CN109413736A - A kind of high refresh rate indoor locating system and real-time location method - Google Patents
A kind of high refresh rate indoor locating system and real-time location method Download PDFInfo
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- CN109413736A CN109413736A CN201811562141.7A CN201811562141A CN109413736A CN 109413736 A CN109413736 A CN 109413736A CN 201811562141 A CN201811562141 A CN 201811562141A CN 109413736 A CN109413736 A CN 109413736A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The present invention relates to a kind of high refresh rate indoor locating system and real-time location methods, the technical issues of which solve existing locating periodically that the TOA indoor locating system based on UWB technology occurs is long, positioning real-time difference and label carry out power consumption increase when data back, is equipped with base station, communication tags and positioning terminal；Base station is back to positioning terminal for sending, receiving the UWB signal from communication tags and other base stations, and by data result；Communication tags are for sending, receiving the UWB signal from other base stations；Positioning terminal for resolving the data of base station passback, and positioning result is shown.Invention also provides its real-time location methods.The present invention is widely used in indoor positioning field.
Description
Technical field
The present invention relates to indoor positioning technologies field, specifically a kind of high refresh rate indoor locating system and fixed in real time
Position method.
Background technique
With the continuous development of wireless communication technology with breakthrough, indoor positioning and ultra wide band (Ultra Wide Band,
UWB) technology progresses into the visual field of people and has obtained higher and higher attention rate.
In existing TOA (Time of Arrival, time of arrival (toa)) indoor locating system based on UWB technology,
The base station arranged in labeling requirement and localization region, which interacts, to be communicated, big to the distance between each base station to obtain label
It is small.Thus, it is common practice to using a kind of communication of bilateral bidirectional ranging (Double-sided Two-way ranging)
Mode, specifically by taking a kind of three-dimensional indoor locating system based on UWB disclosed in Chinese patent 201610960909.0 as an example,
The system includes at least four fixed base stations of known coordinate indoors, the label being fixed in positioning target and one
Positioning terminal.Bilateral bidirectional ranging mode is used between label and base station, is taken the lead in sending Location Request data to base station from label
Poll is wrapped, and records sending time poll_tx；Base station is received and confirmed by request location data packet in time poll_rx, then prolongs
Reply data packet is sent up to time answer_tx；Label is received and confirmed by reply data packet in time answer_rx, then
Delay sends confirmation data packet to time final_tx to base station again；Base station receives confirmation data packet in time final_rx
Afterwards, logging timestamp poll_rx, answer_tx and final_rx before is transmitted to label；Label summarizes itself
The timestamp that the timestamp poll_rx, answer_rx, final_tx that are recorded and base station are sent is calculated, to obtain
Take the flight time.Specific formula is as follows:
Tround1=answer_rx-poll_tx
Treply1=answer_tx-poll_rx
Tround2=final_rx-answer_tx
Treply2=final_tx-answer_rx
Ttof=(Tround1×Tround2-Treply1×Treply2)/(Tround1+Tround2+Treply1+Treply2)
Later by obtaining the distance between label and base station value multiplied by the light velocity.
In three-dimensional localization, when base station number is more than or equal to four, label poll carries out bidirectional ranging to base station
Label is successively obtained to the range information of each base station, then range information is back to positioning terminal by label；Positioning terminal root
According to the range information received, data are resolved, obtain the three-dimensional coordinate of positioning target.
But above system suffers from the drawback that
1, at least four base station of labeling requirement poll, and four letters are at least needed during each secondary label and base station communication
It number sends, therefore positioning needs at least 16 signals to send each time, communication cycle is long；When the quantity of label increases, it is
The refresh rate of system is low, and the real-time of positioning is poor；
2, positioning each time finally, need base station that timestamp information is sent to label, then be responsible for position by label
Required data are returned, and this not only adds a number of communications, and also add the power consumption of label hardware circuit.
Summary of the invention
The present invention be exactly in order to solve the locating periodically that the existing TOA indoor locating system based on UWB technology occurs it is long,
It positions real-time difference and label carries out the problem of power consumption increases when data back, a kind of shortening indoor positioning period is provided, is mentioned
The method of high positioning system refresh rate.
For this purpose, being equipped with base station, communication tags and positioning eventually the present invention provides a kind of high refresh rate indoor locating system
End, wherein base station is back to for sending, receiving the UWB signal from communication tags and other base stations, and by data result
Positioning terminal；Communication tags are for sending, receiving the UWB signal from other base stations；Positioning terminal, for resolving base station passback
Data, and positioning result is shown.
Preferably, base station is equipped with UWB core processor module, UWB signal transceiver module, data memory module, external string
Mouth mold block, system power supply module, signal designation module and wifi wireless module；UWB signal transceiver module is for sending and connecing
UWB signal is received, and signal data is transferred to UWB core processor module；UWB core processor module is for handling signal number
According to obtaining positioning required data result；Data memory module is used to store address and the Role Information of equipment, and will be in information
Appearance feeds back to UWB core processing module；External serial port module for connect with wifi wireless module, with general's treated signal
Data back is to positioning terminal；System power supply module is for providing the power input of base station；Signal designation module is used to indicate base
The working condition stood.
Preferably, communication tags are equipped with UWB core processor module, UWB signal transceiver module, data memory module, outer
Set serial port module, system power supply module and signal designation module；UWB signal transceiver module is used to send and receive UWB signal, and
Signal data is handed to UWB core processor module；UWB core processor module obtains positioning institute for handling signal data
The data result needed；Data memory module is used to store address and the Role Information of equipment, and the information content is fed back to UWB core
Heart processing module；System power supply module is for providing the power input of communication tags；Signal designation module is used to indicate communication mark
The working condition of label.
Preferably, positioning terminal is equipped with positioning calculation algorithm and positioning real-time display system.
Preferably, base station is equipped with master base station and from base station, is at least 2 from the number of base station.
Invention also provides real-time location methods in a kind of high refresh rate room, specifically comprise the following steps:
(1) master base station, first are initialized from base station, second from base station ... N from base station and communication tags；
(2) master base station, first enter reception state from base station ... N from base station from base station, second in step (1)；
(3) communication tags fixed time broadcast enabling signal in step (1), and enter reception state；
(4) whether the master base station in judgment step (2) receives the enabling signal of communication tags in step (3), if sentenced
Disconnected result be it is yes, the address information of communication tags is added in communication chained list master base station, updates the communication chained list, and transmission is answered
Signal is answered to communication tags, into reception state；If it is judged that being no, return step (2)；
(5) judge whether communication tags receive the answer signal of master base station in step (4), if the determination result is YES, lead to
Beacon signs and issues the poll signal for sending and carrying master base station address information and address information itself, and record poll signal sending instant institute is right
The timestamp poll_tx answered, and enter reception state；If judging result be it is no, master base station by the address information of communication tags from
It is deleted in communication chained list, return step (3)；
(6) judge whether master base station, first receive poll signal in step (5) from base station from base station and second, if the
One receives poll signal from base station, enters step (7)；If master base station second receives poll signal from base station, parsing letter
Communication tags address in number packet, and it is directly entered reception state；
(7) in judgment step (6) first from the poll signal that base station receives master base station address and first attached from base station
Whether the address of the master base station of category is consistent, and if the determination result is YES, first is corresponding from the base station record poll signal time of reception
The communication tags address of timestamp poll_rx and parsing, and the answer_1 signal for carrying address information itself is sent to logical
Beacon label, the corresponding timestamp answer_1_tx of record answer_1 signal sending instant, into reception state；If judgement knot
Fruit be it is no, first is directly entered reception state from base station；
(8) judge whether second receive in step (7) the first answer_1 signal from base station from base station, if judgement knot
Fruit be it is yes, second sends the answer_2 signal for carrying address information itself to communication tags in step (7) from base station, record
The corresponding timestamp answer_2_tx of answer_2 signal sending instant, and enter reception state；
(9) step (8) are repeated, until judging whether the N receives answer_n-1 of the N-1 from base station from base station
Signal, if the determination result is YES, the N send the answer_n signal for carrying address information itself to the step from base station
(7) communication tags in, the corresponding timestamp answer_n_tx of record answer_n signal sending instant, and enter reception state；
(10) judge whether master base station receives in step (8) and step (9) second and believe from the answer_2 of base station
Number to N from the answer_n of base station, if the determination result is YES, master base station sends the answer_n+1 for carrying address information itself
Signal records the corresponding timestamp answer_n+1_tx of answer_n+1 signal sending instant to communication tags in step (7),
And enter reception state；
(11) judge whether communication tags receive answer_1 signal in step (7)~(10)~answer_n+1 letter
Number, if the determination result is YES, communication tags delay sends mark, the timestamp information answer_1_ for carrying and representing full communication
The final signal of rx~answer_n+1_rx and final_tx, wherein when final_tx is corresponding when sending final signal
Between stab；If judging result be it is no, communication tags send to carry at once represents the final signal of imperfect communication mark；Communication mark
It signs and issues after sending final signal, into reception state；
(12) judge whether master base station, first receive communication tags in step (10) from base station ... N from base station
Final signal, if the determination result is YES, judge final signal carry type of sign, if judgement symbol type be represented
The mark of whole communication, master base station, first record the final signal time of reception corresponding time from base station ... N from base station
Final_rx is stabbed, timestamp information all in step (5)~(11) is back to positioning terminal using wifi wireless module, is returned
It returns step (4)；If judging the type of sign to represent imperfect communication mark, master base station, first from base station ... N from
Base station reenters reception state, and return step (4).
The invention has the advantages that on the basis of bilateral bidirectional ranging mode, it is special using the broadcast of UWB signal
Point, timing and logic to communication carry out rationally arrangement and specification, while guaranteeing that positioning each required timestamp can obtain
It takes, needs each base station of poll to lead to communication cycle length, system refresh rate in position fixing process each time to breach label
Low limitation；In addition, putting the task of data back into each base station, will be counted after positioning each time using base station
According to positioning terminal is sent to, not only reduce the data back amount of number of communications and individual equipment needed for positioning, but also reduces mark
The power consumption for signing hardware circuit, improves the cruising ability of system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of system of the invention；
Fig. 2 is Principle of Communication figure of the invention；
Fig. 3 is the program flow diagram of master base station of the invention；
Fig. 4 is the program flow diagram of label of the invention.
Appended drawing reference:
1. master base station, 2. first from base station, and 3. second from base station, 4. communication tags, 5. enabling signals, 6. answer signals 1,
7.poll signal, 8.answer_1 signal, 9.answer_2 signal, 10.answer_3 signal, 11.final signal.
Specific embodiment
According to following embodiments, the present invention may be better understood.However, as it will be easily appreciated by one skilled in the art that real
It applies content described in example and is merely to illustrate the present invention, without this hair described in claims should will not be limited
It is bright.
As shown in Figure 1, arranging 3 base stations in the localization region of selection, one of base station is as master base station 1, in addition
Two respectively as first from base station 2 and second from base station 3.Each base station is equipped with UWB core processor module, UWB letter
Number transceiver module, data memory module, external serial port module, system power supply module, signal designation module and the wireless mould of wifi
Block, wherein the received antenna signal range of UWB signal transceiver module covers selected localization region.Base station is powering on and is initializing
Afterwards, in a receive mode, and it can detect whether there is the starting broadcasted into the communication tags 4 of localization region by master base station 1
Signal.
Each positioning target wears a communication tags 4.Communication tags 4 are equipped with UWB core processor module, UWB believes
Number transceiver module, data memory module, external serial port module, system power supply module and signal designation module, wherein UWB signal
The received antenna signal range of module covers the position where 3 base stations.No matter position whether target is in effective position area
In domain, communication tags 4 can be every 1s fixed time broadcast enabling signal, to wake up base station.
As shown in Figure 2,3, 4, after positioning target enters in localization region, master base station 1 can receive opening for communication tags 4
Dynamic signal, and the address of communication tags 4 is added in communication chained list.Then, master base station can be according to the address in communication chained list
Information sends answer signal 6 to communication tags, and subsequent master base station 1 enters reception pattern.Communication tags 4 are detecting next autonomous base
After the answer signal 6 stood, fixed time broadcast enabling signal 5 can be stopped, and record the address information of master base station 1.Then, communication mark
Can carry out 5 signals transmitting between label 4 and base station according to certain communication timing, respectively poll signal 7, answer_1 signal 8,
Answer_2 signal 9, answer_3 signal 10 and final signal 11.During signal transmitting each time, 4 He of communication tags
Base station, which will record down, corresponding sends and receives timestamp information corresponding to the moment.In last time final signal 11
In transmittance process, the timestamp information of record can be sent to each base station by communication tags 4, and by the wireless mould of the wifi of base station
Block passes to positioning terminal.Timestamp information can be carried out conformity calculation according to positioning calculation algorithm by positioning terminal, find out positioning
The coordinate information of target, and shown by locating and displaying system.Above-mentioned position fixing process can be according to messaging diagrams week shown in Fig. 2
The operation of phase property.
This example is by taking 3 base stations as an example, specific works method are as follows:
(1) initialization master base station 1, first is from base station 2 and second from base station 3, including configures STM32 chip, wakes up and match
Set DW1000 chip；Communication tags 4 are initialized, including configures STM32 chip, wake-up and configures DW1000 chip；
(2) in step (1) master base station 1, first from base station 2 and second from base station 3 enter reception state；
(3) 4 fixed time broadcast enabling signal 5 of communication tags in step (1), and enter reception state；
(4) whether the master base station 1 in judgment step (2) receives the enabling signal 5 of communication tags 4 in step (3), if
Judging result be it is yes, the address informations of communication tags 4 is added in communication chained list master base station, updates the communication chained list, concurrently
Send answer signal 6 to communication tags 4, into reception state；If it is judged that being no, return step (2)；
(5) judge whether communication tags 4 receive the answer signal 6 of master base station 1 in step (4), if the determination result is YES,
Communication tags 4 send the poll signal 7 for carrying 1 address information of master base station and address information itself, when record poll signal 7 is sent
Corresponding timestamp poll_tx is carved, and enters reception state；If judging result be it is no, master base station is by the address of communication tags 4
Information is deleted from communication chained list, return step (3)；
(6) judge whether master base station 1, first receives poll signal 7 in step (5) from base station 3 from base station 2 and second,
If first receives poll signal 7 from base station 2, (7) are entered step；If master base station 1 or the second receives poll signal from base station 3
7, the communication tags address in analytic signal data packet, and it is directly entered reception state；
(7) in judgment step (6) first from the poll signal 7 that base station 2 receives 2 address of master base station with first from base station
Whether the address of 2 attached master base stations 1 is consistent, and if the determination result is YES, first records 7 time of reception of poll signal from base station 2
4 address of communication tags of corresponding timestamp poll_rx and parsing, and send the answer_1 letter for carrying address information itself
Numbers 8 give communication tags 4, the corresponding timestamp answer_1_tx of record 8 sending instant of answer_1 signal, into reception state；
If judging result be it is no, first is directly entered reception state from base station；
(8) judge whether second receive in step (7) the first answer_1 signal 8 from base station 2 from base station 3, if sentencing
Disconnected result be it is yes, second sends the answer_2 signal 9 of carrying address information itself to communication tags in step (7) from base station 3
4, the corresponding timestamp answer_2_tx of record 9 sending instant of answer_2 signal, and enter reception state；
(9) judge whether master base station 1 receives in step (8) the second answer_2 signal 9 from base station 2, if sentencing
Disconnected result be it is yes, master base station 1 sends the answer_3 signal 10 for carrying address information itself to communication tags 4 in step (7), remembers
The corresponding timestamp answer_3_tx of 10 sending instant of answer_3 signal is recorded, and enters reception state；
(10) judge whether communication tags 4 receive the step (7) answer_1 signal 8, step (8) answer_2 letter
Numbers 9 and step (9) answer_3 signal 10, if the determination result is YES, the delay of communication tags 4, which sends to carry, represents full communication
The final signal of mark, timestamp information answer_1_rx, answer_2_rx, answer_3_rx and final_tx, wherein
Final_tx is corresponding timestamp when sending final signal 11；If judging result be it is no, communication tags 4 send carrying at once
Represent the final signal 11 of imperfect communication mark；After communication tags 4 send final signal 11, into reception state；
(11) judge whether master base station 1, first receives communication tags 4 in step (10) from base station 3 from base station 2 and second
Final signal 11, if the determination result is YES, judge final signal 11 carry type of sign, if judgement symbol type be generation
The mark of table full communication, master base station 1, first are corresponding from base station 2 and second from record 11 time of reception of final signal of base station 3
Timestamp final_rx, timestamp information all in step (5)~(11) is back to positioning using wifi wireless module
Terminal, return step (4)；If judgement symbol type is to represent imperfect communication mark, master base station 1, first is from base station 2 and second
Reception state, and return step (4) are reentered from base station 3.Finally, positioning terminal is according to following formula:
Tround1=answer_rx-poll_tx
Treply1=answer_tx-poll_rx
Tround2=final_rx-answer_tx
Treply2=final_tx-answer_rx
Ttof=(Tround1×Tround2-Treply1×Treply2)/(Tround1+Tround2+Treply1+Treply2)
Positioning terminal is by answer_1_rx, answer_2_rx, the answer_3_rx successively answer_ in replacement formula
Rx calculates outgoing label to first from base station 2, second from the distance between base station 3 and master base station 1, is found out by positioning calculation algorithm
The coordinate information of positioning target improves the refresh rate of TOA system so that the number of communications positioned each time be foreshortened to 5 times；
Meanwhile communication tags 4 reduce the power consumption number of hardware module, improve the cruising ability of system without carrying out data back.With
This analogizes, if using four base station locations, the number communicated each time only needs 6 times, compared to the communication party of original TOA system
Formula, refresh rate of the present invention in four base station locations improve about 1.67 times.
The only above person, only specific embodiments of the present invention, when cannot be limited the scope of implementation of the present invention with this, therefore
The displacement of its equivalent assemblies, or according to equivalent changes and modifications made by the invention patent protection scope, should still belong to power of the present invention
The scope that sharp claim is covered.
Claims (6)
1. a kind of high refresh rate indoor locating system, characterized in that be equipped with base station, communication tags and positioning terminal；The base station,
Positioning terminal is back to for sending, receiving the UWB signal from communication tags and other base stations, and by data result；It is described
Communication tags are for sending, receiving the UWB signal from other base stations；The positioning terminal, for resolving the number of base station passback
According to, and positioning result is shown.
2. high refresh rate indoor locating system according to claim 1, which is characterized in that the base station is equipped with UWB core
Heart processor module, UWB signal transceiver module, data memory module, external serial port module, system power supply module, signal designation
Module and wifi wireless module；
The UWB signal transceiver module is transferred at the UWB core for sending and receiving UWB signal, and by signal data
Manage device module；The UWB core processor module obtains positioning required data result for handling signal data；The number
It is used to store address and the Role Information of equipment according to memory module, and the information content is fed back into the UWB core processing module；
The external serial port module for connect with the wifi wireless module, with will treated that signal data is back to positioning is whole
End；The system power supply module is for providing the power input of base station；The signal designation module is used to indicate the work of base station
State.
3. high refresh rate indoor locating system according to claim 1, which is characterized in that the communication tags are equipped with UWB
Core processor module, UWB signal transceiver module, data memory module, external serial port module, system power supply module and signal refer to
Show module；
Signal data is handed to the UWB core processing for sending and receiving UWB signal by the UWB signal transceiver module
Device module；The UWB core processor module obtains positioning required data result for handling signal data；The data
Memory module is used to store address and the Role Information of equipment, and the information content is fed back to the UWB core processing module；Institute
System power supply module is stated for providing the power input of communication tags；The signal designation module is used to indicate the work of communication tags
Make state.
4. high refresh rate indoor locating system according to claim 1, which is characterized in that the positioning terminal is equipped with fixed
Position computation and positioning real-time display system.
5. high refresh rate indoor locating system according to claim 1, which is characterized in that the base station be equipped with master base station and
It is described to be at least 2 from the number of base station from base station.
6. real-time location method in high refresh rate room according to claim 1, which comprises the steps of:
(1) master base station, first are initialized from base station, second from base station ... N from base station and communication tags；
(2) master base station, first enter reception state from base station ... N from base station from base station, second in the step (1)；
(3) communication tags fixed time broadcast enabling signal in the step (1), and enter reception state；
(4) judge whether the master base station in the step (2) receives the enabling signal of communication tags in the step (3), such as
Fruit judging result be it is yes, the address informations of the communication tags is added in communication chained list the master base station, updates the communication
Chained list, and answer signal is sent to the communication tags, into reception state；If it is judged that being no, return step (2)；
(5) judge whether communication tags receive the answer signal of master base station in the step (4), if the determination result is YES, institute
It states communication tags and sends the poll signal for carrying the master base station address information and address information itself, record the poll signal
Timestamp poll_tx corresponding to sending instant, and enter reception state；If judging result be it is no, the master base station will be described
The address information of communication tags is deleted from the communication chained list, return step (3)；
(6) judge whether the master base station, described first receive from base station and described second from base station ... N from base station
Poll signal enters step (7) if described first receives the poll signal from base station in the step (5)；If the master
Base station described second receives the poll signal from base station ... N from base station, the communication in analytic signal data packet
Tag addresses, and it is directly entered reception state；
(7) judge in the step (6) first from the poll signal that base station receives master base station address with described first from base
Stand attached master base station address it is whether consistent, if the determination result is YES, described first, which records the poll signal from base station, connects
Time receiving carves the communication tags address of corresponding timestamp poll_rx and parsing, and sends and carry address information itself
Answer_1 signal gives the communication tags, records the corresponding timestamp answer_1_ of the answer_1 signal sending instant
Tx, into reception state；If judging result be it is no, described first is directly entered reception state from base station；
(8) judge whether described second receive in the step (7) the first answer_1 signal from base station from base station, if sentencing
Disconnected result be it is yes, described second sends the answer_2 signal for carrying address information itself from base station to logical in the step (7)
Beacon label, the corresponding timestamp answer_2_tx of record answer_2 signal sending instant, and enter reception state；
(9) repeating said steps (8), until judging whether the N receives answer_n-1 of the N-1 from base station from base station
Signal, if the determination result is YES, the N send the answer_n signal for carrying address information itself to the step from base station
(7) communication tags in, the corresponding timestamp answer_n_tx of record answer_n signal sending instant, and enter reception state；
(10) judge whether the master base station receives in the step (8) and the step (9) N from base station
Answer_n, if the determination result is YES, the master base station send the answer_n+1 signal for carrying address information itself to described
Communication tags in step (7) record the corresponding timestamp answer_n+1_tx of the answer_n+1 signal sending instant, and
Into reception state；
(11) judge whether the communication tags receive answer_1 signal~answer_n+1 in the step (7)~(10)
Signal, if the determination result is YES, the communication tags delay send mark, the timestamp information for carrying and representing full communication
The final signal of answer_1_rx~answer_n+1_rx and final_tx, wherein final_tx is to send final signal
When corresponding timestamp；If judging result be it is no, the communication tags send at once carrying represents imperfect communication mark
Final signal；After the communication tags send final signal, into reception state；
(12) judge whether the master base station, described first receive in the step (10) from base station ... N from base station
The final signal of communication tags if the determination result is YES judges the type of sign that the final signal carries, if described in judgement
Type of sign is the mark for representing full communication, and the master base station, described first are from base station ... N from described in the record of base station
The final signal time of reception corresponding timestamp final_rx, using wifi wireless module by institute in the step (5)~(11)
Some timestamp informations are back to positioning terminal, return to the step (4)；If it is imperfect logical to represent to judge the type of sign
Beacon will, the master base station, described first reenter reception state from base station ... N from base station, and return to the step
Suddenly (4).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112255589A (en) * | 2020-09-18 | 2021-01-22 | 中磊电子（苏州）有限公司 | Positioning label operation method and positioning system operation method |
| CN113596717A (en) * | 2021-07-29 | 2021-11-02 | 中国工商银行股份有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
| CN114513567A (en) * | 2020-11-16 | 2022-05-17 | Oppo广东移动通信有限公司 | Terminal protection shell, communication tag, control method, device and system |
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| WO2022100298A1 (en) * | 2020-11-16 | 2022-05-19 | Oppo广东移动通信有限公司 | Terminal protective case, communication tag, control method, apparatus and system |
| CN114513567B (en) * | 2020-11-16 | 2023-03-24 | Oppo广东移动通信有限公司 | Terminal protection shell, communication tag, control method, device and system |
| CN113596717A (en) * | 2021-07-29 | 2021-11-02 | 中国工商银行股份有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
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