Locating base station, positioner, mark pipe
Manage server and customer account management terminal；
The ID management server is used to manage positioner status information table, and the ID and positioning for establishing positioning object are filled
The object identifier OID put mapping relations；Positioning method conversion acknowledgement command is sent to the positioner；And will positioning
The positional information of object is stored in positioning Obj State information table corresponding to database；
The positioner is used to change positioning method and determines positioning method, and it is fixed to be sent to the ID management server
Position mode convert requests order；
The locating base station is used for the positional information for obtaining the positioner；
The customer account management terminal is used for user and the positional information for positioning object is managed；
The positioner is communicated by wireless network with the ID management server, and the customer account management terminal passes through
Wireless network communicates with the ID management server, and the positional information of the positioner passes through the positioner and surrounding
Locating base station communicate and obtain.
Preferably, the ID management server is used to manage positioner status information table, establishes the ID of positioning object
Specifically included with the object identifier OID of positioner mapping relations：The positioner is in the ID management server
Database in registration Obj State information table, the positioning Obj State information table stored on the positioner
Location information, location information include the ID of positioning object and the object identifier OID of positioner mapping relations, positioning object
Used positioning method, and locator label position information at different levels.
Preferably, the positioner includes positioning label, MCU module, wireless communication module and power module, described fixed
Position label includes one or more kinds of positioning subtabs, and the MCU module is according to the positioning method of the ID management server
Conversion acknowledgement command gathers positional informations to switch using different positioning subtabs.
Preferably, the positioning subtab includes：GPS labels, LoRa labels, WiFi labels, ZigBee labels and UWB marks
Any or a variety of combination in label.
Further, sending positioning method conversion acknowledgement command to the positioner includes：The mark management service
Device Search and Orientation Obj State information table in its database, if the positioning method convert requests order and the positioning object
Status information table is inconsistent, then updates the positioning Obj State information table, sends positioning method conversion acknowledgement command to positioning
Device, the ID management server reply positioning method conversion acknowledgement command to positioner；Otherwise, the mark management clothes
Positioner, the positioning dress are beamed back in the positioning method convert requests order by business device
Put and acknowledgement command is changed according to the positioning method to change positioning method.
The locator label of each location technology is integrated in positioner by the present invention, and object identity is carried out to positioner
OID codings are accorded with, the object identifier OID by managing positioner substitutes the management to locator tag ID, reduces to positioning
The complexity of Object Management group.Positioner switches positioning method according to actual environment to positioning precision demand, uses different accuracy
The positioning subtab collection positional information of alignment system, the positioning precision of alignment system is improved step by step.
Brief description of the drawings
Fig. 1 is the Multistage positioning method flow chart based on mark management of the present invention；
Fig. 2 is the multistage positioning system structure schematic diagram based on mark management of the present invention；
Fig. 3 is the positioner preferred embodiment module map of multistage alignment system of the present invention based on mark management；
Fig. 4 is Multistage positioning method and System Preferred embodiments Sample Scenario figure of the present invention based on mark management；
Fig. 5 is the concrete operations signal of Multistage positioning method and System Preferred embodiments of the present invention based on mark management
Figure；
Fig. 6 is the target location search procedure schematic diagram of Multistage positioning method and system of the present invention based on mark management.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing to of the invention real
The technical scheme applied in example is clearly and completely described, it is clear that described embodiment is only that a present invention part is implemented
Example, rather than whole embodiments.
A kind of Multistage positioning method based on mark management of the present invention, as shown in figure 1, including：
S1：ID management server registration object information, establish the ID of positioning object and the object mark of positioner
Know symbol OID mapping relations；
S2：Positioner determines positioning method, and positioning method convert requests order is sent to ID management server；
S3：ID management server receives the positioning method convert requests order of positioner transmission, mark management clothes
Business device replys positioning method conversion acknowledgement command to positioner；The positioner changes response life according to the positioning method
Make to change positioning method；
S4：Positioner sends positioning object location information to ID management server, the ID management server will
Positioning object location information is stored in positioning Obj State information table corresponding to database；
S5：If positioning object enters next stage localizing environment, step S3 is gone to；Otherwise, it is determined whether reach target position
Put, if not reaching target location, go to step S4；If reaching target location, terminate to position.
Preferably, the ID management server registration object information, the ID and positioner of positioning object are established
Object identifier OID mapping relations include：Registration pair of the positioner in the database of ID management server
As status information table, the positioning Obj State information table stores the location information on the positioner, and location information includes
Position the ID of object and the object identifier OID of positioner mapping relations, position positioning method used by object, and
Locator label position information at different levels.
Preferably, the positioner determines that positioning method includes：Positioner is according to actual environment to positioning precision need
Switching positioning method is sought, positional information is gathered using the positioning subtab of different accuracy alignment system, improves alignment system step by step
Positioning precision.
Preferably, the positioning subtab includes：GPS labels, LoRa labels, WiFi labels, ZigBee labels and UWB marks
Any or a variety of combination in label.
Further, the ID management server receives the positioning method convert requests order of positioner transmission,
ID management server replys positioning method conversion acknowledgement command to positioner；The positioner is according to the positioning method
Conversion acknowledgement command specifically includes to change positioning method：ID management server receives the positioning method of positioner transmission
Convert requests order, ID management server Search and Orientation Obj State information table in its database, if the positioning
The order of mode convert requests and the positioning Obj State information table are inconsistent, then update the positioning Obj State information table,
The ID management server sends positioning method and changes acknowledgement command to positioner, and the ID management server is to positioning
Device replys positioning method conversion acknowledgement command；Otherwise, the ID management server orders the positioning method convert requests
Order beams back positioner as positioning method conversion acknowledgement command, and the positioner is changed response according to the positioning method and ordered
Make to change positioning method.
The present invention it is a kind of based on mark management multistage alignment system, as shown in Fig. 2 including locating base station, positioner,
ID management server and customer account management terminal, positioning object carry the positioner that can be recognized by the system；
ID management server is used for managing the ID of positioning object and the object identifier OID mapping relations of positioner,
Handle the various data messages that positioner uploads, and storage positioning object location information；
Positioner is used to change positioning method and determines positioning method, and positioning side is sent to the ID management server
Formula convert requests order；
Customer account management terminal is used for managing positioning object real-time position information, it is preferred that can be PC or any movement
Equipment, positioner are communicated by wireless network with the locating base station；
The locating base station is used for the positional information for obtaining the positioner；
The positioner is communicated by wireless network with the ID management server, and the customer account management terminal passes through
Wireless network communicates with the ID management server, and the positional information of the positioner passes through the positioner and surrounding
Locating base station communicate and obtain.
Preferably, the location coordinate of the positioner is obtained by the locating base station around the positioner
Take.
Object identifier (Object identifier, OID) is also known as Internet of Things domain name, can be for any kind of object
The whole world is carried out unambiguously, uniquely to name.
The structure of positioner as shown in figure 3, including positioning label, MCU module, wireless communication module and power module,
Wherein positioning label integrates the subtab of various different location technologies, such as GPS, LoRa, UWB, ZigBee and WiFi locator
Label, any of which or a variety of different location technology subtabs can be integrated by positioning label according to actual location scene.
Difference positioning object registers positioning Obj State information corresponding to one in the database of ID management server
Table, as shown in table 1, for storing the ID of positioning object and positioning object OID mapping relations, and local environment uses
Positioning method and positional information, the information is by customer account management terminal by user management.
Table 1 positions Obj State information table
In order to which the present invention is better described, with reference to Fig. 4 and Fig. 5, a kind of multistage based on mark management of the present invention is determined
The preferred embodiment that position system is combined with a kind of Multistage positioning method based on mark management is as follows：
Exemplified by object is positioned in the present embodiment with automatical pilot transportation vehicle (Automated Guided Vehicle, AGV),
And AGV dollies transport article is dangerous goods, it is necessary to accurately docks at specified warehouse specified location, the present embodiment is determined using three-level
Position system, wherein the positioning label of positioner integrate GPS, WiFi, UWB three-level positioning subtab, and positioning precision improves step by step,
Including：
Alignment system is initialized, registers different AGV ID and AGV positioner in ID management server respectively
OID mapping relations, while each AGV dolly creates corresponding positioning Obj State letter in ID management server database
Breath table stores the positioning method and positional information of AGV dolly local environments；The AGV dollies can be any amount, and often
One positioning object must in the database of ID management server registration Obj State information table.The ID of AGV dollies
For AGV dollies in place factory to its unique number, the OID of AGV positioners is its global unique object identification, and is used
Sensor Network coding criterion is encoded.
Target location approximate range is found, as shown in figure 4, AGV dollies are in factory external environment condition, i.e., it is outdoor empty
In spacious region, AGV dollies determine local environment positioning method by entrained positioner, the radio communication on positioner
Module sends the order of positioning method convert requests to ID management server, what ID management server receiving positioner was sent
After positioning method convert requests order, it is fixed in the positioning Obj State information table of ID management server to change the AGV dollies
Position mode information is GPS location, and AGV dollies carry out GPS location, while ID management server by gps satellite alignment system
By wireless network transmission positioning method conversion acknowledgement command to positioner, the wireless communication module on positioner receives mark
It is by MCU module conversion position device positioning method, i.e., fixed after knowing the positioning method conversion acknowledgement command that management server issues
It is small to send AGV using GPS location subtab collection positional information, then positioner to ID management server in real time for position device
The positional information of car, user carry out real-time tracing by customer account management terminal-pair AGV dollies.Now, according to GPS positioning accurate
Degree, AGV dollies can find target location approximate range and enter factory building where target location.
Further, positioning object enters next environment, precision target position range, as shown in figure 4, AGV dollies are from production
Enter inside producing region (assuming that into the first producing region in) outside factory building, due to being indoor environment inside producing region,
GPS can not meet positioning requirements in the indoor environment, and now AGV dollies need higher positioning precision to find specified warehouse
Position, therefore first producing region uses positioning precision higher than GPS and the WiFi positioning of suitable indoor environment, AGV dollies institute
The positioner of carrying determines its affiliated environment, and AGV dollies determine the position of AGV dollies according to the locating base station around producing region
Confidence ceases, and the positioner on AGV dollies uploads change positioning method request command to ID management server, mark management clothes
Positioning method in positioning Obj State information table corresponding to AGV dollies in database is replaced by WiFi by business device by GPS, then
ID management server issues positioning method conversion command to positioner, changes AGV dollies positioning method and is positioned into WiFi, more
AGV car positionings continue to send oneself positional information to server in real time after changing positioning method.Now, determined according to WiFi
Warehouse location where position precision can smoothly find target location on GPS location scope.
Precision target position further is found, as shown in figure 4, AGV dollies enter target warehouse by the first producing region,
Assuming that into the first warehouse, the first warehouse is AGV dollies target location location, it is desirable to AGV dollies are parked in accurate coordinate position,
Now WiFi positioning can not meet current environment positioning accuracy request, therefore in order to avoid AGV dollies enter danger zone
Or occur to be hit, and accurate target location is made it into, it is necessary to which the alignment system of higher precision, UWB location technologies are current
10cm~20cm precision can be reached；By installing UWB locators around producing region, positioner passes through described
UWB locators obtain positional information, wherein, the producing region includes the first producing region, the second producing region.In warehouse
Using UWB location technologies AGV dollies can be made to reach accurate target location, this process needs to turn previous stage WiFi positioning
UWB positioning is changed to, conversion regime and ID management server state update the same above method, can be according to UWB high accuracy positionings
WiFi positioning accurately finds target location in the range of determining.
It is illustrated in figure 6 in the embodiment of the present invention to search target location and improves positioning precision step by step, reduces positioning model
The process enclosed, first according to GPS location or Big Dipper positioning by within the range shorter of the positional information of target location to 10m,
Then according to the base station around target location, location information is obtained, according to WIFI positioning methods by the positional information of target location
Range shorter within 5m, further, according to the UWB locators around target location, more can accurately obtain mesh
The positional information of cursor position, the positional information of the target location now obtained is with the actual position information of the target location at a distance of not
More than 20cm；Dimension is positioned in the embodiment as two dimension, can also use three-dimensional location coordinates to position according to the actual requirements.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：ROM, RAM, disk or CD etc..
In addition, term " first ", " second ", " the 3rd ", " the 4th " are only used for describing purpose, and it is not intended that instruction or
Relative importance or the implicit quantity for indicating indicated technical characteristic are implied, thus, defines " first ", " second ", " the
Three ", at least one this feature can be expressed or be implicitly included to the feature of " the 4th ", it is impossible to be interpreted as the limit to the present invention
System.
It should be understood that a kind of multistage alignment system method based on mark management of the present invention with a kind of based on mark pipe
The method of the multistage positioning of reason is the different implementations of same design, and the non-description section of system embodiment may be referred to method reality
The description of an appropriate section is applied, vice versa.
Embodiment provided above, the object, technical solutions and advantages of the present invention are carried out with further detailed description, institute
It should be understood that embodiment provided above is only the preferred embodiment of the present invention, be not intended to limit the invention, it is all
Any modification, equivalent substitution and improvements made for the present invention etc., should be included in the present invention within the spirit and principles in the present invention
Protection domain within.
Claims (10)
- A kind of 1. Multistage positioning method based on mark management, it is characterised in that including：S1：ID management server registration object information, establish the ID of positioning object and the object identifier of positioner OID mapping relations；S2：Positioner determines positioning method, and positioning method convert requests order is sent to ID management server；S3：ID management server receives the positioning method convert requests order of positioner transmission, ID management server Positioning method conversion acknowledgement command is replied to positioner；The positioner according to the positioning method change acknowledgement command come Change positioning method；S4：Positioner sends positioning object location information to ID management server, the ID management server and will positioned Object location information is stored in positioning Obj State information table corresponding to database；S5：If positioning object enters next stage localizing environment, step S3 is gone to；Otherwise, it is determined whether target location is reached, if Target location is not reached, goes to step S4；If reaching target location, terminate to position.
- A kind of 2. Multistage positioning method based on mark management according to claim 1, it is characterised in that the mark pipe Server registration positioning object information is managed, establishes the ID of positioning object and the object identifier OID of positioner mapping relations Including：Registration Obj State information table of the positioner in the database of ID management server, the positioning object Status information table stores the location information on the positioner, and location information includes the ID of positioning object and pair of positioner Positioning method used by mapping relations, positioning object as identifier OID, and locator label position information at different levels.
- A kind of 3. Multistage positioning method based on mark management according to claim 1, it is characterised in that the positioning dress Put and determine that positioning method includes：Positioner switches positioning method according to actual environment to positioning precision demand, uses different essences The positioning subtab collection positional information of alignment system is spent, improves the positioning precision of alignment system step by step.
- 4. a kind of Multistage positioning method based on mark management according to Claims 2 or 3, it is characterised in that described fixed Seat label includes：Any or a variety of group in GPS labels, LoRa labels, WiFi labels, ZigBee labels and UWB labels Close.
- A kind of 5. Multistage positioning method based on mark management according to claim 1, it is characterised in that the mark pipe Reason server receives the positioning method convert requests order of positioner transmission, and ID management server is replied to positioner Positioning method changes acknowledgement command；The positioner changes acknowledgement command to change positioning method tool according to the positioning method Body includes：ID management server receives the positioning method convert requests order of positioner transmission, the mark management clothes It is engaged in device Search and Orientation Obj State information table in its database, if the positioning method convert requests order and the positioning pair As status information table is inconsistent, then the positioning Obj State information table is updated, the ID management server sends positioning side Formula changes acknowledgement command to positioner, the ID management server and replys positioning method conversion response life to positioner Order；Otherwise, acknowledgement command is changed in the positioning method convert requests order by the ID management server Positioner is beamed back, the positioner changes acknowledgement command to change positioning method according to the positioning method.
- 6. a kind of multistage alignment system based on mark management, it is characterised in that including locating base station, positioner, mark pipe Manage server and customer account management terminal；The ID management server is used to manage positioner status information table, establishes the ID and positioner of positioning object Object identifier OID mapping relations；Positioning method conversion acknowledgement command is sent to the positioner；And object will be positioned Positional information be stored in positioning Obj State information table corresponding to database；The positioner is used to change positioning method and determines positioning method, and positioning side is sent to the ID management server Formula convert requests order；The locating base station is used for the positional information for obtaining the positioner；The customer account management terminal is used for user and the positional information for positioning object is managed；The positioner is communicated by wireless network with the ID management server, and the customer account management terminal passes through wireless Network is communicated with the ID management server, and the positional information of the positioner is determined by the positioner and surrounding Position base station communication obtains.
- A kind of 7. multistage alignment system based on mark management according to claim 6, it is characterised in that the mark pipe Reason server is used to manage positioner status information table, establishes the ID of positioning object and the object identifier OID of positioner Mapping relations specifically include：Registration object shape of the positioner in the database of the ID management server State information table, the positioning Obj State information table store the location information on the positioner, and location information includes positioning Positioning method used by the ID of object and the object identifier OID of positioner mapping relations, positioning object, and it is at different levels Locator label position information.
- A kind of 8. multistage alignment system based on mark management according to claim 7, it is characterised in that the positioning dress Put including positioning label, MCU module, wireless communication module and power module, it is one or more kinds of fixed that the positioning label includes Seat label, the MCU module change acknowledgement command to switch using not according to the positioning method of the ID management server With positioning subtab collection positional information.
- 9. a kind of multistage alignment system based on mark management according to claim 7 or 8, it is characterised in that described fixed Seat label includes：Any or a variety of group in GPS labels, LoRa labels, WiFi labels, ZigBee labels and UWB labels Close.
- 10. a kind of multistage alignment system based on mark management according to claim 6, it is characterised in that described to institute Stating positioner transmission positioning method conversion acknowledgement command includes：ID management server Search and Orientation in its database Obj State information table, if the positioning method convert requests order and the positioning Obj State information table are inconsistent, more The new positioning Obj State information table, sends positioning method and changes acknowledgement command to positioner, the mark management service Device replys positioning method conversion acknowledgement command to positioner；Otherwise, the ID management server turns the positioning method Change request command and beam back positioner as positioning method conversion acknowledgement command, the positioner turns according to the positioning method Acknowledgement command is changed to change positioning method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711251700.8A CN107889215B (en) | 2017-12-01 | 2017-12-01 | Multilevel positioning method and system based on identification management |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711251700.8A CN107889215B (en) | 2017-12-01 | 2017-12-01 | Multilevel positioning method and system based on identification management |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107889215A true CN107889215A (en) | 2018-04-06 |
| CN107889215B CN107889215B (en) | 2020-08-18 |
Family
ID=61772726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711251700.8A Active CN107889215B (en) | 2017-12-01 | 2017-12-01 | Multilevel positioning method and system based on identification management |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107889215B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828585A (en) * | 2019-03-04 | 2019-05-31 | 山东力创科技股份有限公司 | A kind of all-around mobile AGV control method, system and AGV |
| CN109936818A (en) * | 2019-04-29 | 2019-06-25 | 新华三技术有限公司 | A kind of localization method, device and storage medium |
| WO2020006739A1 (en) * | 2018-07-05 | 2020-01-09 | 深圳市大疆创新科技有限公司 | Image processing method and apparatus |
| CN110806562A (en) * | 2019-11-21 | 2020-02-18 | 南京工程学院 | Distance measuring device based on UWB and distance measuring time sequence method thereof |
| CN110850362A (en) * | 2019-11-27 | 2020-02-28 | 博微宇空(重庆)科技有限公司 | Foundation positioning system and method based on scene assistance |
| CN111381207A (en) * | 2020-03-31 | 2020-07-07 | 重庆双驰门窗有限公司 | Intelligent digital workshop material difference plate positioning system |
| CN111432340A (en) * | 2020-04-17 | 2020-07-17 | 无锡真源科技有限公司 | Accurate area combined positioning system and positioning method |
| CN113124868A (en) * | 2019-12-31 | 2021-07-16 | 华为技术有限公司 | Terminal positioning method and related equipment |
| CN114826740A (en) * | 2022-04-27 | 2022-07-29 | 南京邮电大学 | Information interaction system for users/applications and objects of Internet of things |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102711036A (en) * | 2012-04-19 | 2012-10-03 | 广东亿迅科技有限公司 | Positioning method, positioning engine and logistics information management system |
| CN103763678A (en) * | 2014-01-27 | 2014-04-30 | 歌联科技（上海）有限公司 | Method for achieving classification positioning by mobile monitoring terminal |
| WO2015069320A2 (en) * | 2013-05-31 | 2015-05-14 | Andrew Llc | System and method for mobile identification and tracking in location systems |
| CN104918324A (en) * | 2014-03-13 | 2015-09-16 | 电信科学技术研究院 | Positioning method selection control method and device |
| CN206224581U (en) * | 2016-08-26 | 2017-06-06 | 特斯联（北京）科技有限公司 | A kind of Intelligent logistics vehicle positioning tracking safety monitoring system |
-
2017
- 2017-12-01 CN CN201711251700.8A patent/CN107889215B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102711036A (en) * | 2012-04-19 | 2012-10-03 | 广东亿迅科技有限公司 | Positioning method, positioning engine and logistics information management system |
| WO2015069320A2 (en) * | 2013-05-31 | 2015-05-14 | Andrew Llc | System and method for mobile identification and tracking in location systems |
| CN103763678A (en) * | 2014-01-27 | 2014-04-30 | 歌联科技（上海）有限公司 | Method for achieving classification positioning by mobile monitoring terminal |
| CN104918324A (en) * | 2014-03-13 | 2015-09-16 | 电信科学技术研究院 | Positioning method selection control method and device |
| CN206224581U (en) * | 2016-08-26 | 2017-06-06 | 特斯联（北京）科技有限公司 | A kind of Intelligent logistics vehicle positioning tracking safety monitoring system |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020006739A1 (en) * | 2018-07-05 | 2020-01-09 | 深圳市大疆创新科技有限公司 | Image processing method and apparatus |
| CN109828585A (en) * | 2019-03-04 | 2019-05-31 | 山东力创科技股份有限公司 | A kind of all-around mobile AGV control method, system and AGV |
| CN109936818A (en) * | 2019-04-29 | 2019-06-25 | 新华三技术有限公司 | A kind of localization method, device and storage medium |
| CN109936818B (en) * | 2019-04-29 | 2021-03-19 | 新华三技术有限公司 | Positioning method, positioning device and storage medium |
| CN110806562A (en) * | 2019-11-21 | 2020-02-18 | 南京工程学院 | Distance measuring device based on UWB and distance measuring time sequence method thereof |
| CN110850362A (en) * | 2019-11-27 | 2020-02-28 | 博微宇空(重庆)科技有限公司 | Foundation positioning system and method based on scene assistance |
| CN113124868A (en) * | 2019-12-31 | 2021-07-16 | 华为技术有限公司 | Terminal positioning method and related equipment |
| CN111381207A (en) * | 2020-03-31 | 2020-07-07 | 重庆双驰门窗有限公司 | Intelligent digital workshop material difference plate positioning system |
| CN111381207B (en) * | 2020-03-31 | 2022-05-27 | 重庆双驰门窗有限公司 | Intelligent digital workshop material difference plate positioning system |
| CN111432340A (en) * | 2020-04-17 | 2020-07-17 | 无锡真源科技有限公司 | Accurate area combined positioning system and positioning method |
| CN114826740A (en) * | 2022-04-27 | 2022-07-29 | 南京邮电大学 | Information interaction system for users/applications and objects of Internet of things |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107889215B (en) | 2020-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107889215A (en) | Multistage positioning method and system based on mark management | |
| CN106940713B (en) | RFID and UWB based large discrete manufacturing workshop holographic map and implementation method | |
| CN103292805B (en) | A kind of indoor navigation system and indoor navigation method thereof | |
| Vossiek et al. | Wireless local positioning | |
| CN109283565A (en) | Indoor and outdoor positioning system and method based on UWB fusion GPS and inertial navigation | |
| CN108776884A (en) | A kind of intelligent storage operational method | |
| CN109282811A (en) | Indoor and outdoor positioning system and method for interconnecting UWB (ultra wide band) and smart phone | |
| CN106028441A (en) | Indoor localization system and method | |
| KR20120116904A (en) | Apparatus and method for constructing and utilizing a beacon location database | |
| CN106405605A (en) | Robot indoor and outdoor seamless positioning method and system based on ROS and GPS | |
| CN103761637A (en) | Warehouse modeling management method with multiple spatial position information stacking positioning and navigation | |
| CN105282696B (en) | Personnel location system based on mobile Internet and method | |
| CN106211083A (en) | A kind of mobile phone indoor locating system | |
| CN108445520A (en) | A kind of indoor and outdoor based on high in the clouds builds drawing method, device, electronic equipment and computer program product | |
| CN103957508A (en) | Accurate underground wireless positioning system and method based on combination of WiFi and gyroscope | |
| CN106871889B (en) | Control method capable of switching navigation modes | |
| CN111405656B (en) | Positioning method and system based on ultra-wideband technology | |
| CN103630922A (en) | Monitoring communication system based on indoor RFID (radio frequency identification) and outdoor GPS (global positioning system) positioning | |
| CN102879776A (en) | Radio frequency identification ranging or positioning system and method thereof | |
| CN107065848A (en) | A kind of underground mine locomotive Unmanned Systems and method based on high accuracy positioning navigation terminal | |
| CN103823230A (en) | Indoor positioning system and application method thereof | |
| CN105897334A (en) | Spring-model-based indoor assisted visible light positioning method and system | |
| CN115248039A (en) | Multi-robot-multi-person cooperation control method, device and system | |
| CN110557720B (en) | Ultra-wideband indoor positioning system and blind compensation positioning method based on dynamic reference label | |
| CN103761638A (en) | Logistics storage management device based on multi-space position information overlapping positioning |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220125 Address after: 401120 No. 28, datagu Middle Road, Yubei District, Chongqing Patentee after: Institute of industrial Internet Chongqing University of Posts and Telecommunications Address before: 400065 Chongwen Road, Nanshan Street, Nanan District, Chongqing Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |