CN108235427A - A kind of method for measuring Tof and Toda - Google Patents
A kind of method for measuring Tof and Toda Download PDFInfo
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- CN108235427A CN108235427A CN201810121387.4A CN201810121387A CN108235427A CN 108235427 A CN108235427 A CN 108235427A CN 201810121387 A CN201810121387 A CN 201810121387A CN 108235427 A CN108235427 A CN 108235427A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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Abstract
The present invention relates to a kind of method of measurement Tof and Tdoa, initiation communication Bower Anchor node responds again response type with the primary request of label node and communicates, and progress is following in communication process operates：Label node set or measure receive request data package to send the time of response data packet, each secondary anchor node measure receive request data package that communication Bower Anchor node sends to receive the time for the response data packet that label node is sent, each secondary anchor node measures and receives time of the Bower Anchor node transmission respond request data packet again that communicated by the request data package that communication Bower Anchor node is sent to receiving.It finally calculates communication Bower Anchor node and sends Twice requests data packet to the time difference of secondary anchor node to the propagation time of secondary anchor node, Bower Anchor node to the propagation time of label node and the response data packet from label node.The present invention has the advantages that locating speed is very fast, positioning is at low cost, positioning accuracy is higher, is particularly suitable for the positioning of equipment in the wireless network in indoor locating system.
Description
Technical field
The present invention relates to a kind of method for measuring Tof and Tdoa, a kind of especially node for wireless sensor network is determined
The node locating of position or radio reception device provides the measuring method of technical foundation, belongs to signal detection technique field.
Background technology
The geographical location information of measurement wireless device, the instantaneous phase of measurement are usually needed in daily life, production process
Position is more accurate, and the effect of application is often more preferable.ToF distance measuring methods belong to Bidirectional distance measurement technology, it is mainly using signal at two
The round-trip flight time carrys out the distance between measuring node between asynchronous receiver-transmitter, then the positioning of a node needs multiple Tof to survey
Amount can be only achieved the required data of positioning.Different from TOA, traditional TDOA（Reaching time-difference）It is to be reached by detecting signal
The time difference of two base stations rather than the absolute time that reaches determine the position of mobile station, in position fixing process by positioning node
Transmission primary information is only needed positioning to can be completed, but this also increases the clock synchronization requirements to equipment.Patent applied for
201710256773, mainly the time of communicate Bower Anchor node to label is measured by using communication Bower Anchor node, is needed
Data are obtained in communication Bower Anchor node, label, secondary three nodes of anchor node, compared to traditional Tof technologies, are determined although shortening
The position time, but the precision of measurement can be declined.It can either shorten positioning time therefore, it is necessary to one kind to can guarantee again
Measure the measuring method of precision.
Invention content
It is an object of the invention to：In view of the defects existing in the prior art, a kind of method for measuring Tof and Tdoa is proposed,
The time of Twice requests data packet is received by secondary anchor node to measure Bower Anchor node to the time of label, with prior art phase
Than that can not only shorten positioning time, reduce system redundancy；It also is able to reduce the error of measurement data simultaneously, ensures to measure
Precision.
In order to reach object above, the present invention provides a kind of method for measuring Tof and Tdoa, being included in alignment system needs
The label node and at least three anchor nodes to be positioned, the anchor node include at least one communication Bower Anchor node and at least two
A pair anchor node, the communication Bower Anchor node carry out the two-way communication with label node, and secondary anchor node is used for monitoring communication Bower Anchor
Node and label node, include the following steps：
Step 1）, initiate the response type of primary request-response of communication Bower Anchor node and label node-again and communicate：
Step 1.1）, communication Bower Anchor node send out request data package；
Step 1.2）, label node communicates the request data package that Bower Anchor node is sent out with secondary anchor node reception；
Step 1.3）, label node sends out response data packet；
Step 1.4）, communication Bower Anchor section with and the response data packet that sends out of secondary anchor node reception label node；
Step 1.5）, communication Bower Anchor node send out respond request data packet again；
Step 1.6）, label node communicates the respond request data packet again that Bower Anchor node is sent out with secondary anchor node reception；
Step 2）, during request-response-response type communicates again of communication Bower Anchor node and label node, label node
The time for receiving request data package to transmission response data packet is set or measured；Bower Anchor node communicate to receiving number of responses
It is set or is measured according to packet to the time for sending again response data packet；
Step 3）, during request-response-response type communicate again of communication Bower Anchor node and label node, each secondary anchor
Node to receive request data package that communication Bower Anchor node is sent to the time for the response data packet for receiving label node transmission and
Receive request data package that communication Bower Anchor node sends to the data packet of respond request again for receiving the transmission of Bower Anchor node time into
Row measures；
Step 4）, according to the distance between the geographical coordinate of each anchor node or each anchor node, calculate communication Bower Anchor node and arrive
The propagation time of label node and response data packet are from label to the propagation time of each secondary anchor node.
Preferably, request of the data packet of respond request again that the communication Bower Anchor node is sent out as next round positioning and communicating
The tag addresses of next round positioning are included in data packet, then respond request data packet.
Preferably, the step 4）In, the computational methods in communicate Bower Anchor node to the propagation time of label node are as follows：
Communicate Bower Anchor node to label node propagation time=（Secondary anchor node receives the request data that communication Bower Anchor node is sent
The when m- label node for wrapping the data packet of respond request again for receiving the transmission of Bower Anchor node receives request data package to transmission response
The when m- communication Bower Anchor node of data packet receives response data packet to the time for sending again response data packet）/2.
It is further preferred that the step 4）In, for each secondary anchor node, the label node to the biography of secondary anchor node
Computational methods between sowing time are as follows：
Step 4.1）, according to communication Bower Anchor node, the geographical coordinate of secondary anchor node or communication Bower Anchor node and secondary anchor node it
Between distance, calculate secondary anchor node to communication Bower Anchor node propagation time；
Step 4.2）, the request of propagation time=pair anchor node reception communication Bower Anchor node transmission of label node to secondary anchor node
Data packet to receive label node send response data packet time+pair anchor node to communicate Bower Anchor node propagation time-
Propagation time-label node of communication Bower Anchor node to label node receives request data package to the time for sending response data packet
Still further preferably, the step 4）In, while response data packet that the label node sends is generated to arbitrary two
Propagation time difference between a anchor node；Its computational methods is as follows：
For two anchor nodes being related to, it is poor after acquisition label node to its propagation time make respectively.
Preferably, the communication Bower Anchor node is received response data packet to the time placement for sending again response data packet
In response data packet again, the secondary anchor node of communication to be facilitated to be calculated；The label node is received request data package and is arrived
The time for sending response data packet is positioned in response data packet, communication Bower Anchor node and secondary anchor node to be facilitated to be calculated；
When communication Bower Anchor node receives response data packet request data package is received with label node to the time of response data packet is sent again
When being setting value to the time for sending response data packet, the two numerical value can be without transmission of network.
Preferably, the secondary anchor node only receives the Twice requests data packet that communication Bower Anchor node is sent in communication process
The response data packet sent with label node, measures and records and receive Twice requests data packet that communication Bower Anchor node sends to connecing
Receive the time for the response data packet that label node is sent.
Preferably, the method for this measurement Tof and Toda can also use following methods to solve each anchor node and label node
Clock stability problem：
Communication Bower Anchor node periodically sends a kind of broadcast data packet or sends the broadcast for including sending time at least twice
Data packet, label or the secondary anchor node of communication are calculated as below according to the arrival time of two broadcast data packets of reception：
Reaching time-difference/label section of two broadcast data packets that frequency specific factor=label node or secondary anchor node receive
The sending time of communication Bower Anchor node that point or secondary anchor node are extracted from two broadcast data packets is poor；
If the time that label node receives it request data package to transmission response data packet sets, in setting data basis
On be multiplied by the frequency specific factor and be corrected；
If the time that label node receives it request data package to transmission response data packet measures, on measurement data basis
Upper divided by described frequency specific factor is corrected；
In time of measuring parameter, on the basis of measurement data divided by the frequency specific factor is corrected secondary anchor node.Wherein,
Time parameter receives the sound that the Twice requests data packet for the Bower Anchor node transmission that communicates is sent to reception label node for secondary anchor node
Answer the time of data packet.
Preferably, the method for this measurement Tof and Toda need to carry out air refraction, radio wave to the propagation time of measurement
The correction of free space attenuation, circuit delay and day wire delay.
The present invention compared with prior art, has following technique effect using above technical scheme：
1）Traditional Tof technologies need to carry out multiple Tof measurements, cumbersome redundancy when carrying out node locating, and the present invention uses
Method utilize geography information, it is only necessary to communication Bower Anchor node send a request data package, label node send a secondary response
Data packet, communication Bower Anchor node can be completed in the case of retransmiting primary respond request data packet again to all anchor nodes and mark
The acquisition and calculating in propagation time, substantially reduce positioning time between label node.
2）Traditional Tdoa technologies need stringent clock to synchronize when carrying out node locating, the method profit that the present invention uses
Solves the clock synchronization issue of label node and the Bower Anchor node that communicates with the method for more transmission data packets.For secondary anchor section
For point, the clock frequency ratio of the fixed position and the Bower Anchor node that communicates of known communication Bower Anchor node and secondary anchor node is utilized
The clock for solve secondary anchor node synchronizes, and the method does not need to stringent clock and synchronizes and more can accurately measure.
Description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is to carry out the schematic diagram that Tof and Tdoa is measured to 1 label using the present invention.
Fig. 2 is that using the present invention 2 label nodes are carried out with the schematic diagram that Tof and Tdoa is measured.
Specific embodiment
A kind of method that Tof and Toda is measured in alignment system is present embodiments provided, wherein, it is included in alignment system
Need the label node positioned and at least three anchor nodes.The anchor node includes at least one and label node and keeps connection
Communicate Bower Anchor node and at least two secondary anchor nodes.The Bower Anchor node that communicates carries out the two-way communication with label node, secondary anchor section
Point plays monitoring in systems, to monitor communication Bower Anchor node and label node.
Fig. 1 is to carry out the schematic diagram that Tof and Tdoa is measured to 1 label node using the present invention, is as follows：
Communication Bower Anchor node initiates to communicate with the response type of primary request-response of label-again according to tag addresses, that is, communicate Bower Anchor
Node sends out request data package 1, and label node and each secondary anchor node receive the request data package 1 that communication Bower Anchor node is sent out；
Secondly, label node sends out response data packet 2；Again, communication Bower Anchor node and each secondary anchor node receive label node and send out
Response data packet 2；Later, communication host node sends respond request data packet 3 again, and respond request data packet 3 also serves as again for this
The request data package of next round positioning and communicating；Finally, what label node and each vice-node reception communication host node were sent out rings again
Answer request data package 3.
During request-response-response type communicates again of communication Bower Anchor node and label node, first to label section
Point receives request data package 1 to the time for sending response data packet 2（Treply1）It is received with communication Bower Anchor node from label node
Response data packet to the time for sending respond request data packet again（Treply2）It measures, if Treply1With Treply2For setting
During value, the two numerical value can be without transmission of network.
The sound that the request data package that communication Bower Anchor node is sent is sent to reception label node is received to each secondary anchor node i
Answer the time (T of data packet 2di) and each the request data package of secondary anchor node i receptions communication Bower Anchor node transmission communicates to reception
The time (Ti) for the data packet of respond request again 3 that Bower Anchor node is sent measures.
I represents i-th that participates in positioning secondary anchor node, i >=2.Fig. 1 has only drawn a secondary anchor node, other anchor nodes
Processing mode is the same as secondary anchor node i.
The computational methods in communication Bower Anchor node to the propagation time of label node are as follows：
Communicate Bower Anchor node to label node propagation time (Tp)=（Secondary anchor node i receives the request that communication Bower Anchor node is sent
Time (Ti)-label node of data packet 1 to the data packet of respond request again 3 for receiving the node transmission of communication Bower Anchor receives number of request
According to packet 1 to the time (T for sending response data packet 2reply1)-communication Bower Anchor node receives the response data packet from label node
To the time for sending secondary request data packet（Treply2））/2.
Wherein label node receives request data package 1 to the time (T for sending response data packet 2reply1) and label node hair
Send time of the response data packet 2 to the data packet of respond request again 3 from communication Bower Anchor node is received（Tround2）By label node
It measures, when label receives request data package to the time and the Bower Anchor node reception response data that communicates for sending response data packet
It wraps and sends time of response data packet again when being both setting value, the two numerical value can be without transmission of network.
The computational methods in secondary anchor node i to the propagation time of label node are as follows：
Since secondary anchor node can only receive the Twice requests data packet of communication Bower Anchor node transmission during the entire process of communication（Point
It Wei not request data package 1 and respond request data packet 3 again）The response data packet 2 sent with label node, measures and records reception
The time of response data packet 2 that the aforementioned Twice requests data packet that the Bower Anchor node that communicates is sent is sent to reception label node.It should
What the sum of time and distance is converted between Bower Anchor node and secondary anchor node the propagation time of communicating represented is that communication Bower Anchor node is sent out
Request data package is sent to receive the time for the response data packet that label node is sent to vice-node, communication Bower Anchor node sends number of request
According to packet to secondary anchor node receive the response data packet that label node is sent time can be further broken into communicating Bower Anchor node to
The propagation time of label node, label node receive request data package to time, the label node to pair for sending response data packet
The propagation time of anchor node.The propagation time of communication Bower Anchor node to label node resolves via secondary anchor node to have obtained, label
The time that node receives request data package to transmission response data packet is the time of a setting（The time is obtained by measuring）,
Therefore the propagation time of label node to secondary anchor node can also be directly acquired by resolving.
Due to the position of communication Bower Anchor node and secondary anchor node i be it is fixed, can be according to communication Bower Anchor node and pair
The distance between geographical coordinate or anchor node of anchor node i calculate the propagation time of pair anchor node i and the Bower Anchor node that communicates.
Then pair anchor node i is to the propagation time of label node（TPi）=secondary anchor node i receives the request data package of communication Bower Anchor node transmission
To the time (T for receiving the response data packet that label node is sentdi)+rolled over by distance between communication Bower Anchor node and secondary anchor node i
Propagation time (the T of calculationCiPropagation time (the T of)-communication Bower Anchor node to label nodep)-label node receives request data package
To the time (T for sending response data packetreply1)。
Wherein communication Bower Anchor node to label node propagation time (Tp) obtained with being resolved by secondary anchor node；Label node
Request data package is received to the time (T for sending response data packetreply1) measured or set by label node；Communication master
Propagation time (the T that distance is converted between anchor node and secondary anchor node iCi) by communication Bower Anchor node, the geographical coordinate of secondary anchor node i
Or the distance between communication Bower Anchor node, secondary anchor node i are calculated and are obtained；Secondary anchor node i receives what communication Bower Anchor node was sent
Time (the T of response data packet that request data package is sent to reception label nodedi) measured by secondary anchor node i.
Label node receives request data package to the time (T for sending response data packetreply1) and the node reception of communication Bower Anchor
Response data packet from label node is to the time for sending respond request data packet again（Treply2）It can be an agreement mutually
Time or label node according to oneself practical transmitting-receiving time difference, which is placed in response data packet, with side
Just secondary anchor node carries out correlation computations.
By the anchor node that above-mentioned steps obtain to the propagation time label node, the anchor of any two anchor node is chosen
For node to the propagation time of label node, the label node can be generated between any two anchor node by carrying out subtraction operation
Propagation time difference.
Obtain propagation time from label node to anchor node of the coordinate and the signal of above-mentioned anchor node and/or from mark
Node is signed to the statistical information of the propagation time difference of anchor node, label is determined using TOF, TDOA, TOF/TDOA hybrid algorithm
Final position estimated value.
Label node has the tag addresses for showing its unique identities, the request that communication Bower Anchor node is sent at it in communication
Comprising tag addresses, a group of labels address or broadcast address in data packet 1 or 3, label node according to the request data package 1 or
Tag addresses, a group of labels address or the broadcast address included in 3 is confirmed whether to be responded and when is being responded,
I.e. by the tag addresses come the single label node in confirmation system or the multi-tag node in system.
For label node or secondary anchor node, clock stability can utilize frequency than solving.Its method is such as
Under:
Communication Bower Anchor node periodically sends a kind of broadcast data packet or sends the broadcast for including sending time at least twice
Data packet, label or secondary anchor node are calculated as below according to the arrival time of two broadcast data packets of reception：
Reaching time-difference/the label for two broadcast data packets that frequency specific factor=label node or secondary anchor node receive or
The sending time of communication Bower Anchor node that secondary anchor node is extracted from two broadcast data packets is poor.
If the time that label node receives it request data package to transmission response data packet sets, in setting data
The superior frequency specific factor in basis is corrected；
If the time that label node receives it request data package to transmission response data packet measures, on measurement data basis
Above except the frequency specific factor is corrected；
Secondary anchor node is in time of measuring parameter, except the frequency specific factor is corrected on the basis of measurement data.
Correction behavior can carry out on the server.
Preferred embodiment is that each module uses high precision clock without calculating frequency ratio.
Since the radiofrequency signal of output that radio frequency chip generates can pass through amplifying circuit, antenna enters media, connect from media
The radiofrequency signal of receipts can enter radio frequency chip after antenna, modulate circuit, and propagation of the signal in circuit and antenna needs
Time, the correction of circuit delay and day wire delay is carried out to measurement result can obtain more accurate measurement result.
Fig. 2 is that using the present invention 2 label nodes are carried out with the schematic diagram that Tof and Tdoa is measured, and detailed process is no longer superfluous
It states.
Traditional location technology based on Tof is passed due to the shortcomings that causing positioning time long using multiple ranging
Location technology based on the Tdoa of system causes to position the shortcomings that with high costs due to needing high-precision clock.
In addition to the implementation, the present invention can also have other embodiment.It is all to use equivalent substitution or equivalent transformation shape
Into technical solution, all fall within the present invention claims protection domain.
Claims (10)
1. a kind of method for measuring Tof and Toda, the label node and at least three anchors for needing to position are included in alignment system
Node, the anchor node include at least one communication Bower Anchor node and at least two secondary anchor nodes, the communication Bower Anchor node into
The two-way communication of row and label node, secondary anchor node are used for monitoring communication Bower Anchor node and label node, which is characterized in that including
Following steps：
Step 1）, choose and keep an anchor node of connection as the Bower Anchor node that communicates, remaining anchor node conduct with label node
Secondary anchor section initiates the response type of primary request-response of communication Bower Anchor node and label node-again and communicates：
Step 1.1）, communication Bower Anchor node send out request data package；
Step 1.2）, label node communicates the request data package that Bower Anchor node is sent out with secondary anchor node reception；
Step 1.3）, label node sends out response data packet；
Step 1.4）, communication Bower Anchor section with and the response data packet that sends out of secondary anchor node reception label node；
Step 1.5）, communication Bower Anchor node send out respond request data packet again；
Step 1.6）, label node communicates the respond request data packet again that Bower Anchor node is sent out with secondary anchor node reception；
Step 2）, during request-response-response type communicates again of communication Bower Anchor node and label node, label node
To receiving request data package to the time for sending response data packet and sending response data packet to reception from communication Bower Anchor node
Time of the data packet of respond request again set or measured；Communication Bower Anchor node is rung again to receiving response data packet to transmission
The time of data packet is answered to be set or measured；
Step 3）, during request-response-response type communicate again of communication Bower Anchor node and label node, each secondary anchor
Node to receive request data package that communication Bower Anchor node is sent to the time for the response data packet for receiving label node transmission and
Receive request data package that communication Bower Anchor node sends to the data packet of respond request again for receiving the node transmission of communication Bower Anchor when
Between measure；
Step 4）, according to the distance between the geographical coordinate of each anchor node or each anchor node, calculate communication Bower Anchor node and arrive
The propagation time of label node and response data packet are from label to the propagation time of each secondary anchor node.
2. the method according to claim 1 for measuring Tof and Toda, it is characterised in that:The communication Bower Anchor node is sent out
Request data package of the data packet of respond request again as next round positioning and communicating, then next round is included in respond request data packet
The tag addresses of positioning.
3. the method according to claim 1 for measuring Tof and Toda, it is characterised in that:The step 4）In, communication master
The computational methods in anchor node to the propagation time of label node are as follows：
Communicate Bower Anchor node to label node propagation time=（Secondary anchor node receives the request data that communication Bower Anchor node is sent
The when m- label node for wrapping the data packet of respond request again for receiving the node transmission of communication Bower Anchor receives request data package to transmission
The when m- communication Bower Anchor node of response data packet receives response data packet to the time for sending again response data packet）/2.
4. the method according to claim 3 for measuring Tof and Toda, it is characterised in that：The step 4）In, for each
Secondary anchor node, the computational methods in the label node to the propagation time of secondary anchor node are as follows：
Step 4.1）, according to communication Bower Anchor node, the geographical coordinate of secondary anchor node or communication Bower Anchor node and secondary anchor node it
Between distance, calculate secondary anchor node to communication Bower Anchor node propagation time；
Step 4.2）, the request of propagation time=pair anchor node reception communication Bower Anchor node transmission of label node to secondary anchor node
Data packet to receive label node send response data packet time+pair anchor node to communicate Bower Anchor node propagation time-
Communicate Bower Anchor node to label node propagation time-label node receive request data package to transmission response data packet when
Between.
5. the method according to claim 4 for measuring Tof and Toda, it is characterised in that：The step 4）In, it generates simultaneously
The response data packet that the label node is sent is to the propagation time difference between any two anchor node；Its computational methods is as follows：
For two anchor nodes being related to, it is poor after acquisition label node to its propagation time make respectively.
6. the method according to claim 1 for measuring Tof and Toda, it is characterised in that：It is described communication Bower Anchor node by its
It receives response data packet and is positioned in response data packet again to the time for sending response data packet again, secondary anchor node to be facilitated to carry out
It calculates；When receiving response data packet to when sending again the time of response data packet as setting value, which can be without network
Transmission.
7. the method according to claim 1 for measuring Tof and Toda, it is characterised in that：The label node is received
The time of request data package to transmission response data packet is positioned in response data packet, secondary anchor node to be facilitated to be calculated；When
Request data package is received to when sending the time of response data packet as setting value, which can be without transmission of network.
8. the method according to claim 1 for measuring Tof and Toda, it is characterised in that：The pair anchor node was communicating
The Twice requests data packet of communication Bower Anchor node transmission and the response data packet of label node transmission are only received in journey, measures and remembers
Record receives the time of response data packet that the Twice requests data packet that communication Bower Anchor node is sent is sent to reception label node.
9. the method according to claim 8 for measuring Tof and Toda, it is characterised in that：Each anchor is solved using following methods
The clock stability problem of node and label node：
Communication Bower Anchor node periodically sends a kind of broadcast data packet or sends the broadcast for including sending time at least twice
Data packet, label node or secondary anchor node are calculated as below according to the arrival time of two broadcast data packets of reception：
Reaching time-difference/label section of two broadcast data packets that frequency specific factor=label node or secondary anchor node receive
The sending time of communication Bower Anchor node that point or secondary anchor node are extracted from two broadcast data packets is poor；
If the time that label node receives it request data package to transmission response data packet sets, in setting data basis
On be multiplied by the frequency specific factor and be corrected；
If the time that label node receives it request data package to transmission response data packet measures, on measurement data basis
Upper divided by described frequency specific factor is corrected；
In time of measuring parameter, on the basis of measurement data divided by the frequency specific factor is corrected secondary anchor node.
10. the method according to claim 1 for measuring Tof and Toda, it is characterised in that：The propagation time of measurement is carried out
Air refraction, radio wave free space attenuation, the correction of circuit delay and day wire delay.
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| CN108834071A (en) * | 2018-09-12 | 2018-11-16 | 西安维德汇通工业自动化有限公司 | A method of positioning Wireless-wire message is merged based on TOF/TDOA |
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| CN109109745A (en) * | 2018-07-27 | 2019-01-01 | 上海理工大学 | A kind of system showing missing image |
| CN109109744A (en) * | 2018-07-27 | 2019-01-01 | 上海理工大学 | A kind of system and method for arranging showing missing image |
| CN110730413A (en) * | 2018-06-29 | 2020-01-24 | 阿里巴巴集团控股有限公司 | Terminal positioning method and device |
| CN110850368A (en) * | 2019-11-14 | 2020-02-28 | 南京邮电大学 | Method for measuring error coefficient in positioning system and applying error coefficient to distance measurement |
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