CN108872938A - Method used for positioning and positioning system with device used for positioning - Google Patents
Method used for positioning and positioning system with device used for positioning Download PDFInfo
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- CN108872938A CN108872938A CN201810270837.6A CN201810270837A CN108872938A CN 108872938 A CN108872938 A CN 108872938A CN 201810270837 A CN201810270837 A CN 201810270837A CN 108872938 A CN108872938 A CN 108872938A
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- sound
- source
- change curve
- signal
- positioning
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Classifications
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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
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
-
- 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
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
-
- 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
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/02—Indoor
Abstract
The present invention relates to methods used for positioning.The method considers the first sound-source signal of at least one the first sound source, includes the following steps：The first sound-source signal is received at first position, and the first acoustical signal value of the first sound-source signal is determined to be used for first position, and the first sound-source signal is received at least one second place, and at least one other acoustical signal value of the first sound-source signal is determined to be used for the second position, wherein the first acoustical signal value and at least one other acoustical signal value form measuring signal change curve；Measuring signal change curve is compared with multiple reference signal change curves, wherein each reference signal change curve is corresponding with a track respectively；By measuring signal change curve in the multiple reference signal change curve determined by a reference signal change curve carry out corresponding, and select corresponding with identified reference signal change curve track；Current location is obtained from corresponding track；The acquired position of output.
Description
Technical field
This application involves method used for positioning and the positioning system with device used for positioning.
Background technique
2015/0156637 A1 of US describes a kind of method for indoor positioning, wherein can be used with microphone
Traditional intelligence phone execute this method.Multiple loudspeakers are disposed in construction zone, they, which are issued, has acoustic intelligence
Acoustical signal is with (ID) each loudspeaker for identification.If acoustical signal is recorded in the microphone by smart phone, can borrow
Help acoustic intelligence to obtain the ID for the loudspeaker for sending acoustical signal, and corresponding based on ID and corresponding loudspeaker.Due to corresponding
Loudspeaker in corresponding construction area, it is achieved that being positioned in building.
Summary of the invention
The present invention relates to a kind of methods used for positioning, such as in such as hospital, museum, airport, industrial building, purchase
It is positioned in the building at object center etc., and is related to a kind of positioning system, had to be configured to execute this and be used to position
Method device.For this purpose, for example using common smart phone or tablet computer or laptop as above-mentioned dress
It sets.
It is an advantage of the current invention that in order to implement this method, do not need to already existing hardware (such as loudspeaker) into
Row modification can simply implement this method to execute this method.
This realizes that this method considers the first sound source letter of at least one the first sound source by a kind of method used for positioning
Number, wherein this approach includes the following steps：
At first position receive the first sound-source signal, and determine the first sound-source signal the first acoustical signal value with
The first sound-source signal is received in first position, and at least one second place, and determines the first sound-source signal extremely
A few other acoustical signal value is to be used for the second position, wherein the first acoustical signal value and at least one other acoustical signal value shape
At measuring signal change curve；
Measuring signal change curve is compared with multiple reference signal change curves, wherein each reference signal becomes
It is corresponding with a track respectively to change curve；
A reference signal identified in measuring signal change curve and multiple reference signal change curves is changed
Curve is corresponded to, and selects track corresponding with identified reference signal change curve；
Current location is obtained from corresponding track；
The acquired position of output.
Advantage is：Using existing hardware, such as using the loudspeaker apparatus in public building, in conjunction with such as intelligence electricity
Words can execute this method with low cost.
For the more high accuracy of this method, minimum range may be meaningful, and wherein the length of minimum range depends on
In ambient enviroment and its to the influence of source signal.That is, ambient enviroment (has many objects, example in the ambient enviroment
Stand or decoration such as department store) compared to such as open space (for example, open space that escalator is located at)
It may cause the different measuring signal change curves of recorded source signal.Therefore, in order to covering more possible spies
Sign, it is meaningful to cover minimum range.These features of ambient enviroment can be preferably right with reference signal change curve
It answers, makes it possible to more accurately obtain current location.
In one embodiment, in order to obtain current location from corresponding track, changed by measuring signal bent
The finally detected signal value of line determines current location.One advantage is, can be come by simple effective mode true
Settled front position.Another advantage is, such as low power consumption when using mobile device.In addition, enabling to detected
Measuring signal change curve is corresponding with track to be rationalized.This can come real for example, by the track of Time Continuous and geometric correlation
It is existing.On the one hand the rationalization allows higher corresponding reliability, and on the other hand realize that dynamic updates benchmark during use
Signal intensity curve.
In one embodiment, the first acoustical signal value and at least one or other acoustical signal value are respectively by the first sound source
The superposition of at least one the second sound-source signal of the first sound-source signal and the second sound source formed.Advantage is, each by being superimposed
The sound-source signal in source, the measuring signal change curve formed by acoustical signal value have superposed pattern for characterizing around corresponding
Environment, the superposed pattern realize the accurate determination to position.
In one embodiment, the first sound-source signal of the first sound source and the second sound-source signal of the second sound source are in frequency
It is upper consistent.Advantageously, first the first sound-source signal of source emission and second the second sound-source signal of source emission, the first sound source letter
Number and the second sound-source signal be respectively provided with 18 to the frequency between 50kHz, especially 20kHz.Advantage is to be achieved in narrowband survey
Amount.Therefore, possible interference (such as music or other background noises in building) has been filtered.
In one embodiment, the first sound-source signal of the first sound source and the second sound-source signal of the second sound source are in frequency
Upper difference makes it possible to limit reference signal change curve to be compared.Advantage is, it is thus achieved that comparing faster, therefore
It being capable of quickly output position.
In one embodiment, measuring signal change curve is filtered and is rectified using bandpass filter.Advantage
It is that, by being filtered to measuring signal change curve, selected frequency range can be focused on, and by believing measurement
The rectification of number change curve obtains its amplitude change curve.
In one embodiment, by measuring signal change curve be compared with reference signal change curve and it is corresponding packet
Include following steps：
Measuring signal change curve is associated with multiple reference signal change curves；
Select most consistent reference signal change curve；
Most consistent reference signal change curve is carried out with measuring signal change curve corresponding.
Advantage is, therefore the position can be obtained by corresponding reference signal change curve, which becomes
It is corresponding with specific track to change curve.
A kind of device being arranged for positioning, has：Receiving unit, for receiving the first sound-source signal；Assessment unit,
Wherein assessment unit is configured to determine position from the track of identified reference signal change curve；And output unit,
For exporting the position.Receiving unit is also configured to receive other sound-source signal.In one embodiment, it is used for
The device of positioning includes mobile terminal device.Advantage is, by using such as smart phone, tablet computer or laptop
Mobile terminal device can execute entire method in a simple manner.
A kind of positioning system being arranged for positioning, including the first sound source and at least the second sound source and used for positioning
Device.Advantage is, by using positioning system, the cramped construction for the device being known from the state of the art can inexpensive group
Dress, and can realize and determine in the building in such as hospital, museum, airport, industrial building, shopping center etc.
Position.
In one embodiment, the first sound source and the second sound source are loudspeaker respectively, wherein the first sound source and the rising tone
Source can launch the pilot tone as the first sound-source signal and the second sound-source signal respectively.Advantage is not modify building
In loudspeaker in the case where, the pilot tone that loudspeaker can be used is positioned between floors, to pass through positioning system
It realizes and efficiently executes this method and save cost.
In one embodiment, assessment unit includes mobile terminal device and storage unit, is stored in the memory unit
There are reference signal change curve and corresponding track.In another embodiment, it is stored with benchmark letter in the memory unit
Number change curve and corresponding track, wherein storage unit is not included in assessment unit, such as cloud.
Advantage is, therefore can be executed by means of the mobile terminal device with software application (also referred to as App) complete
Method so that can also be with successful execution this method under off-line state.
A kind of data medium with computer program, the computer program are arranged for executing side used for positioning
Method, the data medium this have the advantage that mobile terminal device can send measuring signal change curve by communication interface
To data medium, wherein determining that position can be by means of computer program from the track of corresponding reference signal change curve
To complete.Therefore, because the microphone of mobile terminal device is used only, it is possible to reduce the power consumption of mobile terminal device.
Detailed description of the invention
The embodiment of the present invention is shown in the accompanying drawings, and illustrates reality of the invention in further detail in subsequent explanation
Apply example.Identical appended drawing reference in the accompanying drawings refers to the identical or identical element of effect.Wherein：
Fig. 1 shows the flow chart of embodiment according to the method for the present invention, and this method is used to be set by means of having
The positioning system of device used for positioning is positioned,
Fig. 2 shows the illustrative positioning areas with the first sound source, the second sound source, device used for positioning and reflector
Domain,
Illustrative measuring signal change curve of Fig. 3 a when showing in m- intensity map,
Fig. 3 b shows the illustrative reference signal change curve in position-intensity map, wherein being indicated with position coordinates
Position.
Specific embodiment
Fig. 1 shows the embodiment of method 1 used for positioning, such as in such as hospital, museum, airport, industrial building
In object or the building in shopping center, the method is positioned by means of positioning system 15, and wherein positioning system 15 includes the
One sound source 8 and the second sound source 9 and device used for positioning 14 (see Fig. 2).Sound source 8,9 includes the loudspeaking of such as electroacoustic equipment
Device, for the sake of security, loudspeaker can be fixedly installed in building.As shown in Fig. 2, the first sound source 8 and the second sound source 9
(being referred to as the first loudspeaker 8 and the second loudspeaker 9 in this embodiment) in order to the self-test of electroacoustic equipment purpose example
The first sound-source signal 80 and the second sound-source signal 90 are such as sent in localization region 23, wherein sound-source signal 80,90 is referred to as and leads
Frequency sound 80,90, and the garden in the room or groups of building in the e.g. building of localization region 23 or at groups of building.
Device used for positioning 14 (for example, mobile terminal device 14') in localization region 23 directly receives the first sound source letter
Numbers 80 and second sound-source signal 90, or indirectly by reflector 19 (such as lamp, wall, the table arranged in localization region 23
Son or chair) at the reflection that occurs receive, that is, receive the first source signal 800 through reflection and the second source signal through reflection
900。
First sound-source signal 80, the second sound-source signal 90, the first sound-source signal 800 through reflection and the rising tone through reflection
Source signal 900 is received as the device 14 (being mobile terminal device 14' here) that superposition be used to position.Mobile terminal device
14' can preferably include smart phone, tablet computer or laptop with microphone.In addition, mobile terminal device
14' has receiving unit 11, for receiving 2 first sound-source signals 80, the second sound-source signal 90, the first sound-source signal through reflection
800 and the second sound-source signal 900 through reflection.As shown in Figure 1, can be about leading in the assessment unit 12 of mobile terminal 14'
The frequency utilization bandpass filter of frequency sound 80,90 is filtered and rectifies to these sound-source signals 80,90,800,900.Here,
In selected frequency range (the wherein frequency that the frequency range further includes pilot tone 80,90), such as in the frequency of pilot tone
In the case that rate is 20kHz, the amplitude in 18 to 22kHz frequency range about sound-source signal 80,90,800,900 is to this
A little sound-source signals are filtered, and followed by rectification (filtering and rectification 3).First in localization region 23 as a result,
At position, the first acoustical signal value 20 is determined in the selected frequency range of the first sound-source signal 80 and the second sound-source signal 90.
In addition, the second place in localization region 23, in the selected frequency of the first sound-source signal 80 and the second sound-source signal 90
Other acoustical signal value 21 is determined in range.It, can be by first by determining other acoustical signal value 16,24 in an identical manner
Acoustical signal value 20, acoustical signal value 21 in addition and other acoustical signal value 16,24 form measuring signal change curve 22.Signal value
16,20,21,24 may include sound-source signal amplitude.For example, signal value also may include amplitude absolute value or amplitude it is exhausted
To the envelope curve of value.
In one embodiment, the frequency of pilot tone 80,90 is 20kHz for two loudspeakers 8,9, so that pilot tone
80,90 are located at except mankind's hearing.Pilot tone 80,90 can also take any other frequency values, or can also be different from each other.
In one embodiment, as shown in Figure 3a, measuring signal change curve 22 is shown as related with the time 40 strong
Change curve 34 is spent, wherein each signal value 16,20,21,24 is preferably recorded at the different location in localization region 23.It surveys
Measuring signal intensity curve 22 has such as following characteristics：First partial maximum value 25 at the first moment 401, at the second moment
The second local maximum 26 when 402, or bimodal 27 at the third moment 403, this give measuring signal change curves
22 unique intensity patterns.These features realize measuring signal change curve 22 in assessment unit 12 and reference signal changes
The comparison 4 of curve 100.
Fig. 3 b shows an exemplary reference signal intensity curve from multiple reference signal change curves 100
100', as intensity variation curve 34 related with the track 35 in space.Here, reference signal change curve 100' includes
Baseline signal value, wherein each single baseline signal value corresponds to locative position coordinates.In the embodiment of Fig. 3 b,
The position coordinates of the corresponding first position 351 of first baseline signal value 28, the position of the corresponding second position 352 of the second baseline signal value 29
Coordinate is set, the position coordinates of the corresponding the third place 353 of baseline signal value 31 in addition.Therefore, by reference signal change curve 100
The set of composition includes the intensity value of 20kHz pilot tone 80,90 for each position in space, and is therefore formed real
The acoustics map for now positioning and/or navigating.
By means of acoustics map, by the way that measuring signal change curve 22 and multiple reference signal change curves 100 are carried out
Compare 4, and measuring signal change curve 22 is carried out corresponding 5 with identified reference signal change curve 100', it can
To determine the position in localization region 23.For this purpose, executing measuring signal change curve 22 and multiple bases in assessment unit 12
The association of calibration signal change curve 100.Then, most consistent reference signal change curve 100' is selected, and it is believed with measurement
Number change curve carries out corresponding (corresponding 5).In order to obtain position, select corresponding with identified reference signal change curve 100'
Track 35.Here, corresponding base can be passed through from the finally detected signal value 17 of measuring signal change curve 22
The corresponding signal value 17' of calibration signal change curve 100' and its corresponding track 354 obtain current location 60 and (obtain
6).In this embodiment, current location 60 is equivalent to the position that record has last detected signal value 17.In mobile terminal
The output 7 of acquired position 60 is executed in the output unit 13 of equipment 14'.
In this embodiment, mobile terminal device 14' includes receiving unit 11, assessment unit 12 and output unit 13.
Here, mobile terminal device 14' may, for example, be common smart phone 14', have：As receiving unit 11 microphone,
As the calculator with memory and software application (also referred to as App) of assessment unit 12 and as output unit 13
Display or loudspeaker.
Acoustics map can be transferred to mobile terminal device 14' from storage unit 10, so that on mobile terminal device 14'
The accessible acoustics map of App, the acoustics map include reference signal change curve 100 and corresponding track and can use
In execution method 1 used for positioning.But it is also possible that measuring signal curve 22 is transferred to number by mobile terminal device 14'
According to carrier (also referred to as cloud), which executes the computer program for for example comparing 4, corresponding 5 and acquisition 6 by means of having
Outer computer executes.Here, data medium includes storage unit 10 and computer program, computer program can for example be held
Row relatively 4, corresponding 5 and acquisition 6.In addition, outer computer and mobile terminal device 14' are communicated to connect, so that method 1 can also be with
It is executed in hybrid form between data medium and mobile terminal device 14'.
Create acoustics map
In order to execute method 1 used for positioning, acoustics map can be used, which includes that reference signal variation is bent
Line 100 and corresponding track 35.In order to create acoustics map, reference microphone can be used, utilize the reference microphone edge
Track 35 cover localization region 23.Here, track 35 for example can be the particular path in building, such as the glue at floor
Tape label.It is possible thereby to which position is corresponded on the particular path in building or specific region.It, can by means of reference microphone
To receive and record sound-source signal 80,90,800,900, wherein simultaneously can be for example with position coordinates (such as absolute location coordinates
Or relative position coordinates) form determine corresponding current location.In addition, speed can be determined by localization method simultaneously, it is excellent
Selection of land determines speed by ranging or laser distance, and can be used as the function of position therefore to store measured intensity
Change curve.Track, which is repeatedly covered, using the different height of reference microphone from floor forms extension to acoustics map.It can be with
The sound-source signal 80,90,800,900 recorded by reference microphone is filtered in selected frequency range using band logical
Wave, wherein the frequency range also includes the frequency of pilot tone 80,90, such as in the case where the frequency of pilot tone is 20kHz,
It is filtered in 18 to 22kHz frequency range.Alternatively or with supplement, by the sound-source signal 80 of reference microphone record, 90,
800, it 900 can be rectified, only to obtain the amplitude of sound-source signal 80,90,800,900 or the absolute value of amplitude.Sound source letter
Numbers 80,90,800,900 include signal strength indication, wherein each individual signals intensity value correspond to previously determined by a position
It sets.Reference signal change curve 100 is therefrom obtained, as intensity variation curve 34 related with the track 35 in space, base
Calibration signal change curve can be used for executing method 1 used for positioning.
Preferably, method 1 used for positioning can be combined with other location mechanisms, such as Wi-Fi, inertia measurement list
First (IMU) or near-field communication (NFC), to realize positioning accurately and quickly.
Claims (15)
1. a kind of method used for positioning, the method considers the first sound-source signal (80) of at least one the first sound source (8),
It is characterized in that, includes the following steps：
(2) described first sound-source signal (80) is received at first position, and determines the of first sound-source signal (80)
One acoustical signal value (20) receives (2) described first sound source at least one second place to be used for the first position
Signal (80), and determine at least one other acoustical signal value (21) of first sound-source signal (80) for described the
Two positions, wherein the first acoustical signal value (20) and at least one described other acoustical signal value (21) form measuring signal and become
Change curve (22)；
The measuring signal change curve (22) and multiple reference signal change curves (100) are compared (4), wherein each
Reference signal change curve (100') is corresponding with one track (35) respectively；
By a base identified in the measuring signal change curve (22) and the multiple reference signal change curve (100)
Calibration signal change curve carries out corresponding (5), and selects track corresponding with identified reference signal change curve (100')
(35)；
(6) current location (60) are obtained from corresponding track (35)；
Export position (60) acquired in (7).
2. method used for positioning according to claim 1, which is characterized in that obtained from corresponding track (35)
(6) current location (60) includes：Pass through the finally detected signal value (17) of the measuring signal change curve (22)
To determine the current location (60).
3. method used for positioning according to claim 1 or 2, which is characterized in that the first acoustical signal value (20) and
At least one described other acoustical signal value (21) is respectively by the first sound-source signal (80) and the rising tone of first sound source (8)
The superposition of at least one second sound-source signal (90) in source (9) is formed.
4. method used for positioning according to claim 3, which is characterized in that described the first of first sound source (8)
Second sound-source signal (90) of sound-source signal (80) and second sound source (9) is consistent in frequency.
5. method used for positioning according to claim 3, which is characterized in that first sound source (8) emits the first sound
Source signal (80) and second sound source (9) transmitting the second sound-source signal (90), first sound-source signal and described second
Sound-source signal be respectively provided with 18 to the frequency between 50kHz, especially 20kHz frequency.
6. method used for positioning according to claim 3, which is characterized in that described the first of first sound source (8)
Second sound-source signal (90) of sound-source signal (80) and second sound source (9) is different in frequency, makes it possible to
Limit reference signal change curve (100) to be compared.
7. method used for positioning according to any one of the preceding claims, which is characterized in that utilize bandpass filter
Filtering and rectification (3) are executed to the measuring signal change curve (22).
8. method used for positioning according to any one of the preceding claims, which is characterized in that by the measuring signal
Change curve (22) is compared (4) and corresponding (5) with the reference signal change curve (100) and includes the following steps：
The measuring signal change curve (22) is associated with the multiple reference signal change curve (100)；
Select most consistent reference signal change curve (100')；
The most consistent reference signal change curve (100') is carried out with the measuring signal change curve (22) corresponding
(5)。
9. a kind of device used for positioning (14), the positioning is carried out according to any one of preceding claims, described device
Have：
Receiving unit (11), for receiving (2) first sound-source signals (80)；
Assessment unit (12), wherein the assessment unit (12) is configured to from identified reference signal change curve (100')
Track (35) in determine position (60)；
Output unit (13), for exporting the position (60).
10. device used for positioning (14) according to claim 9, which is characterized in that described device used for positioning
It (14) include mobile terminal device (14').
11. a kind of positioning system (15) is arranged for being positioned to any one of 8 according to claim 1, including：
First sound source (8) and at least one second sound source (9)；
Device used for positioning (14) according to claim 9 or 10.
12. positioning system (15) according to claim 11, which is characterized in that first sound source (8) and described second
Sound source (9) is loudspeaker respectively, wherein using first sound source (8) and second sound source (9) be able to output as
First sound-source signal (80) and pilot tone as the second sound-source signal (90).
13. positioning system (15) according to claim 11 or 12, which is characterized in that the assessment unit (12) includes moving
Dynamic terminal device (14') and storage unit (1000), be stored in the storage unit reference signal change curve (100) and
Corresponding track (35).
14. a kind of storage unit (10), is arranged for executing method according to any one of claim 1 to 8, wherein
Reference signal change curve (100) and corresponding track (35) are stored in the storage unit (10).
15. a kind of data medium with computer program, the computer program is configured to execute according to claim 1 extremely
Method described in any one of 8.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017205278.3 | 2017-03-29 | ||
| DE102017205278.3A DE102017205278A1 (en) | 2017-03-29 | 2017-03-29 | Method for localization and localization system with a device set up for localization |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108872938A true CN108872938A (en) | 2018-11-23 |
| CN108872938B CN108872938B (en) | 2022-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810270837.6A Active CN108872938B (en) | 2017-03-29 | 2018-03-29 | Method for positioning and positioning system with a device for positioning |
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|---|---|
| CN (1) | CN108872938B (en) |
| DE (1) | DE102017205278A1 (en) |
| FR (1) | FR3064754A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117741572A (en) * | 2024-02-21 | 2024-03-22 | 自然资源部第二海洋研究所 | Method and system for rapidly positioning anchor point of ocean submerged buoy under water |
| CN117741572B (en) * | 2024-02-21 | 2024-04-30 | 自然资源部第二海洋研究所 | Method and system for rapidly positioning anchor point of ocean submerged buoy under water |
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| FR3064754A1 (en) | 2018-10-05 |
| CN108872938B (en) | 2022-08-09 |
| DE102017205278A1 (en) | 2018-10-04 |
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