CN111935630A - Sharing bicycle parking system for judging direction by virtue of geomagnetism - Google Patents
Sharing bicycle parking system for judging direction by virtue of geomagnetism Download PDFInfo
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- CN111935630A CN111935630A CN202010780597.1A CN202010780597A CN111935630A CN 111935630 A CN111935630 A CN 111935630A CN 202010780597 A CN202010780597 A CN 202010780597A CN 111935630 A CN111935630 A CN 111935630A
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- 238000004891 communication Methods 0.000 claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims description 19
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000003973 paint Substances 0.000 description 1
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Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0042—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects
- G07F17/0057—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects for the hiring or rent of vehicles, e.g. cars, bicycles or wheelchairs
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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
- H04W4/025—Services making use of location information using location based information parameters
-
- 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
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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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
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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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
- H04W4/029—Location-based management or tracking services
-
- 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
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a shared bicycle parking system for judging directions by geomagnetism, which comprises: positioning an equipment end, a landmark end, a server end and a user end; the positioning equipment end is arranged on the shared bicycle and comprises a communication module, a positioning module and an orientation module; the landmark end comprises a reference direction and four reference points, the reference direction is the parking direction of the preset shared bicycle, and the four reference points are used as four vertexes of a preset rectangular parking area of the shared bicycle; the server side comprises a cloud server and a database; the user side is used for receiving the car returning instruction sent by the server side; the shared bicycle parking system has the advantages that the used area is wide, the positioning accuracy is high, the later maintenance cost is low, the shared bicycle can be parked to an appointed parking area by a standard user, the user can also park in the unified direction, and the phenomenon that the shared bicycle is parked in disorder at present can be effectively improved.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to a shared bicycle parking system for judging directions by virtue of terrestrial magnetism.
Background
With the continuous development of internet technology, bicycles step by step on an intelligent road, more functions and functions are realized, and the intelligent progress of bicycle management and use is greatly promoted due to the appearance of a shared bicycle. The popularization of sharing bicycle has solved the problem of people's short distance trip, makes people's life become more convenient, nevertheless has a lot of problems at the in-process of operation, and current sharing bicycle adopts the mode of loosing to operate, often can have the chaotic problem of parking, causes public order confusion, has great potential safety hazard.
At present, various solutions to the parking problem of the shared bicycle have been provided, including an electronic fence based on satellite positioning technology, an electronic fence using a bluetooth read-write device fixedly installed at a parking point to read a vehicle-mounted bluetooth tag, an electronic fence using a lock to read a bluetooth tag fixedly installed at a parking point, a parking area drawn by using paint and the like, and electronic staking management, but the former four solutions can only confirm that the shared bicycle is parked within a specified range, and cannot standardize the behavior of a user for parking the bicycle in the same direction, the electronic staking management adopts a mode that each vehicle is equipped with an electronic stake to realize fixed-point directional parking of the shared bicycle, and the returning and receiving of the shared bicycle need to receive signals through the electronic stakes and report the signals to a server, although the purpose of orderly parking the shared bicycle to a specified position can be realized, the cost is high, and the parking points are limited, the number of the single vehicle parking is limited, and large manpower and material resources are needed for later operation and maintenance.
Disclosure of Invention
The invention aims to provide the technical scheme of the shared bicycle parking system for judging the direction by the geomagnetism, aiming at the defects in the prior art, the equipment cost is lower, the use area is wide, the positioning precision is high, the later maintenance cost is low, the shared bicycle can be normally parked in the appointed parking area by a user, the user can also park in the unified direction, and the phenomenon that the current shared bicycle is parked disorderly can be effectively improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a sharing bicycle system of parking of direction is judged to earth magnetism which characterized in that includes: positioning an equipment end, a landmark end, a server end and a user end;
the positioning equipment end is installed on the shared bicycle and comprises a communication module, a positioning module and an orientation module, the positioning module is used for acquiring position information of the shared bicycle, the orientation module is used for acquiring a direction angle between the shared bicycle and a reference direction, the orientation module comprises a triaxial geomagnetic sensor, a triaxial acceleration sensor and a triaxial gyroscope sensor, and the communication module sends acquired result information of the positioning module and the orientation module to the server end;
the landmark end comprises a reference direction and four reference points, the reference direction is the parking direction of the preset shared bicycle, and the four reference points are used as four vertexes of a preset rectangular parking area of the shared bicycle;
the server side comprises a cloud server and a database, and is used for receiving and judging the positioning and direction angle information sent by the positioning equipment side;
the user side is used for receiving the car returning instruction sent by the server side;
when a user returns the vehicle, the user needs to park the shared bicycle in a rectangular parking area formed by four reference points according to the reference direction of a landmark end, a positioning module and an orientation module on the shared bicycle can acquire the position information and the direction angle information of the shared bicycle and upload the information to a cloud server through a communication module, the cloud server compares the information with data in a database, the positioning module is arranged for checking whether the shared bicycle is parked in a designated area, the orientation module is used for checking the oriented parking of the shared bicycle, the triaxial geomagnetic data of the shared bicycle can be read through a triaxial geomagnetic sensor to obtain the current direction angle of the shared bicycle, the triaxial acceleration sensor can measure acceleration caused by gravity, and the inclination angle of the shared bicycle relative to a horizontal plane can be calculated through the triaxial acceleration sensor due to certain inclination when the shared bicycle is parked, the pitching angle and the rolling angle of the shared bicycle can be calculated for compensation, the nine-axis angle calculation consisting of the three-axis geomagnetic sensor, the three-axis acceleration sensor and the three-axis gyroscope sensor can enable the angle calculation deviation to be about +/-5 degrees, the communication module sends the direction angle acquired by the orientation module to the cloud server, the cloud server calls information in a database for verification and matching, if the deviation is within +/-10 degrees, the bicycle returning is successful, if the deviation is more than +/-10 degrees, the cloud server informs a user of adjusting the parking position of the shared bicycle by sending the information to a user side, otherwise, the bicycle returning cannot be performed, the system has almost no later maintenance cost, the accuracy of the direction angle adopted by the orientation module is high, the influence of the shared bicycle on the three-axis geomagnetic sensor needs to be eliminated by an 8-character calibration method when the positioning equipment end is installed on the shared bicycle for the first time, the result is more accurate.
Furthermore, the positioning equipment end also comprises a power supply module, the power supply module comprises a solar cell panel and a lithium battery, the solar cell panel charges the lithium battery, and the lithium battery provides electric energy for the work of the communication module, the positioning module and the orientation module; the system replaces a solar charging technology, and the endurance of the equipment can be increased.
Furthermore, the communication module comprises GPRS equipment, and the communication module is in communication connection with the positioning module, the orientation module and the cloud server.
Furthermore, the positioning module is one or a combination of more of an RTK positioning device, a GPS positioning device, a Bluetooth positioning device and a wifi positioning device; the method can detect whether the user parks the shared bicycle in the designated area or not, and can also ensure the correctness of the comparison angle.
Further, the reference direction is displayed in a preset rectangular parking area, and the data information of the reference direction and the data information of the reference point are both stored in a database; data information of the reference direction and the reference point is acquired through a geomagnetic technology and stored in a database, conventionally, data are acquired again at intervals of several years and are calibrated, and the later maintenance cost is hardly generated.
Further, the carrier of the user side includes, but is not limited to, a mobile phone, a smart band, and a tablet computer; the carrier of the user side is the electronic equipment commonly used by the user at present.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: when a user returns the vehicle, the user needs to park the shared bicycle in a rectangular parking area formed by four reference points according to the reference direction of a landmark end, a positioning module and an orientation module on the shared bicycle can acquire the position information and the direction angle information of the shared bicycle and upload the information to a cloud server through a communication module, the cloud server compares the information with data in a database, the positioning module is arranged for checking whether the shared bicycle is parked in a designated area, the orientation module is used for checking the oriented parking of the shared bicycle, the triaxial geomagnetic data of the shared bicycle can be read through a triaxial geomagnetic sensor to obtain the current direction angle of the shared bicycle, the triaxial acceleration sensor can measure acceleration caused by gravity, and the inclination angle of the shared bicycle relative to a horizontal plane can be calculated through the triaxial acceleration sensor due to certain inclination when the shared bicycle is parked, can calculate the pitch angle and the roll angle of sharing bicycle and compensate, at the nine-axis angle calculation of the constitution of triaxial earth magnetic sensor, triaxial acceleration sensor and triaxial gyroscope sensor, can be with the angle calculation deviation about 5, the direction angle that obtains orientation module is sent to the cloud ware by communication module, transfer the information in the database by the cloud ware and verify the matching, if the deviation is within 10, then the car is returned successfully, if the deviation is greater than 10, the cloud ware informs the parking position of user adjustment sharing bicycle through sending information to the user side, otherwise can't return the car, this system does not have the later maintenance cost nearly, and the direction angle accuracy that takes through orientation module is high.
The device has the advantages of low cost, wide use area, high positioning precision and low later maintenance cost, can standardize the parking of the shared bicycle to the designated parking area by a user, can also enable the user to park in a uniform direction, and can effectively improve the phenomenon that the current shared bicycle is parked disorderly.
Detailed Description
The invention relates to a shared bicycle parking system for judging directions by geomagnetism, which comprises: positioning an equipment end, a landmark end, a server end and a user end;
the positioning equipment end is installed on the shared bicycle and comprises a communication module, a positioning module and an orientation module, the positioning module is used for acquiring position information of the shared bicycle, the orientation module is used for acquiring a direction angle between the shared bicycle and a reference direction, the orientation module comprises a triaxial geomagnetic sensor, a triaxial acceleration sensor and a triaxial gyroscope sensor, and the communication module sends acquired result information of the positioning module and the orientation module to the server end;
the landmark end comprises a reference direction and four reference points, the reference direction is the parking direction of the preset shared bicycle, and the four reference points are used as four vertexes of a preset rectangular parking area of the shared bicycle;
the server side comprises a cloud server and a database, and is used for receiving and judging the positioning and direction angle information sent by the positioning equipment side;
the user side is used for receiving the car returning instruction sent by the server side;
when a user returns the vehicle, the user needs to park the shared bicycle in a rectangular parking area formed by four reference points according to the reference direction of a landmark end, a positioning module and an orientation module on the shared bicycle can acquire the position information and the direction angle information of the shared bicycle and upload the information to a cloud server through a communication module, the cloud server compares the information with data in a database, the positioning module is arranged for checking whether the shared bicycle is parked in a designated area, the orientation module is used for checking the oriented parking of the shared bicycle, the triaxial geomagnetic data of the shared bicycle can be read through a triaxial geomagnetic sensor to obtain the current direction angle of the shared bicycle, the triaxial acceleration sensor can measure acceleration caused by gravity, and the inclination angle of the shared bicycle relative to a horizontal plane can be calculated through the triaxial acceleration sensor due to certain inclination when the shared bicycle is parked, the pitching angle and the rolling angle of the shared bicycle can be calculated for compensation, the nine-axis angle calculation consisting of the three-axis geomagnetic sensor, the three-axis acceleration sensor and the three-axis gyroscope sensor can enable the angle calculation deviation to be about +/-5 degrees, the communication module sends the direction angle acquired by the orientation module to the cloud server, the cloud server calls information in a database for verification and matching, if the deviation is within +/-10 degrees, the bicycle returning is successful, if the deviation is more than +/-10 degrees, the cloud server informs a user of adjusting the parking position of the shared bicycle by sending the information to a user side, otherwise, the bicycle returning cannot be performed, the system has almost no later maintenance cost, the accuracy of the direction angle adopted by the orientation module is high, the influence of the shared bicycle on the three-axis geomagnetic sensor needs to be eliminated by an 8-character calibration method when the positioning equipment end is installed on the shared bicycle for the first time, the result is more accurate.
The positioning equipment end also comprises a power supply module, the power supply module comprises a solar cell panel and a lithium battery, the solar cell panel charges the lithium battery, and the lithium battery provides electric energy for the work of the communication module, the positioning module and the orientation module; the system replaces a solar charging technology, and the endurance of the equipment can be increased.
The communication module comprises GPRS equipment, and the communication module is in communication connection with the positioning module, the orientation module and the cloud server.
The positioning module is one or a combination of more of RTK positioning equipment, a GPS positioning device, a Bluetooth positioning device and a wifi positioning device; the method can detect whether the user parks the shared bicycle in the designated area or not, and can also ensure the correctness of the comparison angle.
The reference direction is displayed in a preset rectangular parking area, and the data information of the reference direction and the reference point are stored in a database; data information of the reference direction and the reference point is acquired through a geomagnetic technology and stored in a database, conventionally, data are acquired again at intervals of several years and are calibrated, and the later maintenance cost is hardly generated.
The user side carrier includes but is not limited to a mobile phone, a smart band and a tablet computer; the carrier of the user side is the electronic equipment commonly used by the user at present.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: when a user returns the vehicle, the user needs to park the shared bicycle in a rectangular parking area formed by four reference points according to the reference direction of a landmark end, a positioning module and an orientation module on the shared bicycle can acquire the position information and the direction angle information of the shared bicycle and upload the information to a cloud server through a communication module, the cloud server compares the information with data in a database, the positioning module is arranged for checking whether the shared bicycle is parked in a designated area, the orientation module is used for checking the oriented parking of the shared bicycle, the triaxial geomagnetic data of the shared bicycle can be read through a triaxial geomagnetic sensor to obtain the current direction angle of the shared bicycle, the triaxial acceleration sensor can measure acceleration caused by gravity, and the inclination angle of the shared bicycle relative to a horizontal plane can be calculated through the triaxial acceleration sensor due to certain inclination when the shared bicycle is parked, can calculate the pitch angle and the roll angle of sharing bicycle and compensate, at the nine-axis angle calculation of the constitution of triaxial earth magnetic sensor, triaxial acceleration sensor and triaxial gyroscope sensor, can be with the angle calculation deviation about 5, the direction angle that obtains orientation module is sent to the cloud ware by communication module, transfer the information in the database by the cloud ware and verify the matching, if the deviation is within 10, then the car is returned successfully, if the deviation is greater than 10, the cloud ware informs the parking position of user adjustment sharing bicycle through sending information to the user side, otherwise can't return the car, this system does not have the later maintenance cost nearly, and the direction angle accuracy that takes through orientation module is high.
The device has the advantages of low cost, wide use area, high positioning precision and low later maintenance cost, can standardize the parking of the shared bicycle to the designated parking area by a user, can also enable the user to park in a uniform direction, and can effectively improve the phenomenon that the current shared bicycle is parked disorderly.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple variations, equivalent substitutions or modifications based on the present invention to achieve substantially the same technical effects are within the scope of the present invention.
Claims (6)
1. The utility model provides a sharing bicycle system of parking of direction is judged to earth magnetism which characterized in that includes: positioning an equipment end, a landmark end, a server end and a user end;
the positioning equipment end is installed on the shared bicycle and comprises a communication module, a positioning module and an orientation module, the positioning module is used for acquiring position information of the shared bicycle, the orientation module is used for acquiring a direction angle between the shared bicycle and a reference direction, the orientation module comprises a triaxial geomagnetic sensor, a triaxial acceleration sensor and a triaxial gyroscope sensor, and the communication module sends acquired result information of the positioning module and the orientation module to the server end;
the landmark end comprises a reference direction and four reference points, the reference direction is the parking direction of a preset shared bicycle, and the four reference points are used as four vertexes of a preset rectangular parking area of the shared bicycle;
the server end comprises a cloud server and a database, and is used for receiving and judging the positioning and direction angle information sent by the positioning equipment end;
and the user side is used for receiving the car returning instruction sent by the server side.
2. The system of claim 1, wherein the system comprises: the positioning equipment end further comprises a power module, the power module comprises a solar cell panel and a lithium battery, the solar cell panel is used for charging the lithium battery, and the lithium battery is used for supplying electric energy for the communication module, the positioning module and the orientation module.
3. The system of claim 1, wherein the system comprises: the communication module comprises GPRS equipment, and the communication module is in communication connection with the positioning module, the orientation module and the cloud server.
4. The system of claim 1, wherein the system comprises: the positioning module is one or a combination of more of an RTK positioning device, a GPS positioning device, a Bluetooth positioning device and a wifi positioning device.
5. The system of claim 1, wherein the system comprises: the reference direction is displayed in a preset rectangular parking area, and the reference direction and the data information of the reference point are both stored in the database.
6. The system of claim 1, wherein the system comprises: the carrier of the user side comprises but is not limited to a mobile phone, an intelligent bracelet and a tablet computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010780597.1A CN111935630A (en) | 2020-08-06 | 2020-08-06 | Sharing bicycle parking system for judging direction by virtue of geomagnetism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010780597.1A CN111935630A (en) | 2020-08-06 | 2020-08-06 | Sharing bicycle parking system for judging direction by virtue of geomagnetism |
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| CN111935630A true CN111935630A (en) | 2020-11-13 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102297693A (en) * | 2010-06-24 | 2011-12-28 | 鼎亿数码科技(上海)有限公司 | Method for measuring position and azimuths of object |
| US20130262024A1 (en) * | 2012-04-02 | 2013-10-03 | Casio Computer Co., Ltd. | Orientation detection device, orientation detection method and program storage medium |
| CN105683711A (en) * | 2013-10-28 | 2016-06-15 | 株式会社理光 | Direction estimating device, direction estimating system, and method of estimating direction |
| US20170003764A1 (en) * | 2015-06-30 | 2017-01-05 | Ariadne's Thread (Usa), Inc. (Dba Immerex) | Efficient orientation estimation system using magnetic, angular rate, and gravity sensors |
| CN106871860A (en) * | 2017-04-12 | 2017-06-20 | 上海量明科技发展有限公司 | Shared bicycle stops decision method, system and the shared bicycle in direction |
| GB201717965D0 (en) * | 2017-10-31 | 2017-12-13 | Amer Sports Digital Services Oy | Method and system for determining a direction of movement of an object |
| CN109141406A (en) * | 2018-08-17 | 2019-01-04 | 杭州云岛科技有限公司 | A kind of shared bicycle parks attitude control system and its control method |
-
2020
- 2020-08-06 CN CN202010780597.1A patent/CN111935630A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102297693A (en) * | 2010-06-24 | 2011-12-28 | 鼎亿数码科技(上海)有限公司 | Method for measuring position and azimuths of object |
| US20130262024A1 (en) * | 2012-04-02 | 2013-10-03 | Casio Computer Co., Ltd. | Orientation detection device, orientation detection method and program storage medium |
| CN105683711A (en) * | 2013-10-28 | 2016-06-15 | 株式会社理光 | Direction estimating device, direction estimating system, and method of estimating direction |
| US20170003764A1 (en) * | 2015-06-30 | 2017-01-05 | Ariadne's Thread (Usa), Inc. (Dba Immerex) | Efficient orientation estimation system using magnetic, angular rate, and gravity sensors |
| CN106871860A (en) * | 2017-04-12 | 2017-06-20 | 上海量明科技发展有限公司 | Shared bicycle stops decision method, system and the shared bicycle in direction |
| GB201717965D0 (en) * | 2017-10-31 | 2017-12-13 | Amer Sports Digital Services Oy | Method and system for determining a direction of movement of an object |
| CN109141406A (en) * | 2018-08-17 | 2019-01-04 | 杭州云岛科技有限公司 | A kind of shared bicycle parks attitude control system and its control method |
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