CN109714707A - Positioning system and method - Google Patents

Positioning system and method Download PDF

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Publication number
CN109714707A
CN109714707A CN201910007855.XA CN201910007855A CN109714707A CN 109714707 A CN109714707 A CN 109714707A CN 201910007855 A CN201910007855 A CN 201910007855A CN 109714707 A CN109714707 A CN 109714707A
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China
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positioning
base station
positioning calculation
location information
sent
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CN201910007855.XA
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CN109714707B (en
Inventor
杨继民
程化冰
张显军
岑夏文
石林峰
禄登利
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Guangzhou Yao Chinese Mdt Infotech Ltd
Guangzhou Zhongshi Technology Co Ltd
Sinopec Fifth Construction Co Ltd
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Guangzhou Yao Chinese Mdt Infotech Ltd
Guangzhou Zhongshi Technology Co Ltd
Sinopec Fifth Construction Co Ltd
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Priority to CN201910007855.XA priority Critical patent/CN109714707B/en
Publication of CN109714707A publication Critical patent/CN109714707A/en
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Abstract

The present invention provides a kind of positioning system and methods, are related to space orientation technique field, including positioning calculation layer, and application layer and mechanical floor with the communication connection of positioning calculation layer;Mechanical floor includes multiple base stations for being arranged in localization region, and the positioning signal that the positioning label of monitoring is sent is sent to positioning calculation layer by each base station;Positioning calculation layer is provided with positioning calculation server, the location algorithm that positioning calculation server calls prestore, positioning signal resolves the location information of positioning label based on the received, and location information is sent to application layer, is shown with the location information to positioning label.Positioning calculation server carries out aggregation process by the positioning signal detected to multiple base stations, it is ensured that the accuracy of the location information resolved.

Description

Positioning system and method
Technical field
The present invention relates to space orientation technique fields, more particularly, to a kind of positioning system and method.
Background technique
With the development of society, demand of the people to the positioning service of indoor and outdoors is also higher and higher, it is now outdoor fixed Position service mostly uses traditional GPS (Global Positioning System, global positioning system) positioning service, but tradition GPS positioning service be unable to satisfy the demand of indoor positioning and there is a problem of that precision is relatively low, at present indoor positioning technologies more adopt With indoor positioning technologies such as Bluetooth technology, wireless WiFi (Wireless-Fidelity) technologies, although Bluetooth technology and wireless WiFi technology has at low cost, easy universal advantage, but is still unable to satisfy requirement of the people to the precision of indoor positioning.Always For it, the positioning system and method for existing indoor and outdoors are all extremely difficult to meter level precision not below, and all universal There are the higher problems of power consumption.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of positioning system and method, to alleviate existing positioning system And there are the technical problems that positioning accuracy is not high in method.
In a first aspect, the embodiment of the invention provides a kind of positioning systems, comprising: positioning calculation layer, and and positioning solution Calculate the application layer and mechanical floor of layer communication connection;Mechanical floor includes multiple base stations for being arranged in localization region, and each base station is used for The positioning signal that monitoring positioning label is sent, and positioning signal is sent to positioning calculation layer;Positioning calculation layer is provided with positioning Server is resolved, positioning calculation server resolves the position of positioning label according to positioning signal for calling the location algorithm prestored Confidence breath, and location information is sent to application layer, it is shown with the location information to positioning label.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein fixed It further includes the network server connecting with positioning calculation server communication that position, which resolves layer,;Positioning calculation server passes through network service Device is communicated with application layer.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect Possible embodiment, wherein positioning calculation layer further includes connecting database server with positioning calculation server communication;Its In, database server is used for storage location information.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein base Station is also used to receive the dynamic data that positioning label is sent, and dynamic data is sent to positioning calculation server, wherein dynamic Data include at least: 3-axis acceleration, three axis angular rates and three axis magnetic declination;Positioning calculation server is also used to dynamic data Match with default motion interval, and the sample frequency order that motion interval carries is sent to base station, wherein sample frequency life It enables and includes at least sample frequency;Base station is also used to carry out the acquisition of location data according to sample frequency order.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein answers It include display unit and operating terminal with layer;Wherein, display unit is used to show the location information of positioning label;Operating terminal is used Positioning system is configured in the configuration parameter for receiving user's input;And it receives the location information inquiry that user inputs and asks It asks, inquiry inquiry request is sent to positioning calculation server, the location information of positioning label is inquired.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, wherein base It stands including master base station, and from base station;Master base station is connect with from base station communication;Positioning calculation server is also used to default correction frequency Rate triggers master base station and sends correction signal to from base station, receives the reception frequency from the reception correction signal of base station feedback;And According to correction frequency and frequency is received, is corrected to from base station.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect Possible embodiment, wherein positioning calculation server is carried out data transmission with each base station by TCP/UDP network protocol.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 7th kind of first aspect Possible embodiment, wherein positioning calculation server and network server are handed over by the progress data interaction of http protocol mode Mutual data include the real-time location information for positioning label, and the historical trajectory data of positioning label.
Second aspect, the embodiment of the present invention also provide a kind of localization method, and this method is applied to determine described in first aspect Position system, positioning system includes positioning calculation layer, and application layer and mechanical floor with the communication connection of positioning calculation layer;This method It include: mechanical floor include multiple base stations for being arranged in localization region, the positioning signal that monitoring positioning label is sent, and will positioning letter Number it is sent to positioning calculation floor;The location algorithm that positioning calculation layer is prestored by positioning calculation server calls is believed according to positioning The location information for number resolving positioning label, and is sent to application layer for location information;Application layer is used for the position to positioning label Information is shown.
The third aspect, the embodiment of the present invention also provide a kind of computer storage medium, and the computer storage medium is for depositing Computer program instructions are stored up, when computer executes computer program instructions, execute localization method described in second aspect strictly according to the facts.
The embodiment of the present invention bring it is following the utility model has the advantages that
The embodiment of the invention provides a kind of positioning system and methods, including positioning calculation layer, and with positioning calculation layer The application layer and mechanical floor of communication connection;Mechanical floor includes multiple base stations for being arranged in localization region, will be supervised by each base station The positioning signal that measurement position label is sent is sent to positioning calculation layer;Positioning calculation layer is provided with positioning calculation server, positioning The location algorithm that prestores of server calls is resolved, resolves the location information of positioning label according to positioning signal, and by location information It is sent to application layer, is shown with the location information to positioning label.Positioning calculation server is by detecting multiple base stations Positioning signal carry out aggregation process, it is ensured that the accuracy of the location information resolved.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification and attached drawing Specifically noted structure is achieved and obtained.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below Attached drawing is some embodiments of the present invention, for those skilled in the art, without creative efforts, It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of positioning system provided in an embodiment of the present invention;
Fig. 2 is the structural schematic diagram of another positioning system provided in an embodiment of the present invention;
Fig. 3 is the structural schematic diagram of another positioning system provided in an embodiment of the present invention;
Fig. 4 is a kind of flow chart of localization method provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than Whole embodiments.Based on the embodiments of the present invention, those skilled in the art institute without making creative work The every other embodiment obtained, shall fall within the protection scope of the present invention.
The positioning accuracy of current existing positioning system and method is low, is based on this, provided in an embodiment of the present invention a kind of fixed Position system and method can carry out high-precision positioning to the location information where positioning label.
To be carried out first to a kind of positioning system disclosed in the embodiment of the present invention detailed convenient for understanding the present embodiment It is thin to introduce,
Embodiment one:
The embodiment of the invention provides a kind of positioning system, a kind of structural schematic diagram of positioning system as shown in Figure 1, packets Include positioning calculation layer 104, and application layer 102 and mechanical floor 106 with the communication connection of positioning calculation layer;Mechanical floor includes multiple It is arranged in the base station 108 of localization region, each base station is used to monitor the positioning signal that positioning label is sent, and positioning signal is sent out It send to positioning calculation layer;For ease of description, Fig. 1 illustrate only two base stations.
Positioning calculation layer is provided with positioning calculation server 110, and positioning calculation server is for calling the positioning prestored to calculate Method, the location information of positioning label is resolved according to positioning signal, and location information is sent to application layer, to positioning label Location information is shown.
When specific implementation, positioning label generally includes the hardware device for needing to position, for example, the intelligence that staff wears Chest card, intelligent safety helmet locating module and positioning of mobile equipment module etc., the class of specific communication mode and specific positioning label Type can be set according to the actual situation, and it is not limited by the embodiments of the present invention.
The embodiment of the invention provides a kind of positioning systems, including positioning calculation layer, and with positioning calculation layer communication link The application layer and mechanical floor connect;Mechanical floor includes multiple base stations for being arranged in localization region, is positioned monitoring by each base station The positioning signal that label is sent is sent to positioning calculation layer;Positioning calculation layer is provided with positioning calculation server, positioning calculation clothes Business device calls the location algorithm prestored, and the location information of positioning label is resolved according to positioning signal, and location information is sent to Application layer is shown with the location information to positioning label.Positioning calculation server passes through the positioning that detects to multiple base stations Signal carries out aggregation process, it is ensured that the accuracy of the location information resolved.
Since the system supports multi-user operation, and to the running environment of client without particular/special requirement, this requires protect The system is demonstrate,proved with stronger adaptability, and, there is preferable versatility, Fig. 2 shows between positioning calculation layer and application layer The structural schematic diagram of another positioning system is gone out, positioning calculation layer further includes the network connecting with positioning calculation server communication Server 202;Positioning calculation server is communicated by network server with application layer.
In order to which the location information resolved to positioning calculation server stores, positioning calculation layer further includes and positions It resolves server communication and connects database server 204;Wherein, database server is used for storage location information.
In system shown in Fig. 2, in order to improve the location efficiency of the system, avoid when positioning label is mobile slow, There is repeatedly meaningless positioning calculation, cause the occupancy and waste of system resource, base station is also used to receive positioning label and sends Dynamic data, and dynamic data is sent to positioning calculation server, wherein dynamic data includes at least: 3-axis acceleration, Three axis angular rates and three axis magnetic declination;
Specifically, positioning label would generally carry nine axis inertial sensors, carry out to the dynamic data of positioning label real-time Measurement positions in the positioning signal that label is issued, generally includes location data packet, generally include nine axis in the location data packet The dynamic data that inertial sensor measurement obtains.The type of specific dynamic data can be set according to the actual situation, this hair Bright embodiment is not limited this.
When specific implementation, positioning calculation server is also used to match dynamic data and default motion interval, and will move The sample frequency order that state section carries is sent to base station, wherein sample frequency order includes at least sample frequency;It also uses base station In the acquisition for carrying out location data according to sample frequency order.
Further, default motion interval generally includes slow moving section and normal movement section;When positioning calculation takes Business device detects dynamic data that positioning label is sent when belonging to slow moving section, positioning calculation server to base station assign with The corresponding sample frequency order of slow moving section, sample frequency order generally include sample frequency, and base station is according to sample frequency The positioning signal of positioning label is read out.
For example, when the movement speed for detecting positioning label is less than 0.1m/s, and acceleration is less than 2m/s2When, positioning solution It calculates server and determines that the movement of the positioning label belongs to slow moving section, corresponding adopt is issued by positioning calculation server dynamic Sample frequency order reduces the frequency that location data is read in base station;When detect positioning label movement speed be greater than 0.1m/s, add Speed is greater than 2m/s2When, positioning calculation server determines that the movement of the positioning label belongs to normal movement section, is restoring base station just Normal reading frequency.This embodiment only represents one embodiment, the mode of specific positioning calculation server control base station, control original Then, and, speed threshold and acceleration rate threshold can be set according to the actual situation, and the embodiment of the present invention is to this without limit System.
Label is during base station communication, can generate the effective location data of multiple groups, in order to improve positioning tag location The precision of resolving, this system support TOA (Time of Arrival, arrival time) and TDOA (Time difference of Arrival, signal arrival time difference) mode that combines of location algorithm carries out positioning calculation to positioning label, when specific implementation, Positioning calculation layer is also used to resolve the coarse positioning region where positioning label according to location data;And extract coarse positioning region Configuration, call the resolving of corresponding with configuration location algorithm progress absolute location information.Wherein, the resolving in coarse positioning region is logical It is often that the rectangular or square range where positioning label is obtained according to the relative position between location data and base station, The configuration in coarse positioning region generally includes the data such as area, the length and width of cuboid and/or square, can also pass through nondominant hand Section, for example, according to the location information (position of camera shooting of positioning label history position location, GPS location or image recognition Information) carry out coarse positioning region judgement.
For example, when the coarse positioning area configuration length-width ratio where positioning calculation server detects positioning label is greater than 4, Positioning calculation server can be positioned by the way of TOA, and positioning calculation server is by the way of TDOA when less than 4 It is positioned.
In order to user by application layer learn positioning label location information, and by application layer to positioning calculation layer Parameter configuration is carried out, Fig. 3 shows the structural schematic diagram of another positioning system, and application layer includes display unit 304 and operation Terminal 302.
Specifically, display unit is used to show the location information of positioning label;Operating terminal is used to receive user's input Configuration parameter configures positioning system;And the location information inquiry request of user's input is received, inquiry request will be inquired It is sent to positioning calculation server, the location information of positioning label is inquired.
Further, the configuration data of user's input generally includes the compiling and revision of the location algorithm of positioning calculation layer, in advance If the setting of motion interval and sample frequency and conversion principle of location algorithm etc., the configuration data packet of particular user input The content included, is set generally according to concrete condition, and it is not limited by the embodiments of the present invention.
Further, positioning calculation server and network server pass through the progress data interaction of http protocol mode, interaction Data include the real-time location information for positioning label, and the historical trajectory data of positioning label.
The structural schematic diagram of another positioning system as shown in Figure 3, the positioning system use SSM (Spring+ SpringMVC+MyBatis) Open Framework is built, wherein Fig. 3 illustrate only four base stations, also depict in mechanical floor 106 Label 300 is positioned, positioning label is integrated with UWB (Ultra Wideband, super-broadband tech) communication function, can use UWB Communicated between communication mode and base station, specifically, position label with the timing of specific period to can normal communication base station Positioning signal is sent, positioning signal generally includes location data packet, meanwhile, positioning signal is read in each base station, and positioning is believed Number it is sent to positioning calculation server, in order to which positioning calculation server carries out position resolving to positioning label.
Positioning calculation server and each base station pass through TCP/UDP (Transmission Control Protocol/ User Datagram Protocol) network protocol carries out data transmission, physical link is usually 4G, can also for Ethernet or Other data communication modes, specific communication mode can be set according to the actual situation, the embodiment of the present invention to this without Limitation.
In order to ensure the frequency of the time crystal oscillator of multiple base stations is consistent, between multiple base stations by the way of active synchronization come Correction error, in order to ensure using unified crystal oscillator frequency, which selects a base station as master base station, which needs It is connect with other all base station communications.
Specifically, base station includes master base station, and from base station;Master base station is connect with from base station communication;Positioning calculation server It is also used to trigger master base station with default correction frequency and sends correction signal to from base station, receive to correct from the reception of base station feedback and believe Number reception frequency;And according to correction frequency and frequency is received, it is corrected to from base station.
When specific implementation, master base station issues multiple groups correction signal, the correction signal to from base station according to default correction frequency The sending time of master base station is usually carried, the time interval of the sending time is to carry out timing more according to the crystal oscillator frequency of master base station New;Receiving time when receiving correction signal from base station is recorded from base station, the corresponding frequency of the receiving time is from base station Reception frequency, the time interval from the multiple groups receiving time of base station be according to from the crystal oscillator frequency of base station carry out timing update , by judging the sending time of receiving time and master base station from base station, you can learn that the crystal oscillator from base station and master base station Crystal oscillator difference between frequency can synchronize correction to from the crystal oscillator frequency of base station according to the crystal oscillator difference.
To sum up, the embodiment of the present invention have it is below the utility model has the advantages that
(1) this system supports various configuration to carry out positioning calculation using different positioning methods, improves the essence of positioning Degree.
(2) to the adjustment of base station sample frequency, so that can be dropped significantly under the slower usage scenario of personnel's movement speed Low energy consumption.
(3) dynamic calibration that by positioning calculation server multiple base stations are carried out with crystal oscillator, reduces the random error of base station, To improve calculation accuracy in the solution process of position.
Embodiment two:
With reference to a kind of flow chart of localization method shown in Fig. 4, this method is applied to positioning system described in embodiment one, The positioning system includes positioning calculation layer, and application layer and mechanical floor with the communication connection of positioning calculation layer;
Method includes the following steps:
Step S402, mechanical floor include multiple base stations for being arranged in localization region, the positioning letter that monitoring positioning label is sent Number, and positioning signal is sent to positioning calculation layer;
Step S404, the location algorithm that positioning calculation layer is prestored by positioning calculation server calls, according to positioning signal The location information of positioning label is resolved, and location information is sent to application layer;
Step S406, application layer are used to be shown the location information of positioning label.
Localization method provided in an embodiment of the present invention, it is special with positioning system provided by the above embodiment technology having the same Sign, so also can solve identical technical problem, reaches identical technical effect.
The embodiment of the invention also provides a kind of computer storage mediums to work as calculating for storing computer program instructions When machine executes computer program instructions, method described in embodiment two is executed.Said program code specific implementation can be found in method Embodiment, details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can To be mechanical connection, it is also possible to be electrically connected;It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.To those skilled in the art, above-mentioned term can be understood in the present invention with concrete condition Concrete meaning.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ", " third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Finally, it should be noted that above embodiments, only a specific embodiment of the invention, to illustrate skill of the invention Art scheme, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to the present invention into Go detailed description, it should be understood by those skilled in the art that: anyone skilled in the art takes off in the present invention In the technical scope of dew, it can still modify to technical solution documented by previous embodiment or can readily occur in change Change or equivalent replacement of some of the technical features;And these modifications, variation or replacement, do not make relevant art Scheme essence be detached from technical solution of the embodiment of the present invention spirit and scope, should all cover protection scope of the present invention it It is interior.Therefore, protection scope of the present invention should be subject to the protection scope in claims.

Claims (10)

1. a kind of positioning system characterized by comprising positioning calculation layer, and communicated to connect with the positioning calculation layer Application layer and mechanical floor;
The mechanical floor includes multiple base stations for being arranged in localization region, and each base station is used to monitor what positioning label was sent Positioning signal, and the positioning signal is sent to the positioning calculation layer;
The positioning calculation layer is provided with positioning calculation server, and the positioning calculation server is for calling the positioning prestored to calculate Method, the location information of the positioning label is resolved according to the positioning signal, and the location information is sent to the application Layer is shown with the location information to the positioning label.
2. system according to claim 1, which is characterized in that the positioning calculation layer further includes taking with the positioning calculation The network server of business device communication connection;
The positioning calculation server is communicated by the network server with the application layer.
3. system according to claim 2, which is characterized in that the positioning calculation layer further includes taking with the positioning calculation Business device communicates to connect database server;
Wherein, the database server is for storing the location information.
4. system according to claim 1, which is characterized in that the base station is also used to receive what the positioning label was sent Dynamic data, and the dynamic data is sent to the positioning calculation server, wherein the dynamic data includes at least: 3-axis acceleration, three axis angular rates and three axis magnetic declination;
The positioning calculation server is also used to match the dynamic data and default motion interval, and by the dynamic area Between the sample frequency order that carries be sent to the base station, wherein the sample frequency order includes at least sample frequency;
The base station is also used to carry out the acquisition of the location data according to the sample frequency order.
5. system according to claim 1, which is characterized in that the application layer includes display unit and operating terminal;
Wherein, the display unit is used to show the location information of the positioning label;
The configuration parameter that the operating terminal is used to receive user's input configures the positioning system;And
The location information inquiry request for receiving user's input, is sent to the positioning calculation for the inquiry inquiry request and takes Business device inquires the location information of the positioning label.
6. system according to claim 1, which is characterized in that the base station includes master base station, and from base station;The main base It stands and is connect with described from base station communication;
The positioning calculation server is also used to trigger the master base station with default correction frequency and correct to described send from base station Signal receives the reception frequency of the reception correction signal from base station feedback;And
According to the correction frequency and the reception frequency, it is corrected to described from base station.
7. system according to claim 6, which is characterized in that the positioning calculation server passes through with each base station TCP/UDP network protocol carries out data transmission.
8. system according to claim 2, which is characterized in that the positioning calculation server and the network server are logical It crosses http protocol mode and carries out data interaction, interactive data include the real-time location information of the positioning label, Yi Jisuo State the historical trajectory data of positioning label.
9. a kind of localization method, which is characterized in that the method is applied to positioning system according to any one of claims 1 to 8, The positioning system includes positioning calculation layer, and application layer and mechanical floor with positioning calculation layer communication connection;
The described method includes:
The mechanical floor includes multiple base stations for being arranged in localization region, the positioning signal that monitoring positioning label is sent, and by institute It states positioning signal and is sent to the positioning calculation layer;
The location algorithm that the positioning calculation layer is prestored by positioning calculation server calls resolves institute according to the positioning signal The location information of positioning label is stated, and the location information is sent to the application layer;
The application layer is used to be shown the location information of the positioning label.
10. a kind of computer storage medium, which is characterized in that for storing computer program instructions, described in computer execution When computer program instructions, method as claimed in claim 9 is executed.
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