CN110132222B - Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium - Google Patents
Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium Download PDFInfo
- Publication number
- CN110132222B CN110132222B CN201910328813.6A CN201910328813A CN110132222B CN 110132222 B CN110132222 B CN 110132222B CN 201910328813 A CN201910328813 A CN 201910328813A CN 110132222 B CN110132222 B CN 110132222B
- Authority
- CN
- China
- Prior art keywords
- reference station
- station
- alarm information
- mobile station
- monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mobile Radio Communication Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention provides an automatic monitoring and alarming method for the running state of a reference station, which comprises the following steps: initializing a reference station, and initializing a data chain of the reference station into a plug-in radio station mode; calculating an inclination angle, and calculating the inclination angle of the host in real time through the change of a gravity accelerator sensor arranged in the reference station; and monitoring the running state, stopping broadcasting the differential correction data if the inclination angle of the monitoring host reaches an alarm limit value, and broadcasting alarm information to the mobile station through a data transmission radio station. The invention relates to an electronic device and a readable storage medium for performing the above method. The invention also relates to an automatic monitoring and alarming system for the running state of the reference station. The invention senses the self attitude in real time by using an acceleration sensor arranged in the reference station, when the attitude of a host triggers an alarm mechanism, the reference station automatically stops the broadcasting of differential correction data, and broadcasts alarm information to the mobile station by using a fixed protocol through a data transmission radio station, and the mobile station receives the alarm information and then prompts a user in real time through a handheld operation terminal.
Description
Technical Field
The invention relates to the technical field of global satellite navigation surveying and mapping, in particular to an automatic monitoring and alarming method for the running state of a reference station, electronic equipment and a medium.
Background
The RTK (Real-Time Kinematic differential) is a commonly used field measurement method, the RTK technology is a Real-Time Kinematic positioning technology for carrier phase observation, the field measurement usually requires that a reference station is erected at a certain position, then a wireless data transfer radio station is used to broadcast differential correction data to a mobile station in Real Time, and the mobile station receives the differential correction data of the reference station and then obtains a high-precision position coordinate relative to the position of the reference station through RTK operation. Because the reference station is usually in an unattended state, a measurer working on the mobile station cannot acquire the running state of the reference station in real time, and if the reference station is maliciously moved or accidentally toppled, the mobile station can obtain an incorrect measurement result.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide an automatic monitoring and alarming method for the running state of a reference station, which solves the problems that the existing reference station is usually in an unattended state, a measurer working on a mobile station cannot acquire the running state of the reference station in real time, and the mobile station can obtain wrong measurement results if the reference station is maliciously moved or accidentally toppled.
The invention provides an automatic monitoring and alarming method for the running state of a reference station, which comprises the following steps:
initializing a reference station, and initializing a data chain of the reference station into a plug-in radio station mode;
calculating an inclination angle, calculating a pitch angle and a roll angle of a host in real time according to the change of a gravity accelerator sensor arranged in a reference station, and calculating the whole inclination angle according to the pitch angle and the roll angle;
monitoring the running state, monitoring whether the inclination angle of the host reaches an alarm limit value in real time, if so, controlling the reference station to stop broadcasting the differential correction data to the mobile station, and broadcasting alarm information to the mobile station through a data transmission radio station.
Further, in the step of calculating the inclination angle, the inclination angle calculation formula is as follows:
A2＝X2+Y2
wherein X is a pitch angle, Y is a roll angle, and A is an inclination angle.
Furthermore, in the step of monitoring the running state, the reference station broadcasts the coding format of the alarm information to the mobile station through the data transmission radio station as a fixed data header, an alarm state and a check data tail.
The method for automatically monitoring and alarming the running state of the reference station comprises the following steps:
initializing a mobile station, and initializing a data chain of the mobile station to a built-in radio station mode;
analyzing the differential data, analyzing the differential correction data sent by the reference station in the mobile station, monitoring whether alarm information is contained or not in real time, and jumping to the step of broadcasting the alarm information if the alarm information is contained;
and broadcasting alarm information to a handheld operation terminal.
Further, in the step of broadcasting the alarm information, the mobile station broadcasts the alarm information to the handheld operation terminal in a coding format of $ PSIC, an alarm state, CRC check, and carriage return line change.
Further, in the step of broadcasting the alarm information, the mobile station broadcasts the alarm information to the handheld operation terminal through the Bluetooth.
An electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the above-described reference station operational status auto-monitoring and alarm method.
A computer-readable storage medium having stored thereon a computer program for executing the above-described reference station operation state auto-monitoring and alarming method by a processor.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an automatic monitoring and alarming method for the running state of a reference station, which comprises the following steps: initializing a reference station, and initializing a data chain of the reference station into a plug-in radio station mode; calculating an inclination angle, calculating a pitch angle and a roll angle of a host in real time according to the change of a gravity accelerator sensor arranged in a reference station, and calculating the whole inclination angle according to the pitch angle and the roll angle; monitoring the running state, monitoring whether the inclination angle of the host reaches an alarm limit value in real time, if so, controlling the reference station to stop broadcasting the differential correction data to the mobile station, and broadcasting alarm information to the mobile station through a data transmission radio station. The invention relates to an electronic device and a readable storage medium, which are used for executing an automatic monitoring and alarming method for the running state of a reference station. The invention also relates to an automatic monitoring and alarming system for the running state of the reference station. The invention senses the self posture in real time by using an acceleration sensor arranged in the reference station, when the host posture triggers an alarm mechanism, the reference station automatically stops the broadcasting of differential correction data, and broadcasts alarm information to the mobile station by using a fixed protocol through a data transmission radio station, and the mobile station prompts a user in real time through a handheld operation terminal after receiving the alarm information, so that a measurer can obtain the running state of the reference station in real time, and the problem that the mobile station obtains wrong position coordinates when the reference station is maliciously moved or accidentally toppled is solved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a first flow chart of the method for automatically monitoring and alarming the operation state of a reference station according to the present invention;
fig. 2 is a flow chart of the method for automatically monitoring and alarming the operation state of the reference station according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
The method for automatically monitoring and alarming the running state of the reference station, as shown in fig. 1, comprises the following steps:
initializing a reference station, and initializing a data chain of the reference station into a plug-in radio station mode;
calculating an inclination angle, arranging a gravity acceleration sensor in the reference station, calculating a pitch angle and a roll angle of the host in real time according to the change of the gravity acceleration sensor arranged in the reference station, and calculating the whole inclination angle according to the pitch angle and the roll angle; preferably, in the step of calculating the inclination angle, the inclination angle calculation formula is as follows:
A2＝X2+Y2
wherein X is a pitch angle, Y is a roll angle, and A is an inclination angle. In the embodiment, the gravity acceleration sensor is adopted instead of GNSS position information to judge whether the reference station displaces or not, and the main reason is that the accuracy of single-point positioning of the reference station cannot meet the requirements of toppling or small-range change.
Monitoring the running state, wherein the inclination angle of the host computer is greatly changed no matter the host computer is maliciously moved or accidentally toppled, so that whether the inclination angle of the host computer reaches an alarm limit value is monitored in real time after the reference station is started, the alarm limit value is represented by B in figure 1, if yes, the reference station is controlled to stop broadcasting differential correction data to the mobile station, so that the mobile station is prevented from being falsely produced, and alarm information is broadcasted to the mobile station through a data transmission radio station. Preferably, in the step of monitoring the operation state, the encoding format of the alarm information broadcast by the reference station to the mobile station through the data transmission radio station is a fixed data header, an alarm state, and a check data trailer, which are specifically shown in table 1:
TABLE 1 coding format used by reference stations
| Fixed data head | Alarm state | Verifying data tails |
The method for automatically monitoring and alarming the running state of the reference station, as shown in fig. 2, comprises the following steps:
initializing a mobile station, and initializing a data chain of the mobile station to a built-in radio station mode;
analyzing the differential data, analyzing the differential correction data sent by the reference station in the mobile station, monitoring whether alarm information is contained or not in real time, and jumping to the step of broadcasting the alarm information if the alarm information is contained;
and (5) broadcasting alarm information, namely broadcasting the alarm information to the handheld operation terminal. Preferably, in the step of broadcasting the alarm information, the encoding format of the alarm information broadcast by the mobile station to the handheld operation terminal is $ PSIC, alarm state, CRC check, enter line change, which is specifically shown in table 2. Preferably, in the step of broadcasting the alarm information, the mobile station broadcasts the alarm information to the handheld operation terminal through bluetooth. After receiving the alarm information, the engineering measurement software of the handheld operation terminal can rapidly pop up an alarm dialog box to prompt a user that the position of the reference station is changed unexpectedly, so that the user can conveniently judge and operate the next step.
Table 2 coding format used by mobile stations
| $PSIC | Alarm state | CRC checking | Go back and change line |
An electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the above-described reference station operational status auto-monitoring and alarm method.
A computer-readable storage medium having stored thereon a computer program for executing the above-mentioned reference station operation state auto-monitoring and alarming method by a processor.
The invention provides an automatic monitoring and alarming method for the running state of a reference station, which comprises the following steps: initializing a reference station, and initializing a data chain of the reference station into a plug-in radio station mode; calculating an inclination angle, calculating a pitch angle and a roll angle of a host in real time according to the change of a gravity accelerator sensor arranged in a reference station, and calculating the whole inclination angle according to the pitch angle and the roll angle; monitoring the running state, monitoring whether the inclination angle of the host reaches an alarm limit value in real time, if so, controlling the reference station to stop broadcasting the differential correction data to the mobile station, and broadcasting alarm information to the mobile station through a data transmission radio station. The invention relates to an electronic device and a readable storage medium, which are used for executing an automatic monitoring and alarming method for the running state of a reference station. The invention also relates to an automatic monitoring and alarming system for the running state of the reference station. The invention senses the self posture in real time by using an acceleration sensor arranged in the reference station, when the host posture triggers an alarm mechanism, the reference station automatically stops the broadcasting of differential correction data, and broadcasts alarm information to the mobile station by using a fixed protocol through a data transmission radio station, and the mobile station prompts a user in real time through a handheld operation terminal after receiving the alarm information, so that a measurer can obtain the running state of the reference station in real time, and the problem that the mobile station obtains wrong position coordinates when the reference station is maliciously moved or accidentally toppled is solved.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (6)
1. The method for automatically monitoring and alarming the running state of the reference station is characterized by comprising the following steps of:
initializing a reference station, and initializing a data chain of the reference station into a plug-in radio station mode;
calculating an inclination angle, calculating a pitch angle and a roll angle of a host in real time according to the change of a gravity accelerator sensor arranged in a reference station, and calculating the whole inclination angle according to the pitch angle and the roll angle;
monitoring the running state, monitoring whether the inclination angle of the host reaches an alarm limit value in real time, if so, controlling the reference station to stop broadcasting differential correction data to the mobile station, and broadcasting alarm information to the mobile station through a data transmission radio station;
in the step of monitoring the running state, the coding format of the alarm information broadcast by the reference station to the mobile station through the data transmission radio station is a fixed data head, an alarm state and a check data tail.
2. The method for automatic monitoring and alarming of the operational status of a reference station as claimed in claim 1, wherein: in the step of calculating the inclination angle, the inclination angle calculation formula is as follows:
A2＝X2+Y2
wherein X is a pitch angle, Y is a roll angle, and A is an inclination angle.
3. The method for automatically monitoring and alarming the running state of the reference station is characterized by comprising the following steps of:
initializing a mobile station, and initializing a data chain of the mobile station to a built-in radio station mode;
analyzing the differential data, analyzing the differential correction data sent by the reference station in the mobile station, monitoring whether alarm information is contained or not in real time, and jumping to the step of broadcasting the alarm information if the alarm information is contained;
broadcasting alarm information to a handheld operation terminal;
in the step of broadcasting the alarm information, the mobile station broadcasts the alarm information to the handheld operation terminal in a coding format of $ PSIC, an alarm state, CRC check, carriage return and line change.
4. The method for automatic monitoring and alarming of the operational status of a reference station as claimed in claim 3, wherein: in the step of broadcasting the alarm information, the mobile station broadcasts the alarm information to the handheld operation terminal through Bluetooth.
5. An electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the method of any of claims 1-2 or performing the method of any of claims 3-4.
6. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method of any one of claims 1-2 or for performing the method of any one of claims 3-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328813.6A CN110132222B (en) | 2019-04-23 | 2019-04-23 | Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328813.6A CN110132222B (en) | 2019-04-23 | 2019-04-23 | Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110132222A CN110132222A (en) | 2019-08-16 |
| CN110132222B true CN110132222B (en) | 2022-04-12 |
Family
ID=67570818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910328813.6A Active CN110132222B (en) | 2019-04-23 | 2019-04-23 | Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110132222B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110879403A (en) * | 2019-10-29 | 2020-03-13 | 中海北斗(深圳)导航技术有限公司 | Simple and feasible monitoring method and system for satellite-based augmentation system |
| CN113132920B (en) * | 2020-01-15 | 2022-08-09 | 中移(上海)信息通信科技有限公司 | Data distribution method, device and system |
| CN111366957A (en) * | 2020-03-16 | 2020-07-03 | 浙江亚特电器有限公司 | Positioning method, device, equipment and readable storage medium |
| CN111736181A (en) * | 2020-05-08 | 2020-10-02 | 广州南方卫星导航仪器有限公司 | High-precision surveying and mapping type GNSS receiver self-checking method, electronic equipment, medium and system |
| CN112948218A (en) * | 2021-04-22 | 2021-06-11 | 广州南方卫星导航仪器有限公司 | Integrated positioning terminal host abnormity alarm method, system, equipment and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103281713A (en) * | 2013-05-21 | 2013-09-04 | 江苏亨鑫科技有限公司 | Method for monitoring working state of antenna of 4G (Fourth-Generation) base station in real time |
| CN106404071A (en) * | 2016-10-28 | 2017-02-15 | 国网四川省电力公司电力科学研究院 | Online transmission line tower state monitoring device and detection method thereof |
| CN106595608A (en) * | 2016-11-01 | 2017-04-26 | 许凯华 | Distributed interactive commonly used surveying instrument |
| CN107991694A (en) * | 2017-11-24 | 2018-05-04 | 上海华测导航技术股份有限公司 | One kind is based on RTK base stations posture monitoring system and its monitoring method |
| CN108398120A (en) * | 2018-05-30 | 2018-08-14 | 广东电网有限责任公司 | Shaft tower angle monitor device and system |
| KR20180096255A (en) * | 2017-02-21 | 2018-08-29 | (주)아센코리아 | Method for precisely measuring tracking location based on gnss |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL9420044A (en) * | 1994-01-03 | 1996-10-01 | Trimble Navigation | Network for differential GPS code phase corrections. |
| US7298319B2 (en) * | 2004-04-19 | 2007-11-20 | Magellan Navigation, Inc. | Automatic decorrelation and parameter tuning real-time kinematic method and apparatus |
| JP6302630B2 (en) * | 2013-06-14 | 2018-03-28 | 株式会社トプコン | Preparation system for RTK survey work |
| CN103441937A (en) * | 2013-08-21 | 2013-12-11 | 曙光信息产业(北京)有限公司 | Sending method and receiving method of multicast data |
| CN103926608A (en) * | 2014-04-18 | 2014-07-16 | 广州南方卫星导航仪器有限公司 | Incline compensation method of GNSS measuring device |
| CN105403900B (en) * | 2015-11-17 | 2019-02-01 | 广州南方卫星导航仪器有限公司 | A kind of fast automatic measurement method |
| US20190011570A1 (en) * | 2017-07-07 | 2019-01-10 | Javad Gnss, Inc. | Gnss device location verification |
-
2019
- 2019-04-23 CN CN201910328813.6A patent/CN110132222B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103281713A (en) * | 2013-05-21 | 2013-09-04 | 江苏亨鑫科技有限公司 | Method for monitoring working state of antenna of 4G (Fourth-Generation) base station in real time |
| CN106404071A (en) * | 2016-10-28 | 2017-02-15 | 国网四川省电力公司电力科学研究院 | Online transmission line tower state monitoring device and detection method thereof |
| CN106595608A (en) * | 2016-11-01 | 2017-04-26 | 许凯华 | Distributed interactive commonly used surveying instrument |
| KR20180096255A (en) * | 2017-02-21 | 2018-08-29 | (주)아센코리아 | Method for precisely measuring tracking location based on gnss |
| CN107991694A (en) * | 2017-11-24 | 2018-05-04 | 上海华测导航技术股份有限公司 | One kind is based on RTK base stations posture monitoring system and its monitoring method |
| CN108398120A (en) * | 2018-05-30 | 2018-08-14 | 广东电网有限责任公司 | Shaft tower angle monitor device and system |
Non-Patent Citations (2)
| Title |
|---|
| 基于北斗RTK定位的铁塔倾斜监测系统研究;李芝宏;《电气化铁道》;20190228;第1-5页，附图1-9 * |
| 李芝宏.基于北斗RTK定位的铁塔倾斜监测系统研究.《电气化铁道》.2019, * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110132222A (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110132222B (en) | Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium | |
| CN109862514A (en) | A kind of bluetooth positioning system, method, apparatus and storage medium | |
| CN107950506A (en) | Mobile device, the sprinkling control method and device based on mobile device | |
| KR20120027824A (en) | Location information decision method in integrated terminal | |
| CN108801256A (en) | The fusion of indoor and outdoor navigation and air navigation aid | |
| JP2006308472A (en) | Location estimating device and method thereof | |
| JP2008011451A (en) | Positioning system and method | |
| CN108680936A (en) | Beidou satellite navigation system integrity monitoring appraisal procedure | |
| CN111123964A (en) | Unmanned aerial vehicle landing method and device and computer readable medium | |
| CA3054590A1 (en) | Automatic pressure sensor output calibration for reliable altitude determination | |
| US20140327580A1 (en) | Using Measured Angular Coordinates of an Object Relative to a Directional Transceiver | |
| CN110673169A (en) | Receiver RTK precision testing method and terminal | |
| WO2016070767A1 (en) | Positioning data acquisition method and device | |
| US20150160329A1 (en) | Determining location and orientation of directional tranceivers | |
| CN112462402A (en) | Mobile terminal positioning and deviation rectifying method and device | |
| JP6699034B2 (en) | Autonomous mobile robot | |
| CN104729448A (en) | Method for building farmland plane model by mobile phone | |
| CN106289224A (en) | A kind of localization method and electronic equipment | |
| CN114090445A (en) | Test code generation method, device and equipment | |
| CN103837130A (en) | Data processing method and device used for airborne laser scanning system | |
| CN113900868A (en) | Serial port testing method and device, movable carrier and storage medium | |
| JPWO2018131168A1 (en) | POSITIONING SUPPORT DEVICE, POSITIONING SYSTEM, POSITIONING SUPPORT METHOD, AND COMPUTER-READABLE RECORDING MEDIUM | |
| CN113093243A (en) | Boundary address point positioning method and device, electronic equipment and computer readable storage medium | |
| CN112996103A (en) | Indoor positioning method and device, positioning equipment, robot and storage medium | |
| US11940545B2 (en) | Methods and apparatuses for automatic object heading determinations |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |