CN108519581A - The system and method that ship based on UWB positions in ship lock - Google Patents
The system and method that ship based on UWB positions in ship lock Download PDFInfo
- Publication number
- CN108519581A CN108519581A CN201810253337.1A CN201810253337A CN108519581A CN 108519581 A CN108519581 A CN 108519581A CN 201810253337 A CN201810253337 A CN 201810253337A CN 108519581 A CN108519581 A CN 108519581A
- Authority
- CN
- China
- Prior art keywords
- uwb
- ship
- base stations
- lock
- data
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to a kind of systems that the ship based on UWB positions in ship lock, it includes data processor, application server, multiple first base stations UWB that length direction along ship lock side is evenly arranged, multiple 2nd base stations UWB that length direction along the ship lock other side is evenly arranged, and multiple UWB labels, wherein, the bow of ship, stern, port and ship starboard are separately installed with a UWB label, first base stations UWB and the 2nd base stations UWB can wirelessly communicate between each UWB labels, each first base stations UWB connect the respective base station data communication interface of data processor with the base station location data communication ends of the 2nd base stations UWB, the data input pin of the processing result data output end connection application server of data processor.Present invention covering is wide, positioning accuracy is high, environment influence is small.
Description
Technical field
The present invention relates to ship's fix technical fields, and in particular to one kind being based on UWB (Ultra-Wideband, ultra-wide band)
The system and method that is positioned in ship lock of ship.
Background technology
Ship is very ripe in outdoor location technology GPS Global Navigation Satellite System (GNSS), but GNSS is positioned
For technology under the non-spacious environment such as tunnel, high building, mountain, valley, the factors such as there are satellite-signals to block, reflection cause noise
Than (SNR) decline, Horizontal Dilution of Precision (HDOP), vertical dilution of precision (VDOP) rise phenomena such as, make under GNSS positioning accuracies
Drop, or even can not position.Nearly hundred meters of ship lock depth capacity, when closing gate, surrounding is blocked, such as natural valley, institute
With when ship is in ship lock, GNSS location technologies are difficult to the effect of bringing into normal play.In addition to this traditional visible sensation method meeting is taken
Since sighting distance is shorter, cause early warning insufficient, there is also positioning in other location technologies such as bluetooth, Wi-Fi, RFID positioning service
Situations such as precision is insufficient, signal is easily disturbed.So existing ship's fix technology can not ensure that ship is accurate in ship lock
Navigation.
When ship drifts about in ship lock, if ship's fix precision is low, the driving difficulty for inevitably resulting in ship increases
Greatly, ship headway in ship lock is made to substantially reduce, the serious shipping efficiency for reducing ship lock.So by improving ship
Positioning accuracy in ship lock may insure that ship improves the speed by ship lock under the premise of safety traffic, to promote ship
The Navigation capacity of lock.
Invention content
The purpose of the present invention is to provide a kind of system and method that the ship based on UWB positions in ship lock, the present invention
Covering is wide, positioning accuracy is high, environment influence is small.
In order to solve the above technical problems, the system that a kind of ship based on UWB disclosed by the invention positions in ship lock,
It is characterized in that：It includes multiple first that data processor, application server, the length direction along ship lock side are evenly arranged
The base stations UWB, multiple 2nd base stations UWB and multiple UWB labels that the length direction along the ship lock other side is evenly arranged, wherein
Bow, stern, port and the ship starboard of ship are separately installed with a UWB label, the first base stations UWB and the 2nd UWB
Base station can wirelessly communicate between each UWB labels, the base station location data of each first base stations UWB and the 2nd base stations UWB
Communication ends connect the respective base station data communication interface of data processor, the processing result data output end connection of data processor
The data input pin of application server.
A method of it carrying out ship using above system and is positioned in ship lock, which is characterized in that it includes the following steps：
Step 1：Each UWB labels for being arranged on ship and it is arranged in each first base stations UWB of ship lock both sides and the
Two base stations UWB are connected with each other identification, form UWB base station networks；
Step 2：The data that data processor is passed back according to each first base stations UWB and the 2nd base stations UWB, and pass through arrival
Timi requirement algorithm (TOA), reaching time-difference localization method (TDOA) or angle of arrival location algorithm (AOA) realization exist to ship
UWB positioning in ship lock, and obtain the real-time speed of a ship or plane of ship in ship lock, course and ship's fix figure；
Step 3：The real-time speed of a ship or plane of ship, course and the ship's fix figure that data processor for analysis obtains reach application service
Device stores.
Step 4：Crewman passes through wireless network downloading data to client；Crewman is according to the real-time speed of a ship or plane of ship of acquisition, boat
To and ship's fix figure adjust stem direction and the speed of a ship or plane in time.
Beneficial effects of the present invention：
In the present invention, ship's fix identification uses UWB modules, solve take traditional visible sensation method can sighting distance compared with
Problem that is short, leading to early warning deficiency also solves the positioning in other location technologies such as bluetooth, Wi-Fi, RFID positioning service
The problem of precision is insufficient, signal is easily disturbed.The present invention has cheap, wide coverage, supports multipoint positioning, penetration power
By force, the advantages that positioning accuracy is high and strong antijamming capability.
In the present invention, ship being accurately positioned in ship lock is measured by UWB locating modules, by application server
Each ship speed, course, profile and positioning can be obtained after data analysis.Dam area staff can be to the ship lock of each ship
Interior data are analyzed, and optimization ship lockage scheme is to improve the Navigation capacity of ship lock.
In the present invention, ship speed, course, profile and the location information that dam area staff obtains are passed by wireless network
It is presented to ship wheel house, and by client.Crewman can adjust stem direction and the speed of a ship or plane in time according to the information of acquisition, when
Ship can carry out sound-light alarm when being smaller than safe distance and ship's speed higher than safe speed to crewman, substantially increase ship lockage
Safety coefficient.
Description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the arrangement figure of UWB labels in the present invention；
Fig. 3 is the structure chart of UWB base station networks in the present invention；
Fig. 4 is the relational graph of UWB labels and the base stations UWB in positioning calculation in the present invention；
Fig. 5 is the schematic diagram that two base stations UWB measure respective direction of arrival degree in the present invention.
Wherein, the 1-the one base stations UWB, the 2-the two base stations UWB, 3-UWB labels, 4-data processors, 5-application clothes
Business device, 6-interface modules, 7-clients.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
The system that a kind of ship based on UWB of the present invention positions in ship lock, as shown in Figures 1 to 3, it includes at data
Multiple first base stations UWB 1 that reason device 4, application server 5, the length direction along ship lock side are evenly arranged, along the ship lock other side
Multiple 2nd base stations UWB 2 for being evenly arranged of length direction and multiple UWB labels 3, wherein bow, stern, the ship of ship
Larboard and ship starboard are separately installed with a UWB label 3, the first base stations UWB 1 and the 2nd base stations UWB 2 can with it is each
It is wirelessly communicated between UWB labels 3, each first base stations UWB 1 connect number with the base station location data communication ends of the 2nd base stations UWB 2
According to the respective base station data communication interface of processor 4, the processing result data output end of data processor 4 connects application server
5 data input pin.See Fig. 1~3 in detail, for ship lock by taking the ship lock of the Yangtze River Gorges as an example, UWB base station signals can cover UWB labels 3
And can be connected with each other by CAN bus, form UWB base station networks.
In above-mentioned technical proposal, the multiple first base stations UWB 1 are staggeredly arranged with multiple 2nd base stations UWB 2.Above-mentioned cloth
The form of setting can be such that arrival time location algorithm, reaching time-difference localization method or angle of arrival location algorithm is accurately positioned
As a result.
In above-mentioned technical proposal, the base station location data communication ends of each first base stations UWB 1 and the 2nd base stations UWB 2
Data processor 4, data processor are connected by CAN (Controller Area Network, controller local area network) bus
4 processing result data output end connects the data input pin of application server 5 by interface module 6.
In above-mentioned technical proposal, the processing result data output end of the data processor 4 passes through spi bus connecting interface
The input terminal of module 6.
In above-mentioned technical proposal, it further includes client 7, the visitor of the communication ends access application server 5 of the client 7
Family end interface.
In above-mentioned technical proposal, the data processor 4 is passed back according to each first base stations UWB 1 and the 2nd base stations UWB 2
Data, and by arrival time location algorithm, reaching time-difference localization method or angle of arrival location algorithm realize to ship
UWB positioning in ship lock.
In above-mentioned technical proposal, the arrival time location algorithm measures each first base stations UWB 1 and the 2nd UWB first
Base station 2 transmits signals to the time being then back to up to some UWB label 3, then according to the time calculate the UWB labels 3 away from
With a distance from each first base stations UWB 1 and the 2nd base stations UWB 2, so that it is determined that the UWB labels 3 are accurately positioned；Reference Fig. 4,
The base stations the UWB base station A, UWB B and base stations UWB C, the distance to UWB labels T are set to R respectively1、R2And R3.It can be in conjunction with following formula
Calculate the exact position of UWB labels.
Wherein, (x1, y1) be the base stations UWB A coordinate, (x2, y2) be the base stations UWB B coordinate, (x3, y3) it is the base stations UWB C
Coordinate, (x, y) be UWB labels T coordinate；
The reaching time-difference localization method, by measuring UWB labels 3 to different each first base stations UWB 1 and second
The time difference of the base stations UWB 2 to obtain the UWB labels 3 arrive the range difference of different first base stations UWB 1 and the 2nd base stations UWB 2 into
And it is positioned；
With reference to Fig. 4, tied after each base stations UWB to the distance of UWB labels can be calculated by measuring time of arrival (toa)
The exact position of UWB labels can be calculated by closing following formula.
Wherein, (x1, y1) be the base stations UWB A coordinate, (x2, y2) be the base stations UWB B coordinate, (x3, y3) it is the base stations UWB C
Coordinate, (x, y) be UWB labels T coordinate, t1、t2And t3Respectively signal is from the base stations the UWB base station A, UWB B and the base stations UWB C
The time used in UWB labels T is reached, C is signaling rate.
It is used when UWB labels 3 can only be covered by two base stations UWB (the first base stations UWB 1 and/or the 2nd base stations UWB 2)
Angle of arrival location algorithm is calculated, and the signal of two UWB Base Transmitters intersects at a point, and intersection point is exactly the position of UWB labels 3
It sets.
With reference to Fig. 5, the base stations UWB A and base station B measure respectively respective signal reach UWB labels T angle of arrival be a and
B obtains UWB label T locations by solution of equation：
Wherein, (x1, y1) be the base stations UWB A coordinate, (x2, y2) be the base stations UWB B coordinate, (x, y) is UWB labels T
Coordinate.
A method of it carrying out ship using above system and is positioned in ship lock, it includes the following steps：
Step 1：Each UWB labels 3 for being arranged on ship and each first base stations UWB, 1 He in ship lock both sides is set
2nd base stations UWB 2 are connected with each other identification, form UWB base station networks；
Step 2：The data that data processor 4 is passed back according to each first base stations UWB 1 and the 2nd base stations UWB 2, and pass through
Arrival time location algorithm, reaching time-difference localization method or angle of arrival location algorithm realize the UWB to ship in ship lock
Positioning, and obtain the real-time speed of a ship or plane of ship in ship lock, course and ship's fix figure；It is real-time by analyzing each ship in ship lock
The speed of a ship or plane, course, profile and be accurately positioned, dam area staff can adjust ship in time with rational ship transit scenario
Lockage route greatly improves ship for proposing sound flash alarm system in time higher than the ship of safe speed less than safe distance and ship's speed
The Navigation capacity of lock and the safety of ship lockage；
Step 3：Data processor 4 is analyzed the real-time speed of a ship or plane of ship, course and the ship's fix figure obtained and is reached using clothes
Business device 5 stores.
Step 4：Crewman passes through wireless network downloading data to client 7；Crewman is according to the real-time speed of a ship or plane of ship of acquisition, boat
To and ship's fix figure adjust stem direction and the speed of a ship or plane in time.
In the step 4 of above-mentioned technical proposal, the client 7 when ship is smaller than safe distance or ship's speed is higher than safe speed
Sound-light alarm can be carried out, the safety coefficient of ship lockage is substantially increased.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of system that the ship based on UWB positions in ship lock, it is characterised in that：It includes data processor (4), application
Multiple first base stations UWB (1) that server (5), the length direction along ship lock side are evenly arranged, the length along the ship lock other side
Multiple 2nd base stations UWB (2) and multiple UWB labels (3) that direction is evenly arranged, wherein bow, stern, the ship of ship are left
The side of a ship and ship starboard are separately installed with a UWB label (3), the first base stations UWB (1) and the 2nd base stations UWB (2) can with it is each
It is wirelessly communicated between a UWB labels (3), the base station location data communication of each first base stations UWB (1) and the 2nd base stations UWB (2)
The processing result data output end of the respective base station data communication interface of end connection data processor (4), data processor (4) connects
Connect the data input pin of application server (5).
2. the system that the ship according to claim 1 based on UWB positions in ship lock, it is characterised in that：It is the multiple
First base stations UWB (1) are staggeredly arranged with multiple 2nd base stations UWB (2).
3. the system that the ship according to claim 1 based on UWB positions in ship lock, it is characterised in that：It is described each
First base stations UWB (1) connect data processor with the base station location data communication ends of the 2nd base stations UWB (2) by CAN bus
(4), the processing result data output end of data processor (4) is defeated by the data of interface module (6) connection application server (5)
Enter end.
4. the system that the ship according to claim 3 based on UWB positions in ship lock, it is characterised in that：The data
The input terminal that the processing result data output end of processor (4) passes through spi bus connection interface module (6).
5. the system that the ship according to claim 1 based on UWB positions in ship lock, it is characterised in that：It further includes
Client (7), the client-side interface of the communication ends access application server (5) of the client (7).
6. the system that the ship according to claim 1 based on UWB positions in ship lock, it is characterised in that：Data processing
The data that device (4) is passed back according to each first base stations UWB (1) and the 2nd base stations UWB (2), and by arrival time location algorithm,
Reaching time-difference localization method or angle of arrival location algorithm realize that the UWB to ship in ship lock is positioned.
7. the system that the ship according to claim 6 based on UWB positions in ship lock, it is characterised in that：The arrival
Timi requirement algorithm measures each first base stations UWB (1) first and the 2nd base stations UWB (2) transmit signals to and marked up to some UWB
Then label (3) time for being then back to calculates the UWB labels (3) apart from each first base stations UWB (1) and the according to the time
The distance of two base stations UWB (2), so that it is determined that UWB labels (3) are accurately positioned；
The reaching time-difference localization method, by measuring UWB labels (3) to different each first base stations UWB (1) and second
The time difference of the base stations UWB (2) arrives different first base stations UWB (1) and the 2nd base stations UWB (2) to obtain the UWB labels (3)
Range difference is positioned in turn；
It is calculated using angle of arrival location algorithm when UWB labels (3) can only be covered by two base stations UWB, two UWB bases
The signal emitted of standing intersects at a point, and intersection point is exactly the position of UWB labels (3).
8. a kind of carrying out the method that ship positions in ship lock using system described in claim 1, which is characterized in that it includes such as
Lower step：
Step 1：Each UWB labels (3) for being arranged on ship and be arranged ship lock both sides each first base stations UWB (1) and
2nd base stations UWB (2) are connected with each other identification, form UWB base station networks；
Step 2：The data that data processor (4) is passed back according to each first base stations UWB (1) and the 2nd base stations UWB (2), and lead to
Arrival time location algorithm, reaching time-difference localization method or angle of arrival location algorithm is crossed to realize to ship in ship lock
UWB is positioned, and obtains the real-time speed of a ship or plane of ship in ship lock, course and ship's fix figure；
Step 3：The real-time speed of a ship or plane of ship, course and the ship's fix figure that data processor (4) analysis obtains reach application service
Device (5) stores.
9. the method that ship according to claim 8 positions in ship lock, it is characterised in that：Further include after the step 3
Step 4：Crewman passes through wireless network downloading data to client (7)；Crewman is according to the real-time speed of a ship or plane of ship, course and the ship of acquisition
Oceangoing ship positioning figure adjusts stem direction and the speed of a ship or plane in time.
10. the method that ship according to claim 9 positions in ship lock, it is characterised in that：In the step 4, work as ship
Client (7) can carry out sound-light alarm when being smaller than safe distance or ship's speed higher than safe speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253337.1A CN108519581A (en) | 2018-03-26 | 2018-03-26 | The system and method that ship based on UWB positions in ship lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253337.1A CN108519581A (en) | 2018-03-26 | 2018-03-26 | The system and method that ship based on UWB positions in ship lock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108519581A true CN108519581A (en) | 2018-09-11 |
Family
ID=63434246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810253337.1A Pending CN108519581A (en) | 2018-03-26 | 2018-03-26 | The system and method that ship based on UWB positions in ship lock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108519581A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110095799A (en) * | 2019-06-05 | 2019-08-06 | 广东电网有限责任公司 | A kind of integrated satellite navigation and super-broadband tech positioning system and its method |
| CN110737275A (en) * | 2019-11-06 | 2020-01-31 | 闽江学院 | ship navigation control system for realizing synchronous multi-ship entry and exit gate |
| CN110764080A (en) * | 2019-10-30 | 2020-02-07 | 武汉理工大学 | Millimeter wave radar-based method for detecting piloting-following ship formation target in ship lock |
| CN111148022A (en) * | 2019-12-31 | 2020-05-12 | 深圳市优必选科技股份有限公司 | Mobile equipment and positioning method and device thereof |
| CN112198475A (en) * | 2020-10-09 | 2021-01-08 | 张丹 | Hydrology section positioning system based on ultra wide band technique |
| CN114125704A (en) * | 2021-11-23 | 2022-03-01 | 江苏科技大学 | UWB-based ship cabin personnel positioning device and positioning method |
| CN115792799A (en) * | 2022-11-30 | 2023-03-14 | 上海船舶运输科学研究所有限公司 | Ship model track mapping method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204257002U (en) * | 2014-07-18 | 2015-04-08 | 中国长江三峡集团公司 | A kind of boats and ships are by the safety navigation backup system of ship lock |
| CN105898698A (en) * | 2016-04-26 | 2016-08-24 | 上海交通大学 | UWB-based ship berthing assist method and system |
| CN106601030A (en) * | 2016-12-08 | 2017-04-26 | 中国交通通信信息中心 | Intelligent lockage auxiliary navigation system for ship |
| CN206524983U (en) * | 2017-02-23 | 2017-09-26 | 北京智物达科技有限公司 | A kind of warehouse fork lift truck real-time high-precision alignment system based on UWB |
-
2018
- 2018-03-26 CN CN201810253337.1A patent/CN108519581A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204257002U (en) * | 2014-07-18 | 2015-04-08 | 中国长江三峡集团公司 | A kind of boats and ships are by the safety navigation backup system of ship lock |
| CN105898698A (en) * | 2016-04-26 | 2016-08-24 | 上海交通大学 | UWB-based ship berthing assist method and system |
| CN106601030A (en) * | 2016-12-08 | 2017-04-26 | 中国交通通信信息中心 | Intelligent lockage auxiliary navigation system for ship |
| CN206524983U (en) * | 2017-02-23 | 2017-09-26 | 北京智物达科技有限公司 | A kind of warehouse fork lift truck real-time high-precision alignment system based on UWB |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110095799A (en) * | 2019-06-05 | 2019-08-06 | 广东电网有限责任公司 | A kind of integrated satellite navigation and super-broadband tech positioning system and its method |
| CN110764080A (en) * | 2019-10-30 | 2020-02-07 | 武汉理工大学 | Millimeter wave radar-based method for detecting piloting-following ship formation target in ship lock |
| CN110764080B (en) * | 2019-10-30 | 2023-08-15 | 武汉理工大学 | Method for detecting navigation-following ship formation target in ship lock based on millimeter wave radar |
| CN110737275A (en) * | 2019-11-06 | 2020-01-31 | 闽江学院 | ship navigation control system for realizing synchronous multi-ship entry and exit gate |
| CN110737275B (en) * | 2019-11-06 | 2022-04-15 | 长江三峡通航管理局 | Ship navigation control system for realizing synchronous gate entry and exit of multiple ships |
| CN111148022A (en) * | 2019-12-31 | 2020-05-12 | 深圳市优必选科技股份有限公司 | Mobile equipment and positioning method and device thereof |
| CN112198475A (en) * | 2020-10-09 | 2021-01-08 | 张丹 | Hydrology section positioning system based on ultra wide band technique |
| CN114125704A (en) * | 2021-11-23 | 2022-03-01 | 江苏科技大学 | UWB-based ship cabin personnel positioning device and positioning method |
| CN115792799A (en) * | 2022-11-30 | 2023-03-14 | 上海船舶运输科学研究所有限公司 | Ship model track mapping method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108519581A (en) | The system and method that ship based on UWB positions in ship lock | |
| CN107976697B (en) | Train safety positioning method and system based on Beidou/GPS combination | |
| CN105792135B (en) | A kind of method and device in positioning vehicle place lane | |
| CN107024709A (en) | A kind of indoor and outdoor seamless positioning system and method | |
| CN109613584B (en) | UWB-based positioning and orientation method for unmanned card concentrator | |
| CN102981144A (en) | Method for three-dimensional passive positioning of targets by air moving platform | |
| CN106093858A (en) | A kind of alignment system based on UWB, RFID, INS multi-source co-located technology and localization method | |
| CN112689235A (en) | Positioning method and device based on Bluetooth signals | |
| CN101466145A (en) | Dual-base-station accurate orientation method based on neural network | |
| CN106793087A (en) | A kind of array antenna indoor positioning algorithms based on AOA and PDOA | |
| CN103813448A (en) | Indoor positioning method based on RSSI | |
| WO2015086062A1 (en) | Method for positioning humans and devices in underground environments | |
| CN207318731U (en) | A kind of device for monitoring vehicle with Big Dipper positioning and directing | |
| CN101945475B (en) | Mobile phone positioning device based on ship movement base station and single-ship positioning method thereof | |
| CN104197930A (en) | Indoor positioning device and method based on inertial guidance and radio frequency identification | |
| CN104181500A (en) | Real-time locating method based on inertia information and chance wireless signal characteristics | |
| CN106546236B (en) | Based on architecture structure drawing from the offshore platform personnel positioning navigation system of host computer | |
| CN106093859B (en) | A kind of self-organizing ship-positioning system and its localization method based on dirigible | |
| CN106525044A (en) | Person positioning navigation system and method of large naval ship based on ship structure chart | |
| CN105116390A (en) | Marine radar calibration-oriented measured value and AIS truth value dot pair construction method | |
| WO2015057227A1 (en) | Method and apparatus for time of flight fingerprint and geo-location | |
| CN102395198A (en) | Signal intensity-based node positioning method and device for wireless sensing network | |
| CN102998689B (en) | Region decision method based on virtual-sensor | |
| CN110830907A (en) | Coal mine underground UWB positioning base station coordinate positioning method | |
| CN110045329A (en) | A kind of two base station two-dimensional location methods |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180911 |
|
| RJ01 | Rejection of invention patent application after publication |