CN108415054A - Vehicle positioning system based on intelligent terminal and key - Google Patents
Vehicle positioning system based on intelligent terminal and key Download PDFInfo
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- CN108415054A CN108415054A CN201810193613.XA CN201810193613A CN108415054A CN 108415054 A CN108415054 A CN 108415054A CN 201810193613 A CN201810193613 A CN 201810193613A CN 108415054 A CN108415054 A CN 108415054A
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a kind of vehicle positioning system based on intelligent terminal and key, including intelligent vehicle mounted terminal, intelligent vehicle key, smart mobile phone and server, the intelligent vehicle mounted terminal include：Microprocessor A, the bis- locating modules of the Big Dipper/GPS being connect with microprocessor A, the acceleration transducer being connect with microprocessor A, the gyroscope being connect with microprocessor A, the bluetooth module A being connect with microprocessor A and network communication module and power module；Vehicle positioning system of the present invention can not only improve vehicle location precision, the current location information of vehicle can also be obtained according to inertial navigation principle in the case where satellite-signal is obstructed, be avoided that in vehicle retainer the technical issues of of failure when satellite-signal can not be obtained.It can carry out remote monitoring by smart mobile phone enquiring vehicle history and current location information to vehicle running state simultaneously.
Description
Technical field
The present invention relates to the relevant Internet of Things field of locating technology of wisdom positioning system, more particularly to a kind of vehicle positionings
Device.
Background technology
Global positioning system (English：Global Positioning System, usual abbreviation GPS), also known as global satellite
Positioning system is in one apart from circuit orbit satellite navigation system.It can provide standard for earth surface overwhelming majority area
True positioning is tested the speed and high-precision time standard.System is developed and is safeguarded by U.S. Department of Defense, can be met any positioned at the whole world
The military user of place or terrestrial space continuous accurate determination three-dimensional position, three-dimensional motion and the needs of time.
BEI-DOU position system is the global navigation satellite system that China's independent research is being implemented, and is abbreviated as BDS, north
The satellite navigation and location system that struggles against includes Beidou satellite navigation experimental system (" Big Dipper No.1 " again, ended task at present) and the Big Dipper
Navigation positioning system (also known as " Big Dipper two ").Can with the GPS in the U.S., Russia jesse greener this, the Galileo system of European Union
It is compatible to share, and other systems and claim global four large satellite navigation system.
But whether being global positioning system or BEI-DOU position system etc., the positioning accuracy of single positioning system has
Limit.And in the complex environments such as tunnel, remote mountains, it may be failed because of signal can not be obtained using the positioning system of satellite.
The prior art can't have vehicle to realize by smart mobile phone enquiring vehicle running condition information simultaneously
The real time monitoring of effect；Existing automobile positioner is not also connect with intelligent vehicle key, cannot be realized by intelligent vehicle key remote
Apart from wakeup of automotive locator.
Invention content
In view of this, the object of the present invention is to provide a kind of vehicle positioning system based on intelligent terminal and key, with solution
Certainly：Existing vehicle positioning device utilizes single global position system, positioning accuracy limited；Vehicle positioning device is multiple in tunnel, remote mountains etc.
Satellite-signal can not be obtained in heterocycle border, and locator is caused to fail；Vehicle cannot be inquired and monitored by smart mobile phone travel shape
State cannot wake up the technical problems such as vehicle positioning system at a distance using intelligent vehicle key.
The present invention is based on the vehicle positioning systems of intelligent terminal and key, including intelligent vehicle mounted terminal, intelligent vehicle key, intelligence
Energy mobile phone and server,
The intelligent vehicle mounted terminal includes：Microprocessor A, the bis- locating modules of the Big Dipper/GPS being connect with microprocessor A, with
The acceleration transducer of microprocessor A connections, the gyroscope being connect with microprocessor A, the bluetooth module being connect with microprocessor A
A and network communication module and power module；
The bis- locating modules of the Big Dipper/GP are used to receive the vehicle location signal of satellite transmission, and the vehicle position that will be obtained
Confidence ceases input microprocessor A；
The acceleration transducer is for obtaining vehicle acceleration, and by vehicle acceleration information input microprocessor A；
The gyroscope is used to obtain the transmits information of vehicle, and by transmits information input microprocessor A；
The microprocessor A is used for vehicle position information, acceleration sensing according to the bis- locating module inputs of the Big Dipper/GPS
The vehicle acceleration information of device input and the vehicle heading information of gyroscope input calculate the position letter for obtaining vehicle
Breath, and vehicle position information is packaged, package information is then transferred to network communication module；
The network communication module is used to the vehicle position information received being sent to network, and by network by vehicle
Location information is uploaded to server；
The cell phone application of enquiring vehicle position information is loaded in the smart mobile phone, the cell phone application is accessed by network and taken
Business device obtains vehicle history and current location information；
The intelligent vehicle key includes microprocessor B, the bluetooth module B being connect with microprocessor and to microprocessor B
With the power supply of bluetooth module B power supply, the bluetooth module B in the intelligent vehicle key be used for and intelligent vehicle mounted terminal in bluetooth mould
Block A communications, the intelligent vehicle key are sent to intelligent vehicle mounted terminal by Bluetooth communication and wake up instruction；
The microprocessor A calculates vehicle location by the following method：
1) when vehicle carves t at the beginning0When have the Big Dipper/GPS signal, then utilize the Big Dipper/GPS signal (Longt_BD, Lat_
BD, Dir_BD, Vct_BD) and (Longt_GPS, Lat_GPS, Dir_GPS, Vct_GPS), vehicle is determined by mean value calculation
Initial position
Lct_0=(Longt_0, Lat_0, Dir_0, Vel_0)
=1/2 ((Longt_BD+Longt_GPS), (Lat_BD+Lat_GPS), (Dir_BD+Dir_GPS), (Vct_BD+
Vct_GPS))
Then turn to the 3) step；
2) when vehicle initial position is without the Big Dipper/GPS signal, then without positioning, until there are a Big Dipper/GPS letters
Number when turn to the 1) step；
3) when if subsequent time has the Big Dipper/GPS signal, microprocessor A is according to the Big Dipper positioning signal (Longt_ of acquisition
BD, Lat_BD, Dir_BD, Vct_BD), GPS positioning signal (Longt_GPS, Lat_GPS, Dir_GPS, Vct_GPS), gyro
Current vehicle position information is calculated in the detection information and previous moment vehicle position information of instrument and acceleration transducer
(Longt_RT, Lat_RT, Dir_RT, Vct_RT), calculation process is as follows：
If x (k) is coordinate information, that is, x (k)=(Longt_RT, the Lat_RT) of k moment automobiles, e (k) is process noise,
Dimension as x (k),
X (k+1)=x (k)+u (k)+e (k) (1)
Wherein：
U (k)=L (k) * [sin (a (k)), cos (a (k))] ' is the slave k- obtained by gyroscope and acceleration transducer
The knots modification that 1 moment occurred to k moment longitude and latitude, formula (1) indicate the longitude and latitude that gyroscope and acceleration transducer measure
Degree；
L (k)=L (k-1)+△ t*Vct_RT (k) be obtained by acceleration transducer it is straight to the k moment slave the k-1 moment
The knots modification of linear distance；
A (k)=a (k-1)+△ t*w (k) are the angles being calculated by gyroscope, and w (k) is the angular speed at k moment；
Or the average value replacement of w (k-1) and w (k) can also be used in the w (k) in formula a (k)=a (k-1)+△ t*w (k)；
△ t are the interval duration among the k moment to k-1 moment；
If z (k) is k moment measured values, wherein v (k) is measurement noise, and dimension is as z (k), then
Z (k)=Hx (k)+v (k) (2)
Wherein z (k)=[Longt_BD (k), Lat_BD (k), Longt_GPS (k),
Formula (2) indicates the longitude and latitude that GPS and BD is measured；
Then formula (1) and (2) are directly inserted in Kalman filter formula and vehicle location is calculated；
4) then it is starting with previous moment position when entering the place that the Big Dipper/GPS signal is obstructed in vehicle operation
Position obtains direction and the acceleration information of vehicle using gyroscope and acceleration transducer, current to calculate vehicle
Location information (Longitude_RT, Latitude_RT, Velocity_RT) is sent out the location information as vehicle location information
It is sent to server；When the Big Dipper of vehicle or GPS signal restore, then step 3) is turned to.
Further, the network communication module is GPRS communication modules.
Further, the data clothes that the server includes Website server connected to the network, connect with Website server
Business device and the file server being connect with Website server.
Beneficial effects of the present invention：
1, the present invention is based on the vehicle positioning systems of intelligent terminal and key, be not only utilized BEI-DOU position system and
GPS positioning system alignment by union determines vehicle position, but also is determined BEI-DOU position system and GPS by microprocessor A
The detection information and previous moment vehicle location of vehicle location signal, gyroscope and acceleration transducer that position system is sent
Information is merged, to make to obtain current vehicle position information is more acurrate, further reduced determining for global position system
Position error, improves vehicle location precision.
2, the present invention is based on the vehicle positioning systems of intelligent terminal and key, can also be bis- in the Big Dippeves/GP such as remote mountains, tunnel
In the case that locating module acquisition satellite-signal is obstructed, it is obstructed using acceleration transducer, gyro sensor and satellite-signal
The vehicle position information of eve obtains the current location information of vehicle according to inertial navigation principle, is avoided that in vehicle location
Device the technical issues of of failure when satellite-signal can not be obtained.
3, the present invention is based on the vehicle positioning systems of intelligent terminal and key, can be by mounted in the hand in smart mobile phone
Machine APP enquiring vehicles history and current location information can carry out remote monitoring to vehicle running state.
4, the present invention is based on the vehicle positioning systems of intelligent terminal and key, can also pass through intelligent vehicle key and intelligent vehicle
Mounted terminal Bluetooth communication wakes up intelligent vehicle mounted terminal at a distance using intelligent vehicle key.
Description of the drawings
Fig. 1 is the structural schematic diagram of the vehicle positioning system based on intelligent terminal and key；
Fig. 2 is the connection diagram of intelligent vehicle key and intelligent vehicle mounted terminal.
Reference sign：
1- intelligent vehicle mounted terminals, 2- intelligent vehicle keys, 3- smart mobile phones, 4- servers.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
Vehicle positioning system of the present embodiment based on intelligent terminal and key, including intelligent vehicle mounted terminal 1, intelligent vehicle key
2, smart mobile phone 3 and server 4.
The intelligent vehicle mounted terminal includes：Microprocessor A, the bis- locating modules of the Big Dipper/GPS being connect with microprocessor A, with
The acceleration transducer of microprocessor A connections, the gyroscope being connect with microprocessor A, the bluetooth module being connect with microprocessor A
A and network communication module and power module.
The bis- locating modules of the Big Dipper/GP are used to receive the vehicle location signal of satellite transmission, and the vehicle position that will be obtained
Confidence ceases input microprocessor A.
The acceleration transducer is for obtaining vehicle acceleration, and by vehicle acceleration information input microprocessor A.
The gyroscope is used to obtain the transmits information of vehicle, and by transmits information input microprocessor A.
The microprocessor A is used for vehicle position information, acceleration sensing according to the bis- locating module inputs of the Big Dipper/GPS
The vehicle acceleration information of device input and the vehicle heading information of gyroscope input calculate the position letter for obtaining vehicle
Breath, and vehicle position information is packaged, package information is then transferred to network communication module.
The network communication module is used to the vehicle position information received being sent to network, and by network by vehicle
Location information is uploaded to server.Network communication module in the present embodiment is GPRS communication modules, server in the present embodiment
It is connect including Website server connected to the network, the data server being connect with Website server and with Website server
File server.
The cell phone application of enquiring vehicle position information is loaded in the smart mobile phone, the cell phone application is accessed by network and taken
Business device obtains vehicle history and current location information.
The intelligent vehicle key includes microprocessor B, the bluetooth module B being connect with microprocessor and to microprocessor B
With the power supply of bluetooth module power supply, the bluetooth module B in the intelligent vehicle key be used for and intelligent vehicle mounted terminal in bluetooth mould
Block A communications, the intelligent vehicle key are sent to intelligent vehicle mounted terminal by Bluetooth communication and wake up instruction.
The microprocessor A calculates vehicle location by the following method：
1) when vehicle carves t at the beginning0When have the Big Dipper/GPS signal, then utilize the Big Dipper/GPS signal (Longt_BD, Lat_
BD, Dir_BD, Vct_BD) and (Longt_GPS, Lat_GPS, Dir_GPS, Vct_GPS), vehicle is determined by mean value calculation
Initial position
Lct_0=(Longt_0, Lat_0, Dir_0, Vel_0)
=1/2 ((Longt_BD+Longt_GPS), (Lat_BD+Lat_GPS), (Dir_BD+Dir_GPS), (Vct_BD+
Vct_GPS))
Then turn to the 3) step.
2) when vehicle initial position is without the Big Dipper/GPS signal, then without positioning, until there are a Big Dipper/GPS letters
Number when turn to the 1) step.
3) when if subsequent time has the Big Dipper/GPS signal, microprocessor A is according to the Big Dipper positioning signal (Longt_ of acquisition
BD, Lat_BD, Dir_BD, Vct_BD), GPS positioning signal (Longt_GPS, Lat_GPS, Dir_GPS, Vct_GPS), gyro
Current vehicle position information is calculated in the detection information and previous moment vehicle position information of instrument and acceleration transducer
(Longt_RT, Lat_RT, Dir_RT, Vct_RT), calculation process is as follows：
If x (k) is coordinate information, that is, x (k)=(Longt_RT, the Lat_RT) of k moment automobiles, e (k) is process noise,
Dimension as x (k),
X (k+1)=x (k)+u (k)+e (k) (1)
Wherein：
U (k)=L (k) * [sin (a (k)), cos (a (k))] ' is the slave k- obtained by gyroscope and acceleration transducer
The knots modification that 1 moment occurred to k moment longitude and latitude, formula (1) indicate the longitude and latitude that gyroscope and acceleration transducer measure
Degree.
L (k)=L (k-1)+△ t*Vct_RT (k) be obtained by acceleration transducer it is straight to the k moment slave the k-1 moment
The knots modification of linear distance.
A (k)=a (k-1)+△ t*w (k) are the angles being calculated by gyroscope, and w (k) is the angular speed at k moment；
Or the average value replacement of w (k-1) and w (k) can also be used in the w (k) in formula a (k)=a (k-1)+△ t*w (k).
△ t are the interval duration among the k moment to k-1 moment.
If z (k) is k moment measured values, wherein v (k) is measurement noise, and dimension is as z (k), then
Z (k)=Hx (k)+v (k) (2)
Wherein z (k)=[Longt_BD (k), Lat_BD (k), Longt_GPS (k),
Formula (2) indicates the longitude and latitude that GPS and BD is measured.
Then formula (1) and (2) are directly inserted in Kalman filter formula and vehicle location is calculated.
4) then it is starting with previous moment position when entering the place that the Big Dipper/GPS signal is obstructed in vehicle operation
Position obtains direction and the acceleration information of vehicle using gyroscope and acceleration transducer, current to calculate vehicle
Location information (Longitude_RT, Latitude_RT, Velocity_RT) is sent out the location information as vehicle location information
It is sent to server；When the Big Dipper of vehicle or GPS signal restore, then step 3) is turned to.
Microprocessor A in the present embodiment is preferably STMicw Electronics 32-bit microprocessor STM32；GPS/ Big Dipper positioning moulds
The GPS/ Big Dipper bimodulus locating modules of block model SkyTra companies, using active antenna, positioning accuracy is 2.5 meters, cold start-up
30 seconds or so time, renewal rate most can reach 20Hz soon, and baud rate is most fast up to 230400；Microprocessor A uses asynchronous string
Row communication interface is communicated with the bis- locating modules of the Big Dipper/GPS, and microprocessor A only need to send instruction with module and can be communicated with module.
Network communication module is connected with microprocessor A, and packed data, network communication mould are exported using the mode of asynchronous serial communication
Block model SIM800C, working frequency range 850/900/1800/1900M, except embedded ICP/IP protocol can carry out network communication
Outside, also have the function of to dial, answer, short message, bluetooth etc..The STM32 is the program by being stored in in-chip FLASH to be arranged
Its working condition, therefore, work is to need to be programmed the FLASH in piece.User can according to different configuration modes,
Using different programming modes.With a piece of STM32, different programming datas is written, different circuit functions can be generated, because
This, the use of STM32 is very flexible.
In the above-described embodiments, the level signal received is packaged by the STM32 according to proprietary communication protocol, and
Asynchronous serial data output is converted to, the proprietary communication protocol is as shown in table 1, is made of 17 bytes, including frame head, function
Word, length word, data and check word.The frame head is used to show the beginning of a frame data；The function word is for distinguishing the frame
The function type of data, herein 0x04 indicate the frame data be upload data；The length word is used to indicate the word of the frame data
Joint number, herein 0x0E indicate the frame data length be 14 bytes；The check word is verified for being verified to the frame data
Method is sum check.In data, longitude indicates that longitude, practical longitude are equal to longitude/100000；Ewhemi is
One character, for indicating east longitude or west longitude；Latitude indicates that latitude, practical latitude are equal to latitude/100000；
Nshemi is a character, for indicating south latitude or north latitude；Altitude indicates that current height above sea level, speed expressions are worked as
Preceding speed.
Table 1
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the right of invention.
Claims (3)
1. a kind of vehicle positioning system based on intelligent terminal and key, it is characterised in that：Including intelligent vehicle mounted terminal, intelligent vehicle
Key, smart mobile phone and server,
The intelligent vehicle mounted terminal includes：Microprocessor A, the bis- locating modules of the Big Dipper/GPS being connect with microprocessor A and micro- place
The acceleration transducer for managing device A connections, the gyroscope being connect with microprocessor A, the bluetooth module A that is connect with microprocessor A and
Network communication module and power module；
The bis- locating modules of the Big Dipper/GP are used to receive the vehicle location signal of satellite transmission, and obtained vehicle location is believed
Cease input microprocessor A；
The acceleration transducer is for obtaining vehicle acceleration, and by vehicle acceleration information input microprocessor A；
The gyroscope is used to obtain the transmits information of vehicle, and by transmits information input microprocessor A；
The microprocessor A is used for defeated according to vehicle position information, the acceleration transducer of the bis- locating module inputs of the Big Dipper/GPS
The vehicle heading information of vehicle acceleration information and the gyroscope input entered calculates the location information for obtaining vehicle, and
Vehicle position information is packaged, package information is then transferred to network communication module；
The network communication module is used to the vehicle position information received being sent to network, and by network by vehicle location
Information is uploaded to server；
The cell phone application of enquiring vehicle position information is loaded in the smart mobile phone, the cell phone application passes through network access server
Obtain vehicle history and current location information；
The intelligent vehicle key includes microprocessor B, the bluetooth module B being connect with microprocessor and to microprocessor B and indigo plant
The power supply of tooth module B power supply, the bluetooth module B in the intelligent vehicle key be used for and intelligent vehicle mounted terminal in bluetooth module A
Communication, the intelligent vehicle key are sent to intelligent vehicle mounted terminal by Bluetooth communication and wake up instruction；
The microprocessor calculates vehicle location by the following method：
1) when vehicle carves t at the beginning0When have the Big Dipper/GPS signal, then utilize the Big Dipper/GPS signal (Longt_BD, Lat_BD,
Dir_BD, Vct_BD) and (Longt_GPS, Lat_GPS, Dir_GPS, Vct_GPS), vehicle is determined by mean value calculation
Initial position：
Lct_0=(Longt_0, Lat_0, Dir_0, Vel_0)
=1/2 ((Longt_BD+Longt_GPS), (Lat_BD+Lat_GPS), (Dir_BD+Dir_GPS), (Vct_BD+Vct_
GPS the 3) step)) is then turned to；
Wherein Longt_BD is the vehicle location longitude that the Big Dipper obtains, and Lat_BD is the vehicle location latitude that the Big Dipper obtains, Dir_
BD is the vehicle heading that the Big Dipper obtains, and Vct_BD is the Vehicle Speed that the Big Dipper obtains；Longt_GPS obtains for GPS
Vehicle location longitude, Lat_GPS be GPS obtain vehicle location latitude, Dir_GPS be GPS obtain vehicle heading,
The Vehicle Speed that Vct_GPSGPS is obtained；
2) when vehicle initial position is without the Big Dipper/GPS signal, then without positioning, when there is a Big Dipper/GPS signal
Turn to the 1) step；
3) when if subsequent time has the Big Dipper/GPS signal, microprocessor A according to the Big Dipper positioning signal of acquisition (Longt_BD,
Lat_BD, Dir_BD, Vct_BD), GPS positioning signal (Longt_GPS, Lat_GPS, Dir_GPS, Vct_GPS), gyroscope and
Current vehicle position information is calculated in the detection information and previous moment vehicle position information of acceleration transducer
(Longt_RT, Lat_RT, Dir_RT, Vct_RT), wherein Longt_RT are current vehicle location longitude, and Lat_RT is current vehicle
Position latitude, Dir_RT are current vehicle travel direction, and Vct_RT is current vehicle travel speed, and calculation process is as follows：
If x (k) is coordinate information, that is, x (k)=(Longt_RT, the Lat_RT) of k moment automobiles, e (k) is process noise, dimension
As x (k),
X (k+1)=x (k)+u (k)+e (k) (1)
Wherein：
When u (k)=L (k) * [sin (a (k)), cos (a (k))] ' is the slave k-1 obtained by gyroscope and acceleration transducer
It is carved into the knots modification that k moment longitude and latitude occur, formula (1) indicates the longitude and latitude that gyroscope and acceleration transducer measure；
L (k)=L (k-1)+△ t*Vct_RT (k) be by acceleration transducer obtain slave the k-1 moment to engraving straight line when k away from
From knots modification；
A (k)=a (k-1)+△ t*w (k) are the angles being calculated by gyroscope, and w (k) is the angular speed at k moment；Or
The average value that w (k-1) and w (k) can also be used in w (k) in formula a (k)=a (k-1)+△ t*w (k) is replaced；
△ t are the interval duration among the k moment to k-1 moment；
If z (k) is k moment measured values, wherein v (k) is measurement noise, and dimension is as z (k), then
Z (k)=Hx (k)+v (k) (2)
Wherein z (k)=[Longt_BD (k), Lat_BD (k), Longt_GPS (k), Lat_GPS (k)] '
Formula (2) indicates the longitude and latitude that GPS and BD is measured；
Then formula (1) and (2) are directly inserted in Kalman filter formula and vehicle location is calculated；
4) when entering the place that the Big Dipper/GPS signal is obstructed in vehicle operation, then using previous moment position as start bit
It sets, direction and the acceleration information of vehicle is obtained using gyroscope and acceleration transducer, to calculate the current position of vehicle
Confidence ceases (Longitude_RT, Latitude_RT, Velocity_RT), is sent the location information as vehicle location information
To server；When the Big Dipper of vehicle or GPS signal restore, then step 3) is turned to.
2. the vehicle positioning system according to claim 1 based on intelligent terminal and key, it is characterised in that：The network
Communication module is GPRS communication modules.
3. the vehicle positioning system according to claim 1 based on intelligent terminal and key, it is characterised in that：The service
Device includes Website server connected to the network, the data server being connect with Website server and connects with Website server
The file server connect.
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| CN201810193613.XA CN108415054A (en) | 2018-03-09 | 2018-03-09 | Vehicle positioning system based on intelligent terminal and key |
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| CN109164476A (en) * | 2018-08-23 | 2019-01-08 | 天津亿佳杰科技发展有限公司 | A kind of personnel positioning method, apparatus and system |
| CN110068341A (en) * | 2019-04-23 | 2019-07-30 | 浙江合众新能源汽车有限公司 | A kind of automobile inertial navigation application method and device |
| CN112533142A (en) * | 2020-10-29 | 2021-03-19 | 瑞驰博方（北京）科技有限公司 | Vehicle positioning method and device, computer equipment and storage medium |
| CN112629527A (en) * | 2020-11-20 | 2021-04-09 | 上海申博信息系统工程有限公司 | Vehicle-mounted combined positioning device and method using LoRa communication |
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