CN111683339A - High-precision indoor positioning system based on power line carrier and wireless hybrid communication chip - Google Patents
High-precision indoor positioning system based on power line carrier and wireless hybrid communication chip Download PDFInfo
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- CN111683339A CN111683339A CN202010694114.6A CN202010694114A CN111683339A CN 111683339 A CN111683339 A CN 111683339A CN 202010694114 A CN202010694114 A CN 202010694114A CN 111683339 A CN111683339 A CN 111683339A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/54—Systems for transmission via power distribution lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/54—Systems for transmission via power distribution lines
- H04B3/544—Setting up communications; Call and signalling arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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Abstract
The invention discloses a high-precision indoor positioning system based on power carrier and wireless mixed communication chip in the technical field of microelectronic technology and network communication in electronic engineering, which comprises a target object to be positioned, eleven power carrier and wireless mixed communication chip positioning devices inserted into sockets and positioned in the same building or warehouse with the target object to be positioned, a power carrier central processing unit (CCO), a router, the Internet, a positioning server and a user terminal mobile phone or a computer, wherein the system only needs to insert the power carrier and wireless mixed communication chip positioning devices into the sockets laid in each room of the building or warehouse, thus the trouble and the engineering cost of laying the positioning reference devices by pre-opening walls and punching holes in many current wireless positioning systems can be saved, the system is easy to dismantle or modify and upgrade, and the reference device finally used for positioning is closest to the target to be positioned, the purpose of accurate positioning is favorably achieved, and meanwhile, the time and the cost are greatly saved.
Description
Technical Field
The invention relates to the technical field of microelectronics and network communication in electronic engineering, in particular to a high-precision indoor positioning system based on a power line carrier and a wireless hybrid communication chip.
Background
Many current wireless indoor positioning systems are mainly implemented in a pure wireless mode, mainly including WiFi, Zigbee, Bluetooth, UWB and the like, and WiFi positioning mainly adopts a mode of collecting nearby WiFi routers, and then uses these randomly searched routers as reference points, so that great randomness is achieved, especially if the searched WiFi routers belong to other owners and are far away, the positioning result is not ideal or even has an error of hundreds of meters; the Zigbee/Bluetooth positioning needs to measure, select, arrange and install reference nodes (often hundreds of) at different positions in advance indoors, which is a great time and labor consuming project for new building construction, if old warehouse transformation is long in period and high in cost, and any new design is difficult to modify later, while the power consumption needed by positioning targets adopting UWB is high, and the protocol is not adopted on a large scale, so that most occasions are not suitable.
For these reasons, a special indoor positioning method is urgently needed: (1) the positioning reference device is easy to lay, and is easy to dismantle, transform and upgrade; (2) the positioning reference device is relatively close to the positioning target, so that the requirement of accurate positioning can be met.
The invention designs a high-precision indoor positioning system based on a power line carrier and a wireless hybrid communication chip to solve the problems.
Disclosure of Invention
The invention aims to provide a high-precision indoor positioning system based on a power carrier and a wireless hybrid communication chip, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip comprises a target object to be positioned, eleven power carrier and wireless hybrid communication chip positioning devices which are positioned in the same building or warehouse and inserted into all sockets, a power carrier central processing unit (CCO), a router, the Internet, a positioning server and a user terminal mobile phone or a computer, wherein the CCO is connected with the router through an Ethernet interface on the router, and the router is connected with the positioning server through the Internet.
Preferably, the target object to be positioned includes a wireless communication module, the wireless communication module may adopt one or more of WiFi/Zigbee/Bluetooth wireless protocols, the power carrier central processing unit CCO and the eleven power carrier and wireless hybrid communication chip positioning devices both adopt PLC and WiFi/Zigbee/Bluetooth wireless hybrid communication chips, and the wireless protocol adopted by the target object to be positioned is the same as the wireless protocol adopted by the eleven power carrier and wireless hybrid communication chip positioning devices, and the wireless protocol adopted by the target object to be positioned and the wireless protocols adopted by the wireless hybrid communication chip positioning devices can be communicated with each other.
Preferably, eleven chips of the power carrier and wireless hybrid communication chip positioning device each include a baseband low noise amplifier, a radio frequency low noise amplifier and mixer, a receiving circuit, a HomePlug PLC protocol processing module, a WiFi/Zigbee/Bluetooth protocol processing module, an MCU chip, a transmitting circuit, a radio frequency mixer and power amplifier, a baseband line driver amplifier, and a power monitoring circuit module.
Preferably, the receiving circuit comprises a first baseband signal amplifier, a first low-pass filter, an analog-to-digital converter, a first digital filtering module, a fourier transform module and a decoding module, the baseband signal amplifier, the low-pass filter, the analog-to-digital converter, the first digital filtering, the fourier transform module and the decoding module are sequentially connected, the baseband low-noise amplifier, the radio frequency low-noise amplifier and the frequency mixer both send signals to the first baseband signal amplifier, and the decoding module sends signals to the HomePlug PLC protocol processing module and the WiFi/Zigbee/BLE protocol processing module and utilizes the MCU chip to process the signals.
Preferably, the first baseband signal amplifier, the first low-pass filter, the analog-to-digital converter, the first digital filtering module, the fourier transform module and the decoding module are connected in a single direction.
Preferably, the sending circuit comprises a scrambling module, an inverse fourier transform module, a second digital filtering module, a digital-to-analog converter, a second low-pass filter and a second baseband signal amplifier, the scrambling module, the inverse fourier transform module, the second digital filtering module, the digital-to-analog converter, the low-pass filter and the second baseband signal amplifier are sequentially connected, the homeplug plc protocol processing module and the WiFi/Zigbee/BLE protocol processing module send signals processed by the MCU chip to the scrambling module, and the second baseband signal amplifier sends signals to the radio frequency mixer, the power amplifier and the baseband circuit driving amplifier.
Preferably, the scrambling module, the inverse fourier transform module, the second digital filtering module, the digital-to-analog converter, the second low-pass filter and the second baseband signal amplifier are connected in a unidirectional manner.
Preferably, the following workflow is included:
(1) periodically transmitting a default fixed power (6dbm) fixed length (1000 bytes) data packet by a target object to be positioned through a wireless communication module on the target object to be positioned;
(2) eleven power carrier and wireless hybrid communication chip positioning devices record the received peak power average value, the MAC ID of the corresponding target object to be positioned and the data receiving time point after receiving the data packet;
(3) eleven power carrier and wireless hybrid communication chip positioning devices send the MAC ID, the peak power average value, the receiving time point and the MAC ID of the target object to be positioned to a power carrier central processing unit (CCO) of the power line network;
(4) the CCO sorts the peak power values received from the same target object to be positioned according to eleven power carriers and the same time point of the positioning device of the wireless hybrid communication chip, and sends the three maximum power values and corresponding information such as MAC ID, time point and the like to a positioning server through a router and the Internet;
(5) and the positioning server calculates the accurate position of the target to be positioned at the time point according to the three peak power values, eleven power carriers and the position information of the positioning device of the wireless hybrid communication chip, and sends the result to a mobile phone or a computer of the user terminal.
Compared with the prior art, the invention has the beneficial effects that:
because each target object to be positioned only needs to send one data packet periodically according to the time interval set by the user, the system has very short time (only needs several to dozens of milliseconds), has very low power consumption, and can greatly save the service life of a battery by supplying power to the target object to be positioned by the battery; in addition, the positioning data is less, the positioning process time is short, and the target objects to be positioned more can successively send data packets according to the rule of applying MediaAccess to the wireless channel, so that the rapid positioning can be realized for the positioning and tracking of a large number of objects such as warehouses or shops.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram and architecture of an indoor positioning system based on a hybrid power line carrier and wireless communication chip;
fig. 2 is a block structure inside a power carrier and wireless hybrid communication chip;
FIG. 3 is an algorithm and workflow of the indoor positioning system;
fig. 4 shows the principle of power monitoring in the wireless receiving module in the power carrier and wireless hybrid communication chip.
In the drawings, the components represented by the respective reference numerals are listed below:
a power carrier and wireless hybrid communication chip locating device (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112); 106. a power carrier central processing unit (CCO); 113. an Ethernet interface; 115. a router; 116. the internet; 117. a positioning server; 118. a user terminal handset; 119. a computer; 120. a target object to be positioned; 201. a baseband low noise amplifier; 202. a radio frequency low noise amplifier and mixer; 203. a first baseband signal amplifier; 204. a first low-pass filter; 205. an analog-to-digital converter; 206. a first digital filtering module; 207. a Fourier transform module; 208. a decoding module; 209. a HomePlug PLC protocol processing module; 210. an MCU chip; 211. a radio frequency mixer and a power amplifier; 212. a baseband line driver amplifier; 213. a second baseband signal amplifier; 214. a second low-pass filter; 215. a digital-to-analog converter; 216. a second digital filtering module; 217. an inverse Fourier transform module; 218. a scrambling module; 219. a WiFi/Zigbee/BLE protocol processing module; 230. and a power monitoring circuit module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, the present invention provides a high-precision indoor positioning system based on a power carrier and a wireless hybrid communication chip, which comprises: a high-precision indoor positioning system based on power carrier and wireless hybrid communication chips comprises a target object to be positioned 120, eleven power carrier and wireless hybrid communication chip positioning devices 101, 102, 103, 104, 105, 107, 108, 109, 110, 111 and 112 which are positioned in the same building or warehouse with the target object to be positioned 120 and are inserted into various sockets, a power carrier central processing unit (CCO) 106, a router 115, the Internet 116, a positioning server 117 and a user terminal mobile phone 118 or a computer 119, wherein the power carrier central processing unit (CCO) 106 is connected with the router 115 through an Ethernet interface 113 on the router 115, the router 115 is connected with the positioning server 117 through the Internet 116, the target object to be positioned (120) comprises a wireless communication module which can adopt one or more of WiFi/Zigbee/Bluetooth wireless protocols, and the power carrier central processing unit (CCO 106) and eleven power carrier and wireless hybrid communication chip positioning devices The locating device (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112) adopts PLC and WiFi/Zigbee/Bluetooth wireless mixed communication chips, the wireless protocols adopted by the target object (120) to be located can be communicated with the wireless protocols adopted by eleven power carrier and wireless mixed communication chip locating devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112), and the eleven power carrier and wireless mixed communication chip locating devices internally comprise a baseband low noise amplifier (201), a radio frequency low noise amplifier and mixer (202), a receiving circuit, a HomePlug PLC protocol processing module (209), a WiFi/Zigbee/Bluetooth protocol processing module (219), an MCU chip (210), a transmitting circuit, a radio frequency mixer and power amplifier (211), a baseband line driving amplifier (212) and a power monitoring circuit module (230);
the receiving circuit comprises a first baseband signal amplifier 203, a first low-pass filter 204, an analog-to-digital converter 205, a first digital filtering module 206, a Fourier transform module 207 and a decoding module 208, wherein the baseband signal amplifier 203, the low-pass filter 204, the analog-to-digital converter 205, the first digital filtering module 206, the Fourier transform module 207 and the decoding module 208 are sequentially connected, the baseband low-noise amplifier 201 and the radio frequency low-noise amplifier and mixer 202 both send signals to the first baseband signal amplifier 203, the decoding module 208 sends the signals to a HomePlug PLC protocol processing module 209 and a WiFi/Zigbee/BLE protocol processing module 219 and utilizes an MCU chip 210 for processing, and the first baseband signal amplifier 203, the first low-pass filter 204, the analog-to-digital converter 205, the first digital filtering module 206, the Fourier transform module 207 and the decoding module 208 are in one-way connection;
the transmitting circuit comprises a scrambling module 218, an inverse fourier transform module 217, a second digital filtering module 216, a digital-to-analog converter 215, a second low-pass filter 214 and a second baseband signal amplifier 213, the scrambling module 218, the inverse Fourier transform module 217, the second digital filtering module 216, the digital-to-analog converter 215, the low-pass filter 214 and the second baseband signal amplifier 213 are sequentially connected, the HomePlug PLC protocol processing module 209 and the WiFi/Zigbee/BLE protocol processing module 219 send the signals processed by the MCU chip 210 to the scrambling module 218, the second baseband signal amplifier 213 sends the signals to the radio frequency mixer and power amplifier 211 and the baseband line driving amplifier 212, the scrambling module 218, the inverse fourier transform module 217, the second digital filtering module 216, the digital-to-analog converter 215, the second low-pass filter 214 and the second baseband signal amplifier 213 are connected in a single direction;
a specific flow of this embodiment is shown in fig. 3:
(1) the target object (120) to be positioned periodically transmits default fixed power (6dbm) fixed length (1000 bytes) data packets through a wireless communication module on the target object (120) to be positioned, and parameters such as the transmission power, the length of the data packets to be transmitted, the time interval between the front and rear positioning and the like can be remotely set in advance through a user terminal mobile phone (118) or a computer (119);
(2) eleven power carrier and wireless hybrid communication chip positioning devices 101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112 record the average value of the received peak power and the MAC ID and the data receiving time point of the corresponding target object 120 to be positioned after receiving the data packet; eleven power carrier and wireless hybrid communication chip positioning devices 101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112 obtain peak power average values as shown in fig. 4, preferably: after receiving a wireless input radio frequency signal, firstly, only a positive direction waveform is reserved through a diode half-wave rectification circuit, then, a first low-pass filter 204 is used for reserving only a low-frequency wave crest signal, and finally, the low-frequency signal is converted into a digital signal through an analog-to-digital converter 205 to calculate an average value;
(3) eleven power carrier and wireless hybrid communication chip positioning devices 101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112 transmit the MAC ID of the target object 120 to be positioned, the peak power average value, the reception time point, and its own MAC ID to a power carrier central processing unit CCO106 of the present power line network;
(4) the power carrier central processing unit CCO106 sorts the peak power values received from the same target object to be positioned 120 at the same time point according to eleven power carrier and wireless hybrid communication chip positioning devices 101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112, and sends the three maximum power values and corresponding MAC IDs, time points, and other information to the positioning server 117 through the router 115 and the internet 116; as shown in fig. 1, three maximum power positioning reference nodes of the target object to be positioned 120 are 109, 110, 111;
(5) the positioning server 117 calculates the precise position of the target object 120 to be positioned at the time point (the distance is converted according to the power values and then the geometric center of the result is calculated according to the three reference positions) according to the three peak power values, and the position information of the eleven power carrier and wireless hybrid communication chip positioning devices 101, 102, 103, 104, 105, 107, 108, 109, 110, 111 and 112, and sends the result to the user terminal mobile phone 118 or the computer 119.
Because each target object 120 to be positioned only needs to send one data packet periodically according to the time interval set by the user, the system has very short time (only needs several to dozens of milliseconds), has very low power consumption, and can greatly save the service life of a battery by supplying power to the target object to be positioned by the battery; in addition, the positioning data is less, the positioning process time is short, and a plurality of target objects to be positioned can successively send data packets according to the rule of applying MediaAccess by a wireless channel, so that the rapid positioning can be realized for the positioning and tracking of a large number of objects such as warehouses or shops.
The wireless channel application MediaAccess rule is generally: each target object 120 to be positioned monitors a wireless channel before sending a data packet, that is, a receiving circuit is started to analyze a received signal, and if the signal spectrum of the target object 120 to be positioned does not conflict with the signal spectrum of a data packet to be sent, the target object 120 to be positioned immediately sends the data packet; otherwise, the channel monitoring is carried out at random after a period of time, and the same channel monitoring is carried out again until the channel can be used and then the data packet is sent out.
Where Bluetooth is abbreviated as BLE, the RF signal in fig. 4 is the signal input to the RF lna and mixer 202, and the number of power carriers and wireless hybrid communication chip positioning devices can be determined by the number of sockets in the room.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. Indoor positioning system of high accuracy based on power line carrier and wireless hybrid communication chip, its characterized in that: the positioning device comprises a target object (120) to be positioned, eleven power carrier and wireless hybrid communication chip positioning devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111 and 112) which are positioned in the same building or warehouse and plugged in each socket, a power carrier central processing unit (CCO) (106), a router (115), the Internet (116), a positioning server (117) and a user terminal handset (118) or a computer (119), wherein the power carrier central processing unit (CCO) (106) is connected with the router (115) through an Ethernet interface (113) on the router (115), and the router (115) is connected with the positioning server (117) through the Internet (116).
2. The high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip as claimed in claim 1, wherein: the target object (120) to be positioned comprises a wireless communication module, the wireless communication module can adopt one or more of WiFi/Zigbee/Bluetooth wireless protocols, the power carrier central processing unit (106) and eleven power carrier and wireless hybrid communication chip positioning devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112) adopt PLC and WiFi/Zigbee/Bluetooth wireless hybrid communication chips, and the wireless protocol adopted by the target object (120) to be positioned is the same as that adopted by the eleven power carrier and wireless hybrid communication chip positioning devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112) and can be communicated with each other.
3. The high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip as claimed in claim 1, wherein: eleven power carrier and wireless hybrid communication chip positioning devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112) respectively comprise a baseband low noise amplifier (201), a radio frequency low noise amplifier and mixer (202), a receiving circuit, a HomePlug PLC protocol processing module (209), a WiFi/Zigbee/Bluetooth protocol processing module (219), an MCU chip (210), a transmitting circuit, a radio frequency mixer and power amplifier (211), a baseband line driving amplifier (212) and a power monitoring circuit module (230).
4. The high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip as claimed in claim 3, wherein: the receiving circuit comprises a first baseband signal amplifier (203), a first low-pass filter (204), an analog-to-digital converter (205), a first digital filtering module (206), a Fourier transform module (207) and a decoding module (208), wherein the baseband signal amplifier (203), the low-pass filter (204), the analog-to-digital converter (205), the first digital filtering (206), the Fourier transform module (207) and the decoding module (208) are sequentially connected, the baseband low-noise amplifier (201), the radio-frequency low-noise amplifier and the mixer (202) transmit signals to the first baseband signal amplifier (203), and the decoding module (208) transmits the signals to a HomePlug PLC protocol processing module (209) and a WiFi/Zigbee/BLE protocol processing module (219) and utilizes an MCU chip (210) for processing.
5. The high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip as claimed in claim 4, wherein: the first baseband signal amplifier (203), the first low-pass filter (204), the analog-to-digital converter (205), the first digital filtering module (206), the Fourier transform module (207) and the decoding module (208) are connected in a unidirectional mode.
6. The high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip as claimed in claim 3, wherein: the transmitting circuit comprises a scrambling module (218), an inverse Fourier transform module (217), a second digital filtering module (216), a digital-to-analog converter (215), a second low-pass filter (214) and a second baseband signal amplifier (213), wherein the scrambling module (218), the inverse Fourier transform module (217), the second digital filtering module (216), the digital-to-analog converter (215), the low-pass filter (214) and the second baseband signal amplifier (213) are sequentially connected, the HomePlug PLC protocol processing module (209) and the WiFi/Zigbee/BLE protocol processing module (219) transmit signals processed by the MCU chip (210) to the scrambling module (218), and the second baseband signal amplifier (213) transmits signals to the radio frequency mixer, the power amplifier (211) and the baseband line driving amplifier (212).
7. The high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip as claimed in claim 6, wherein: the scrambling module (218), the inverse Fourier transform module (217), the second digital filtering module (216), the digital-to-analog converter (215), the second low-pass filter (214) and the second baseband signal amplifier (213) are connected in a unidirectional mode.
8. The high-precision indoor positioning system based on the power carrier and wireless hybrid communication chip as claimed in claim 1, characterized by comprising the following working procedures:
(1) periodically transmitting a default fixed power (6dbm) fixed length (1000 bytes) data packet by a target object (120) to be positioned through a wireless communication module on the target object (120) to be positioned;
(2) eleven power carrier and wireless hybrid communication chip positioning devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112) record the average value of the received peak power and the MACID and the data receiving time point of the corresponding target object (120) to be positioned after receiving the data packet;
(3) eleven power carrier and wireless hybrid communication chip locating devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112) transmit the MACID, peak power average value, receiving time point and the MACID of the object (120) to be located to a power carrier central processing unit (CCO) (106) of the power line network;
(4) the power carrier central processing unit (CCO) (106) sorts peak power values received from the same target object (120) to be positioned according to eleven power carrier and wireless hybrid communication chip positioning devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112) at the same time point, and sends the three maximum power values and corresponding MACIDs, time points and other information to a positioning server (117) through a router (115) and the Internet (116);
(5) the positioning server (117) calculates the accurate position of the target (120) to be positioned at the time point according to the three peak power values, eleven power carriers and the position information of the wireless hybrid communication chip positioning devices (101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112), and sends the result to a user terminal mobile phone (118) or a computer (119).
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| CN112218237A (en) * | 2020-11-03 | 2021-01-12 | 杨俊杰 | High-precision indoor positioning system based on neural network algorithm |
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| CN112218237A (en) * | 2020-11-03 | 2021-01-12 | 杨俊杰 | High-precision indoor positioning system based on neural network algorithm |
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