CN109059921A - A kind of indoor positioning and trajectory track device, system and method - Google Patents
A kind of indoor positioning and trajectory track device, system and method Download PDFInfo
- Publication number
- CN109059921A CN109059921A CN201810700132.3A CN201810700132A CN109059921A CN 109059921 A CN109059921 A CN 109059921A CN 201810700132 A CN201810700132 A CN 201810700132A CN 109059921 A CN109059921 A CN 109059921A
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- China
- Prior art keywords
- information
- target object
- velocity
- master controller
- posture
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
Abstract
The present invention relates to a kind of indoor positionings and trajectory track device, system and method, its device includes posture tracking component, Velocity Pursuit component, master controller, communicating circuit, signal shielding device and Switching Power Supply, posture tracks the electrical connection corresponding with the input terminal of master controller respectively of component, Velocity Pursuit component and signal shielding device, the output end of main control component is electrically connected with the input terminal of communicating circuit, and the output end of communicating circuit receives terminal with outside and is electrically connected.The device of the invention, posture information, acceleration information and the velocity information of target object are obtained respectively, and the motion track information of target object is calculated according to posture information, acceleration information, velocity information and pre-set basic position information, without relying on satellite navigation system, the location information and motion track information of target object can be accurately obtained indoors, realize that interior carries out positioning and track following.
Description
Technical field
The present invention relates to intelligent positioning technical field more particularly to a kind of indoor positioning and trajectory track device, system and
Method.
Background technique
In recent years, the demand with people to positioning is more and more, provides the application of service this respect based on location information
Become more and more extensive.In outdoor, the Global Satellite Navigation System such as global positioning system are to provide accurate positioning letter for people
Breath.And indoors, due to blocking for building, interference of the signal vulnerable to external signal or barrier is received, user is difficult to connect
It receives satellite positioning signal, or to receive satellite-signal unstable, thus can not steadily obtain indoor accurate location information.
In addition, the selection of measurement point requires also relatively strictly, to cause indoor positioning also can be comparatively laborious, and efficiency when indoor positioning
Lowly.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of indoor positioning and rails
Mark follow-up mechanism, system and method, do not depend on satellite navigation system, can make up it in the place that satellite-signal can not use
Deficiency completes accurate position positioning and track record.
The technical scheme to solve the above technical problems is that a kind of indoor positioning and trajectory track device, including
Posture tracks component, Velocity Pursuit component, master controller, communicating circuit, signal shielding device and Switching Power Supply, the posture tracking
The electrical connection corresponding with the input terminal of the master controller respectively of component, Velocity Pursuit component and signal shielding device, the main control
The output end of device is electrically connected with the input terminal of the communicating circuit, and output end and the outside of the communicating circuit receive terminal and be electrically connected
Connect, posture tracking component, Velocity Pursuit component, master controller, signal shielding device and communicating circuit respectively with the switch
Power electric connection.
The posture tracking component is arranged on target object, for obtaining the posture information of target object；The speed
Track velocity information of the component setting on target object, for real-time detection target object；The master controller is used for basis
The posture information and velocity information determine the motion track information of target object, and pass through the communicating circuit for target object
The motion track information be sent to and external receive terminal；The signal shielding device is arranged indoors, for shielding external letter
Number interference.
The beneficial effects of the present invention are: indoor positioning and trajectory track device of the invention, by posture track component and
Velocity Pursuit component obtains the posture information, acceleration information and velocity information of target object respectively, and is believed according to the posture
The motion profile letter of target object is calculated in breath, acceleration information, velocity information and pre-set basic position information
Breath, without relying on satellite navigation system, can accurately obtain the location information and motion track information of target object indoors,
Realize that interior carries out positioning and track following, meanwhile, external signal interference can be shielded by the signal shielding device, it is ensured that whole
A positioning and trajectory track are more stable and accurate.
Based on the above technical solution, the present invention can also be improved as follows:
Further, the posture tracking component includes acceleration transducer and angular-rate sensor, the acceleration sensing
Device and angular-rate sensor are electrically connected with the master controller respectively, and obtain the acceleration information and angle speed of target object respectively
Spend information；The master controller determines object according to acceleration information, angular velocity information, velocity information and basic position information
The location information and motion track information of body.
The beneficial effect of above-mentioned further scheme is: can be distinguished by the acceleration transducer and angular-rate sensor
The acceleration information and angular velocity information of target object movement are obtained, so as to accurately determine the motion state of target object
And real-time position information.
Further, the master controller is specifically used for:
Read acceleration, the angle speed of target object respectively according to the acceleration information, angular velocity information and velocity information
Degree and speed；
The displacement and attitude angle of target object are determined according to the acceleration, angular speed and speed；
The location information of target object is determined according to the displacement of target object and attitude angle and the basic position information
And motion track information；
The location information and motion track information of target object are sent to external reception by the communicating circuit
Terminal.
The beneficial effect of above-mentioned further scheme is: passing through the acceleration information, angular velocity information and velocity information point
Not Du Qu target object acceleration, angular speed and speed, the position of object is then calculated according to acceleration, angular speed and speed
It moves and attitude angle is convenient for using to accurately determine the location information and motion profile of target object in conjunction with electromechanical position information
It family can be according to the external location information and motion profile for receiving terminal real-time reception and master goal object.
Further, the communicating circuit is that bluetooth connector, wifi connector, 2.4G wireless connector or 433M industry connect
Connect device RS485 communication module or RS232 communication module, the bluetooth connector, wifi connector, 2.4G wireless connector and
433M industrial connector RS485 communication module or RS232 communication module are electrically connected with the master controller respectively, and by the fortune
Dynamic trace information is sent to external reception terminal.
The beneficial effect of above-mentioned further scheme is: being wirelessly connected by the bluetooth connector, wifi connector, 2.4G
The master controller and external reception may be implemented in device or 433M industrial connector RS485 communication module or RS232 communication module
Data communication between terminal, and the location information of the target object finally obtained and motion track information are sent to outside
Portion receives terminal, receives convenient for long-range, to understand the motion profile of target object in real time.
Further, the indoor positioning and trajectory track device further includes indicating circuit, the indicating circuit with it is described
Master controller electrical connection, and indicate indoor positioning state and trajectory track state.
The beneficial effect of above-mentioned further scheme is: can be with the positioning of real-time display whole device by the indicating circuit
The trajectory track state of state.So that staff can be known by the instruction state of the indicating circuit to indoor target
The positioning result and motion profile of object track result.
Further, the indoor positioning and trajectory track device further includes clock circuit, the clock circuit with it is described
Master controller electrical connection.
The beneficial effect of above-mentioned further scheme is: can be provided in real time for the master controller by the clock circuit
Clock signal, convenient for could be aware that the real time kinematics state of target object by external remote terminals, meanwhile, the clock circuit
Can also carry out timing, so as to know target object movement duration and corresponding movement position.
Further, the indoor positioning and trajectory track device, further include the memory for being stored with electronic map information,
The memory is electrically connected with the master controller；
The master controller is also used to read the electronic map information, and according to the basic position information, movement rail
Mark information and the electronic map information generate tracing path information.
The beneficial effect of above-mentioned further scheme is: by according to the basic position information, motion track information and institute
State electronic map information, can when not by external satellite signal promptly and accurately know target object on entire map
Location information reaches more accurate locating effect, convenient for being tracked to target object.
The present invention also provides a kind of indoor positionings and trajectory track system, including recipient remote terminal and at least one institute
The indoor positioning and trajectory track device stated, each communicating circuit are wirelessly connected with the recipient remote terminal.
Indoor positioning and trajectory track system of the invention, can be indoor described with real-time reception by remote terminal reception
The positioning result and trajectory track of positioning and trajectory track device are as a result, to realize that long range positioning and long-range motion profile chase after
Track.
The present invention also provides a kind of indoor positionings and trajectory track method, include the following steps:
Step 1: acquisition obtains the posture information and velocity information of target object；
Step 2: object is determined according to pre-set basic position information and the posture information and velocity information
The location information and motion track information of body, and rail by the location information of target object and is moved by the communicating circuit
Mark information is sent to external reception terminal.
Indoor positioning and trajectory track method of the invention, by the posture information, the acceleration information that obtain target object
And velocity information, and according to the posture information, acceleration information, velocity information and pre-set basic position information meter
Calculation obtains the motion track information of target object, without relying on satellite navigation system, can accurately obtain object indoors
The location information and motion track information of body realize that interior carries out positioning and track following, meanwhile, pass through the signal shielding device
External signal interference can be shielded, it is ensured that entire positioning and trajectory track are more stable and accurate.
Detailed description of the invention
Fig. 1 is the indoor positioning and trajectory track apparatus structure schematic diagram of one embodiment of the invention；
Fig. 2 is the indoor positioning and trajectory track apparatus structure schematic diagram of another embodiment of the present invention；
Fig. 3 is the indoor positioning and trajectory track apparatus structure schematic diagram of further embodiment of this invention；
Fig. 4 is the indoor positioning and trajectory track apparatus structure schematic diagram of yet another embodiment of the invention；
Fig. 5 is the indoor positioning and trajectory track system structure diagram of one embodiment of the invention；
Fig. 6 is the indoor positioning and trajectory track method flow schematic diagram of one embodiment of the invention.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, a kind of indoor positioning and trajectory track device, including posture track component, Velocity Pursuit component, master
Controller, communicating circuit, signal shielding device and Switching Power Supply, the posture tracking component, Velocity Pursuit component and signal shielding
Electrical connection corresponding with the input terminal of the master controller, the output end of the master controller are defeated with the communicating circuit respectively for device
Enter end electrical connection, the output end of the communicating circuit receives terminal with outside and is electrically connected, and the posture tracks component, Velocity Pursuit
Component, master controller, signal shielding device and communicating circuit are electrically connected with the Switching Power Supply respectively.
The posture tracking component is arranged on target object, for obtaining the posture information of target object；The speed
Track velocity information of the component setting on target object, for real-time detection target object；The master controller, for being arranged
Indoor basic position information, and determine according to the posture information, velocity information and basic position information the position of target object
Confidence breath and motion track information, and by the communicating circuit by the location information and motion track information of target object
It is sent to external reception terminal；The signal shielding device is arranged indoors, for shielding the interference of external signal.
Indoor positioning provided in an embodiment of the present invention and trajectory track device track component and Velocity Pursuit component by state
Posture information, acceleration information and the velocity information of target object are obtained respectively, and are believed according to the posture information, acceleration
The motion track information of target object is calculated in breath, velocity information and pre-set basic position information, without relying on
Satellite navigation system, can accurately obtain the location information and motion track information of target object indoors, realize it is indoor into
Row positioning and track following, meanwhile, external signal interference can be shielded by the signal shielding device, it is ensured that entire positioning and rail
Mark tracking is more stable and accurate.
In the embodiment of the present invention, the master controller uses MCU or arm processor.
It should be pointed out that needing to choose basic point indoors in advance in the embodiment of the present invention, space is constructed according to basic point
Stereoscopic three-dimensional coordinate system, and basic position information is set, including basic point coordinate, X-axis unit vector, Y-axis unit vector and Z axis list
Bit vector.
Optionally, the posture tracking component includes acceleration transducer and angular-rate sensor, the acceleration sensing
Device and angular-rate sensor are electrically connected with the master controller respectively, and obtain the acceleration information and angle speed of target object respectively
Spend information；The master controller determines object according to acceleration information, angular velocity information, velocity information and basic position information
The location information and motion track information of body.Target can be obtained respectively by the acceleration transducer and angular-rate sensor
The acceleration information and angular velocity information of object of which movement, so as to the accurately motion state of determining target object and real-time position
Confidence breath.Here, the magnetic field sensor uses magnetic field compass.
Specifically, the master controller is specifically used for:
Read acceleration, the angle speed of target object respectively according to the acceleration information, angular velocity information and velocity information
Degree and speed；
The displacement and attitude angle of target object are determined according to the acceleration, angular speed and speed；
The location information of target object is determined according to the displacement of target object and attitude angle and the basic position information
And motion track information；
The location information and motion track information of target object are sent to external reception by the communicating circuit
Terminal.
Read acceleration, the angle speed of target object respectively by the acceleration information, angular velocity information and velocity information
Degree and speed, then calculate the displacement and attitude angle of object, thus in conjunction with electromechanical position according to acceleration, angular speed and speed
Information accurately determines the location information and motion profile of target object, can receive terminal according to outside convenient for user and connect in real time
Receive the location information and motion profile of simultaneously master goal object.
In practice, the quantity of the acceleration transducer can be three, and one is arranged along X-axis unit vector direction,
One is arranged along Y-axis unit vector direction, and one is arranged along Z axis unit vector direction, three acceleration transducers
The acceleration information of X-axis, Y-axis and Z axis is obtained respectively.It is of course also possible to use acceleration transducer acquires object
The acceleration information of body, then by the master controller combination basic point coordinate, X-axis unit vector, Y-axis unit vector and Z axis list
Bit vector solves target object along the acceleration information of X-axis, Y-axis and Z axis.
In the embodiment of the present invention, the speed tracing component includes code-disc and grating sensor, code-disc and grating sensing
Device is separately positioned in the movement shaft of target object, and the two turns with the use of the rotational displacement of detection shaft to combine
The specification of axis calculates the movement velocity of target object.Since the technology is the prior art, details are not described herein again.The master control
Output end of one input terminal of device processed respectively with the acceleration transducer, angular-rate sensor and magnetic field sensor is electrically connected
It connects, another input terminal of the master controller is electrically connected with the output end of the speed tracing component；The master control
One output end of device processed is electrically connected with the input terminal of the communicating circuit, is set convenient for wirelessly other external electronics
It is standby.
Preferably, the communicating circuit is that bluetooth connector, wifi connector, 2.4G wireless connector or 433M industry connect
Connect device, the bluetooth connector, wifi connector, 2.4G wireless connector and 433M industrial connector respectively with the main control
Device electrical connection, and the motion track information is sent to external reception terminal.Pass through the bluetooth connector, wifi connection
The master controller and the external data received between terminal may be implemented in device, 2.4G wireless connector or 433M industrial connector
Communication, and the location information of the target object finally obtained and motion track information are sent to external reception terminal, just
It is received in long-range, to understand the motion profile of target object in real time.
As shown in Figure 2, it is preferable that the indoor positioning and trajectory track device further includes indicating circuit, the instruction
Circuit is electrically connected with the master controller, and indicates indoor positioning state and trajectory track state.It can by the indicating circuit
With the trajectory track state of the positioning states of real-time display whole device.So that staff can pass through the indicating circuit
Instruction state knows to track result to the positioning result and motion profile of indoor target object.
Specifically, the indicating circuit includes at least two indicator lights (color can be set to not identical), is respectively used to
Show that positioning states and motion profile track state.It, can be by adjusting the flashing frequency of indicator light specific to each indicator light
Rate flashes rule to indicate corresponding positioning states or tracing of the movement state.For example, can be dodged with a certain fixed frequency
It is bright to indicate that positioning successfully perhaps motion profile tracks successfully when positioning failure or motion profile fail, the indicator light
Flicker frequency will appear variation.
As shown in Figure 3, it is preferable that the indoor positioning and trajectory track device further includes clock circuit, the clock
Circuit is electrically connected with the master controller.Real-time clock signal can be provided for the master controller by the clock circuit,
Convenient for could be aware that the real time kinematics state of target object by external remote terminals, meanwhile, the clock circuit can also be into
Row timing, so as to know target object movement duration and corresponding movement position.
As shown in Figure 4, it is preferable that the indoor positioning and trajectory track device further includes being stored with electronic map letter
The memory of breath, the memory are electrically connected with the master controller；The master controller is also used to read the electronic map
Information, and tracing path information is generated according to the basic position information, motion track information and the electronic map information.It is real
In border, the memory uses SD card.By being believed according to the basic position information, motion track information and the electronic map
Breath can when not by external satellite signal promptly and accurately know location information of the target object on entire map, reach
More accurate locating effect, convenient for being tracked to target object.
As shown in figure 5, the present invention also provides a kind of indoor positioning and trajectory track system, including recipient remote terminal and
Indoor positioning and trajectory track device described at least one, each communicating circuit is wireless with the recipient remote terminal
Connection.
Indoor positioning and trajectory track system of the invention, can be indoor described with real-time reception by remote terminal reception
The positioning result and trajectory track of positioning and trajectory track device are as a result, to realize that long range positioning and long-range motion profile chase after
Track.
As shown in fig. 6, including the following steps: the present invention also provides a kind of indoor positioning and trajectory track method
Step 1: acquisition obtains the posture information and velocity information of target object；
Step 2: object is determined according to pre-set basic position information and the posture information and velocity information
The location information and motion track information of body, and rail by the location information of target object and is moved by the communicating circuit
Mark information is sent to external reception terminal.
Indoor positioning and trajectory track method of the invention, by obtaining the posture information and velocity information of target object,
And the movement rail of target object is calculated according to the posture information, velocity information and pre-set basic position information
Mark information can accurately obtain the location information and motion profile of target object without relying on satellite navigation system indoors
Information realizes that interior carries out positioning and track following, meanwhile, external signal interference can be shielded by the signal shielding device,
Ensure entirely to position and trajectory track is more stable and accurate.
Specifically, the step 2 includes:
Step 21: acceleration, angular speed and the speed of target object are read according to the posture information and velocity information；
Step 22: the displacement and attitude angle of target object are determined according to the acceleration, angular speed and speed；
Step 23: the position of target object is determined according to the displacement of target object and attitude angle and the basic position information
Confidence breath and motion track information；
Step 24: being sent to the location information and motion track information of target object outside by the communicating circuit
Portion receives terminal.
Specifically, acceleration, angular speed and the speed of target object are read according to the posture information and velocity information, so
Acceleration is integrated afterwards, obtains theoretical velocity, the theoretical velocity is complementary with the speed that the Velocity Pursuit component obtains
Filtering, obtains accurate speed (vector, including velocity amplitude and direction), carries out integral record to this speed, obtain target object
Displacement, to obtain the real-time location information of target object in conjunction with basic position information, angular velocity is integrated, and obtains mesh
The attitude angle of object is marked, and the location information of combining target object obtains the motion track information of target object, and passes through communication
Circuit is sent to external reception terminal.Preferably, in the step 22, further includes:
Read pre-stored electronic map information, and according to the basic position information, motion track information with it is described
Electronic map information generates tracing path information, and is sent to external reception terminal.
Specifically, base position coordinate is determined according to the electronic map information, and true according to the base position coordinate
Fixed position of the base position in the corresponding electronic map of the electronic map information, and according to the base position in institute
The position stated in electronic map generates tracing path information.
By according to the basic position information, motion track information and the electronic map information, can not by
When external satellite signal promptly and accurately know location information of the target object on entire map, reach more accurate positioning
Effect, convenient for being tracked to target for body.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of indoor positioning and trajectory track device, it is characterised in that: track component, Velocity Pursuit component, master including posture
Controller, communicating circuit, signal shielding device and Switching Power Supply, the posture tracking component, Velocity Pursuit component and signal shielding
Electrical connection corresponding with the input terminal of the master controller, the output end of the master controller are defeated with the communicating circuit respectively for device
Enter end electrical connection, the output end of the communicating circuit receives terminal with outside and is electrically connected, and the posture tracks component, Velocity Pursuit
Component, master controller, signal shielding device and communicating circuit are electrically connected with the Switching Power Supply respectively；
The posture tracking component is arranged on target object, for obtaining the posture information of target object；
The velocity information on target object, for real-time detection target object is arranged in the Velocity Pursuit component；
The master controller, for indoor basic position information to be arranged, and according to the posture information, velocity information and basic point
Location information determines the location information and motion track information of target object, and passes through the communicating circuit for the institute of target object
It states location information and motion track information is sent to external reception terminal；
The signal shielding device is arranged indoors, for shielding the interference of external signal.
2. indoor positioning according to claim 1 and trajectory track device, it is characterised in that: the posture tracks component packet
Include acceleration transducer and angular-rate sensor, the acceleration transducer and angular-rate sensor respectively with the master controller
Electrical connection, and the acceleration information and angular velocity information of target object are obtained respectively；
The master controller determines target object according to acceleration information, angular velocity information, velocity information and basic position information
Location information and motion track information.
3. indoor positioning according to claim 2 and trajectory track device, it is characterised in that: the master controller is specifically used
In:
According to the acceleration information, angular velocity information and velocity information read respectively the acceleration of target object, angular speed and
Speed；
The displacement and attitude angle of target object are determined according to the acceleration, angular speed and speed；
The location information and fortune of target object are determined according to the displacement of target object and attitude angle and the basic position information
Dynamic trace information；
The location information and motion track information of target object are sent to external reception terminal by the communicating circuit.
4. indoor positioning according to claim 1 and trajectory track device, it is characterised in that: the communicating circuit is bluetooth
Connector, wifi connector, 2.4G wireless connector or 433M industrial connector, the bluetooth connector, wifi connector,
2.4G wireless connector and 433M industrial connector are electrically connected with the master controller respectively, and the motion track information is sent out
It send to outside and receives terminal.
5. indoor positioning according to claim 4 and trajectory track device, it is characterised in that: it further include indicating circuit, institute
It states indicating circuit to be electrically connected with the master controller, and indicates indoor positioning state and trajectory track state.
6. indoor positioning according to claim 1 and trajectory track device, it is characterised in that: it further include clock circuit, institute
Clock circuit is stated to be electrically connected with the master controller.
7. indoor positioning according to any one of claims 1 to 6 and trajectory track device, it is characterised in that: further include depositing
The memory of electronic map information is contained, the memory is electrically connected with the master controller；
The master controller is also used to read the electronic map information, and is believed according to the basic position information, motion profile
Breath and the electronic map information generate tracing path information.
8. a kind of indoor positioning and trajectory track system, it is characterised in that: wanted including recipient remote terminal and at least one right
Ask 1 to 7 described in any item indoor positionings and trajectory track device, each communicating circuit with the recipient remote terminal
It is wirelessly connected.
9. a kind of indoor positioning and trajectory track method, characterized by the following steps:
Step 1: acquisition obtains the posture information and velocity information of target object；
Step 2: target object is determined according to pre-set basic position information and the posture information and velocity information
Location information and motion track information, and sent out the location information and motion track information of target object by communicating circuit
It send to outside and receives terminal.
10. indoor positioning according to claim 9 and trajectory track method, it is characterised in that: the specific reality of the step 2
It is existing are as follows:
Step 21: acceleration, angular speed and the speed of target object are read according to the posture information and velocity information；
Step 22: the displacement and attitude angle of target object are determined according to the acceleration, angular speed and speed；
Step 23: determining that the position of target object is believed according to the displacement of target object and attitude angle and the basic position information
Breath and motion track information；
Step 24: the location information and motion track information of target object being sent to by outside by the communicating circuit and connect
Receive terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810700132.3A CN109059921A (en) | 2018-06-29 | 2018-06-29 | A kind of indoor positioning and trajectory track device, system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810700132.3A CN109059921A (en) | 2018-06-29 | 2018-06-29 | A kind of indoor positioning and trajectory track device, system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109059921A true CN109059921A (en) | 2018-12-21 |
Family
ID=64818620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810700132.3A Pending CN109059921A (en) | 2018-06-29 | 2018-06-29 | A kind of indoor positioning and trajectory track device, system and method |
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| CN (1) | CN109059921A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736466A (en) * | 2019-11-22 | 2020-01-31 | 安徽信息工程学院 | Regional multi-target long-distance mobile tracking indoor positioning system and positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201463899U (en) * | 2009-05-20 | 2010-05-12 | 北京派瑞根科技开发有限公司 | Three-dimensional motion trail positioning and tracking system for object |
| CN205228472U (en) * | 2015-10-22 | 2016-05-11 | 华北电力大学 | Indoor positionable tracks mark tracker |
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- 2018-06-29 CN CN201810700132.3A patent/CN109059921A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201463899U (en) * | 2009-05-20 | 2010-05-12 | 北京派瑞根科技开发有限公司 | Three-dimensional motion trail positioning and tracking system for object |
| CN205228472U (en) * | 2015-10-22 | 2016-05-11 | 华北电力大学 | Indoor positionable tracks mark tracker |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110736466A (en) * | 2019-11-22 | 2020-01-31 | 安徽信息工程学院 | Regional multi-target long-distance mobile tracking indoor positioning system and positioning method |
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