CN113518422A - Bluetooth equipment group based on geomagnetic sensor - Google Patents
Bluetooth equipment group based on geomagnetic sensor Download PDFInfo
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- CN113518422A CN113518422A CN202110595966.4A CN202110595966A CN113518422A CN 113518422 A CN113518422 A CN 113518422A CN 202110595966 A CN202110595966 A CN 202110595966A CN 113518422 A CN113518422 A CN 113518422A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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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
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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
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2101/00—Indexing scheme associated with group H04L61/00
- H04L2101/60—Types of network addresses
- H04L2101/618—Details of network addresses
- H04L2101/622—Layer-2 addresses, e.g. medium access control [MAC] addresses
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2101/00—Indexing scheme associated with group H04L61/00
- H04L2101/60—Types of network addresses
- H04L2101/69—Types of network addresses using geographic information, e.g. room number
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Environmental & Geological Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a Bluetooth device based on a geomagnetic sensor, which is characterized by comprising a Bluetooth module, a wireless data communication module and a wireless data communication module, wherein the Bluetooth module is used for performing wireless data interaction through Bluetooth; and the Bluetooth module is in wired communication connection with the position auxiliary information device. The utility model provides a bluetooth equipment based on earth magnetism sensor, earth magnetism sensor wherein is very sensitive and regular to the direction, can confirm the corresponding relation of the MAC address of current bluetooth equipment and its actual position according to earth magnetism sensor's orientation on the bluetooth equipment, when the first time power-on use, accomplishes the correspondence of MAC address and actual position automatically, provides the basis for the bluetooth location. The invention has simple structure, convenient use, powerful function and extremely high commercial value.
Description
Technical Field
The invention belongs to the technical field of communication application, and particularly relates to a Bluetooth device set based on a geomagnetic sensor.
Background
At present, in the existing technical scheme, bluetooth positioning is generally applied to scenes such as indoor positioning and bluetooth car keys. However, currently, bluetooth positioning generally used requires a bluetooth receiving module and a plurality of bluetooth devices, the bluetooth receiving module and the devices receive/scan broadcast data of target bluetooth to obtain rssi values of the data received by each module, and an algorithm is applied to perform positioning. In order to reduce cost and maintain consistency, bluetooth devices are generally the same, and therefore, an algorithm needs to be configured in advance to correspond the unique mark and the position of the bluetooth device, so that the bluetooth device can be positioned correctly. Therefore, at present, a method of calibrating after installation is generally adopted to distinguish and correspond the bluetooth devices, but the processing usually increases the workload of workers, and is not suitable for the requirement of mass production.
How to automatically complete the correspondence between the MAC address and the actual position when the bluetooth device is powered on for the first time without configuring the bluetooth device in advance becomes a technical problem to be solved urgently at present, a geomagnetic sensor is a sensor for detecting the terrestrial magnetism and can be used for detecting the direction through the terrestrial magnetism, and how to combine the geomagnetic sensor with the bluetooth device to distinguish the bluetooth devices with different identifications so as to improve the production efficiency and reduce the work becomes a technical problem to be solved urgently at present, and particularly, a control method and a system for distinguishing the bluetooth devices based on the geomagnetic sensor do not exist at present.
Disclosure of Invention
In view of the technical defects in the prior art, an object of the present invention is to provide a control method and system for distinguishing bluetooth devices based on a geomagnetic sensor, and according to an aspect of the present invention, a control method for distinguishing bluetooth devices based on a geomagnetic sensor is provided, which is used for determining position information of one or more bluetooth devices, and includes the following steps:
a. acquiring identification information and position auxiliary information of two or more Bluetooth devices;
b. determining the relative relation of the actual orientation between each two Bluetooth devices based on the size relation of the position auxiliary information between every two Bluetooth devices;
c. the identification information of the bluetooth device corresponding to the actual position of each bluetooth device is determined based on the relative relationship of the actual orientation between each bluetooth device.
Preferably, the step a includes:
a1. establishing a space rectangular coordinate system by taking any base point as a center;
a2. acquiring identification information of two or more Bluetooth devices;
a3. and acquiring position auxiliary information of two or more Bluetooth devices, wherein the position auxiliary information at least comprises magnetic fluxes in the directions of an X axis, a Y axis and a z axis in the space rectangular coordinate system.
Preferably, in the step b, the orientation relationship and the size relationship at least include: in the X-axis direction, the magnetic flux change is increased from north to south and clockwise, and is decreased from south to north and clockwise; in the Y-axis direction, the magnetic flux change increases clockwise from west to east and decreases clockwise from east to west.
Preferably, the step c includes the steps of:
c 1: determining the actual positions of all Bluetooth devices in the space, wherein the actual positions at least comprise the positions, the orientations and the corresponding relations between the positions and the orientations of the Bluetooth devices;
c 2: determining an actual orientation of each Bluetooth device based on a relative relationship of the actual orientations between each Bluetooth device;
c 3: identification information of a Bluetooth device of an actual location corresponding to an actual orientation is determined based on the actual orientation of each Bluetooth device.
Preferably, the identification information is MAC data.
Preferably, the base point is a bluetooth data receiving device.
According to another aspect of the present invention, there is provided a control system for discriminating a bluetooth device based on a geomagnetic sensor, comprising: the Bluetooth device comprises two or more Bluetooth devices and Bluetooth data receiving devices, wherein the two or more Bluetooth devices are connected with the Bluetooth data receiving devices through Bluetooth communication.
Preferably, the bluetooth device at least comprises a bluetooth module and a position auxiliary information device, the position auxiliary information device is used for acquiring magnetic flux data, and the bluetooth module is in communication connection with the position auxiliary information device.
Preferably, the bluetooth module reads the magnetic flux data of the position assistance information device through I2C communication.
Preferably, the bluetooth module transmits the MAC data and the magnetic flux data to the bluetooth data receiving apparatus through bluetooth broadcasting.
Preferably, the position assistance information device is a geomagnetic sensor.
The invention provides a control method for distinguishing Bluetooth devices based on a geomagnetic sensor, which is used for determining position information of one or more Bluetooth devices, and comprises the following steps: a. acquiring identification information and position auxiliary information of two or more Bluetooth devices; b. determining the relative relation of the actual orientation between each two Bluetooth devices based on the size relation of the position auxiliary information between every two Bluetooth devices; c. the identification information of the bluetooth device corresponding to the actual position of each bluetooth device is determined based on the relative relationship of the actual orientation between each bluetooth device. This patent proposes to increase earth magnetism sensor on bluetooth equipment, and earth magnetism sensor is very sensitive and regular to the direction, can confirm the corresponding relation of the MAC address of current bluetooth equipment and its actual position according to earth magnetism sensor's orientation on the bluetooth equipment, and need not dispose it in advance. When the Bluetooth module is powered on for use for the first time, the correspondence between the MAC address and the actual position is automatically completed, and a foundation is provided for Bluetooth positioning. The invention has simple structure, convenient use, powerful function and extremely high commercial value.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic flowchart illustrating a control method for distinguishing bluetooth devices based on a geomagnetic sensor according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a specific process of acquiring identification information and location assistance information of two or more bluetooth devices according to a first embodiment of the present invention;
fig. 3 is a schematic specific flowchart of determining identification information of bluetooth devices corresponding to actual positions of each bluetooth device based on relative relationships between actual orientations of each bluetooth device according to a second embodiment of the present invention;
FIG. 4 is a graph showing the relative flux change in the X-axis direction for a third embodiment of the present invention;
FIG. 5 is a graph showing the relative flux change in the Y-axis direction for a fourth embodiment of the present invention; and
fig. 6 is a block diagram illustrating a control system for distinguishing bluetooth devices based on a geomagnetic sensor according to another embodiment of the present invention.
Detailed Description
In order to better and clearly show the technical scheme of the invention, the invention is further described with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a control method for distinguishing bluetooth devices based on a geomagnetic sensor according to an embodiment of the present invention, and as shown in fig. 1, the present invention provides a control method for distinguishing bluetooth devices based on a geomagnetic sensor, which is used for determining location information of one or more bluetooth devices, in such an embodiment, the present invention does not know identification information corresponding to bluetooth devices in each azimuth on the premise that a fixed azimuth of each bluetooth device is known in advance, while in the prior art, the bluetooth devices are often configured in advance before being put into normal use in a working area, and the technical problem to be mainly solved in the present invention is how to identify identification information corresponding to each bluetooth device only by the azimuth of each bluetooth device on the premise that the identification information is not configured in advance, while the core of the present invention is based on a geomagnetic sensor to realize this identification, generally speaking, the orientation relationship between the devices is judged according to the magnitude relationship of magnetic flux, and the position and orientation of each bluetooth device, such as the north of the bluetooth at point a and the west of the bluetooth at point B, are predetermined in advance, so that the actual position of the bluetooth is known by obtaining the actual orientation of the bluetooth device, and the device identifier and the device position are corresponding. Specifically, the method comprises the following steps:
firstly, step S101 is entered to obtain identification information and location assistance information of two or more bluetooth devices, in such an embodiment, if there is only one bluetooth device, identification is not required, the unique identification information corresponds to the bluetooth device in the unique direction, and if there are two or more bluetooth devices, identification cannot be performed on the bluetooth device.
Further, the position auxiliary information is identification information capable of identifying the position of the bluetooth device, and is mainly obtained by the position auxiliary device, and further, in the present invention, the position auxiliary information is preferably magnetic flux data, and further, the magnetic flux data at least includes position information and size information, which will be further described in the later-described specific embodiments, and will not be repeated herein.
Then, proceeding to step S102, determining the relative relationship of the actual orientation between each bluetooth device based on the magnitude relationship of the position auxiliary information between two bluetooth devices, in conjunction with the above step S101, the magnitude relationship of the position auxiliary information does not exist independently, but refers to orientation information between each bluetooth device and magnetic flux size information corresponding to the orientation information, in a preferred embodiment, if there are three bluetooth devices, device M, device N and device O, from the location assistance information we can determine the relative orientation between device M and device N and the magnitude of the magnetic flux in such orientation, the relative orientation between device M and device O and the magnitude of the magnetic flux in such orientation, the relative orientation between device N and device O and the magnitude of the magnetic flux in such orientation.
Finally, step S103 is proceeded to determine the identification information of the bluetooth device corresponding to the actual position of each bluetooth device based on the relative relationship of the actual orientation between each bluetooth device, in such an embodiment, assuming that three devices with identification information of S1, S2 and S3 respectively correspond to the device M, the device N and the device O respectively, further, in combination with the preferred embodiment of step S102, the position information of each bluetooth device in the actual orientation is known, the identification information of the device corresponding to the position information of each bluetooth device in the actual orientation can be determined according to the relative orientation relationship of each bluetooth device in the position information of the actual orientation of the bluetooth device and the magnetic flux size information corresponding to the relative orientation relationship, the direction (south-east-west-north-west) obtained according to the magnetic flux data refers to the orientation of the bluetooth device, and the spatial position of the bluetooth device cannot be obtained, Distance to the receiving device, etc.
Fig. 2 is a schematic diagram illustrating a specific process of acquiring identification information and location assistance information of two or more bluetooth devices according to a first embodiment of the present invention, and fig. 2 is a detailed description of step S101, namely how to acquire identification information and location assistance information of two or more bluetooth devices, and further, step S101 includes:
firstly, step S1011 is performed, a spatial rectangular coordinate system is established with any base point as a center, and the embodiment shown in fig. 1 is described by using a planar rectangular coordinate system for convenience of understanding, but in practical applications, devices are often distinguished in space, rather than being located in the same plane.
Then, step S1012 is entered to obtain the identification information of two or more bluetooth devices, and in such an embodiment, through the communication of the bluetooth devices, we can know the identification information of the bluetooth devices in different directions, and the identification information is preferably the MAC addresses of the devices.
Finally, step S1013 is entered, and position auxiliary information of two or more bluetooth devices is obtained, where the position auxiliary information at least includes magnetic fluxes in the directions of the X-axis, the Y-axis and the Z-axis in the spatial rectangular coordinate system, in such an embodiment, in conjunction with step S1012, from step S1012, identification information of two or more bluetooth devices can be determined, and the identification information of the bluetooth devices corresponds to the position auxiliary information of the bluetooth devices, and in such an embodiment, the position auxiliary information of the bluetooth devices is orientation information and magnetic flux information, that is, if there are device a, device b, device c and device d, each device has an orientation and magnetic flux relationship with other devices, for example, we can determine orientation information and magnetic flux information of device a and device b, orientation information of device a and device c, Magnetic flux information, orientation information of the device a and the device d, and similarly, orientation information and magnetic flux information of the device b and the device a, orientation information and magnetic flux information of the device b and the device c, and orientation information and magnetic flux information of the device b and the device d.
Fig. 3 is a schematic specific flowchart of the second embodiment of the present invention, which determines the identification information of the bluetooth device corresponding to the actual location of each bluetooth device based on the relative relationship between the actual orientations of the bluetooth devices, and specifically includes the following steps:
firstly, step S1031 is entered, the actual positions of all bluetooth devices in the space are determined, the actual positions at least include the positions, orientations, and the corresponding relations between the positions and the orientations of the bluetooth devices, and those skilled in the art understand that the actual positions of the bluetooth devices are known information agreed in advance, and further, if there exists one device in the middle, one device in the northwest direction, and one device in the southeast direction, according to the technical scheme of the present invention, it is obtained that the direction information of the three devices is the same as that existing in the actual orientation information, and also the identification information of the three devices is obtained, then we can determine which position of the device corresponding to the identification information of the three devices is in the actual orientation, and further configure the bluetooth devices.
Then, proceeding to step S1032, the actual orientation of each bluetooth device is determined based on the relative relationship between the actual orientations of the bluetooth devices, and those skilled in the art will understand that, in a preferred embodiment, the northeast device is located in the northeast corner of the room, and we have obtained that the orientation of a device is northeast, and will know which device corresponds to the northeast corner. For example, there are three bluetooth devices in the space, which are agreed to have actual orientations of north, east, south, north facing devices at point a, east facing devices at point B, south facing devices at point C, which are agreed in advance, so that the magnitude relationship of the position assistance information is known and fixed (the magnetic flux in the X direction is gradually increased, the magnetic flux in the X direction is south facing the maximum, and so on.
Finally, step S1033 is proceeded, the identification information of the bluetooth device at the actual position corresponding to the actual orientation is determined based on the actual orientation of each bluetooth device, and further, in combination with the embodiments in step S1031 and step S1032, based on the known orientation relationship, the actual orientation (north, east, south) of the bluetooth device can be easily determined according to the magnitude relationship of the position auxiliary information, so as to obtain the position (point A, B, C) of the bluetooth device, and the matching between the device identification information and the actual orientation is completed.
Fig. 4 shows a diagram of the variation of the magnetic flux in the X-axis direction according to the third embodiment of the present invention, and fig. 5 shows a diagram of the variation of the magnetic flux in the Y-axis direction according to the fourth embodiment of the present invention, so that we can know that the magnetic flux has different variations in different axes, and as a preferred embodiment of the present invention, only the X-axis and the Y-axis are needed to determine the mutual orientation of the bluetooth devices, and in other embodiments, the Z-axis can be combined to determine the mutual orientation of the bluetooth devices.
Further, in step S102, the orientation relationship and the size relationship at least include: in the X-axis direction, the magnetic flux change is increased from north to south and clockwise, and is decreased from south to north and clockwise; in the Y-axis direction, the magnetic flux change increases clockwise from west to east and decreases clockwise from east to west.
Those skilled in the art understand that the base point is a bluetooth data receiving device, in such an embodiment, a geomagnetic sensor is added to the bluetooth device, I2C is used for communication and reading magnetic fluxes in three directions of x, y and z, the bluetooth device broadcasts its MAC address and geomagnetic sensor data through bluetooth broadcast, the bluetooth data receiving device scans and stores the information to obtain the values and the relative magnitude relation of the x and y directions of each geomagnetic sensor, the change of the magnetic flux follows a certain rule with the change of the direction, and the relative azimuth relation of each bluetooth device can be obtained by an algorithm according to the magnitude relation of the magnetic flux.
Fig. 6 is a schematic block connection diagram of a control system for distinguishing bluetooth devices based on a geomagnetic sensor according to another embodiment of the present invention, and those skilled in the art will understand that the control system for distinguishing bluetooth devices based on a geomagnetic sensor implements distinguishing of bluetooth devices by using the control methods illustrated in fig. 1 and 2, and includes: two or more than two bluetooth equipment 1 and bluetooth data receiving equipment 2, two or more than two bluetooth equipment 1 with bluetooth data receiving equipment 2 passes through the bluetooth communication and connects, bluetooth equipment 1 can be provided with two or more, and is a plurality of bluetooth equipment 1 communication connection is one bluetooth data receiving equipment.
Further, the bluetooth apparatus 1 at least includes a bluetooth module 11 and a position auxiliary information device 12, the position auxiliary information device 12 is configured to obtain magnetic flux data, the bluetooth module 11 is in communication connection with the position auxiliary information device 12, and the bluetooth module 11 and the position auxiliary information device 12 are disposed in the bluetooth apparatus 1.
Further, the bluetooth module 11 reads the magnetic flux data of the position auxiliary information device 12 through I2C communication, the I2C bus is a simple, bidirectional two-wire system synchronous serial bus, which only needs two wires to transmit information between devices connected to the bus, and is a data transmission mode, and in other embodiments, other transmission modes may be adopted, which do not affect the technical scheme of the present invention, and are not described herein again.
Further, the bluetooth module 11 transmits the MAC data and the magnetic flux data to the bluetooth data receiving apparatus 2 by bluetooth broadcasting, and further, the position assistance information device 2 is a geomagnetic sensor.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A bluetooth device group based on geomagnetic sensor, comprising:
the system comprises three Bluetooth devices;
the Bluetooth device comprises a Bluetooth module and a position auxiliary information device;
the Bluetooth module is used for performing wireless data interaction through Bluetooth;
the position auxiliary information device is used for acquiring magnetic flux data, and the Bluetooth module is in wired communication connection with the position auxiliary information device;
any one of the three Bluetooth devices determines the relative orientation of the other two Bluetooth devices and the magnitude of the magnetic flux in the orientation through the position auxiliary information.
2. The bluetooth device group of claim 1, wherein the bluetooth module reads magnetic flux data in three directions of an X-axis, a Y-axis, and a Z-axis of the position assistance information apparatus through I2C communication.
3. The set of bluetooth devices according to any of claims 1-2, wherein the magnetic flux data comprises at least location information and size information.
4. The bluetooth device group according to any of claims 1-2, wherein the bluetooth module transmits identification information of the bluetooth module and magnetic flux data to the bluetooth data reception device through bluetooth broadcasting.
5. The bluetooth device group of claim 4, wherein the identification information of the bluetooth module is a MAC address of the bluetooth module.
6. The bluetooth device group of claim 2, wherein in the X-axis direction, the magnetic flux variation increases from north to south clockwise and decreases from south to north clockwise; in the Y-axis direction, the magnetic flux change increases clockwise from west to east and decreases clockwise from east to west.
7. The bluetooth device group of claim 1, wherein the position assistance information means is a geomagnetic sensor.
8. The bluetooth device group according to claim 1, wherein the bluetooth data receiving device judges the position and orientation of the bluetooth module by identification information and magnetic flux data transmitted from the bluetooth module.
9. The set of bluetooth devices of claim 1, wherein the three bluetooth devices determine spatial location information and orientation of other bluetooth devices in space by the magnitude of magnetic flux of the other bluetooth devices in space.
10. The set of bluetooth devices of claim 9, wherein the three bluetooth devices determine relative spatial location information and relative orientation of other bluetooth devices in space by the magnitude of the magnetic flux of the other bluetooth devices.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110595966.4A CN113518422A (en) | 2020-01-13 | 2020-01-13 | Bluetooth equipment group based on geomagnetic sensor |
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| CN202110595966.4A CN113518422A (en) | 2020-01-13 | 2020-01-13 | Bluetooth equipment group based on geomagnetic sensor |
| CN202010033780.5A CN111194003B (en) | 2020-01-13 | 2020-01-13 | Control method and system for distinguishing Bluetooth devices based on geomagnetic sensor |
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| CN202010033780.5A Active CN111194003B (en) | 2020-01-13 | 2020-01-13 | Control method and system for distinguishing Bluetooth devices based on geomagnetic sensor |
| CN202110595971.5A Pending CN113301551A (en) | 2020-01-13 | 2020-01-13 | Bluetooth device based on geomagnetic sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8265687B2 (en) * | 2006-03-30 | 2012-09-11 | Kyocera Corporation | Electronic apparatus and control method of same |
| CN102630076A (en) * | 2012-03-20 | 2012-08-08 | 广州市动景计算机科技有限公司 | Display method and system of target position direction pointing information based on electronic compass |
| CN103630873B (en) * | 2013-12-02 | 2018-08-17 | 厦门雅迅网络股份有限公司 | Merge the indoor orientation method in earth's magnetic field and WIFI signal |
| CN104020447A (en) * | 2014-05-27 | 2014-09-03 | 美新半导体（无锡）有限公司 | Indoor combined positioning system and positioning method thereof |
| CN105516887B (en) * | 2014-09-25 | 2019-03-26 | 阿里巴巴集团控股有限公司 | Localization method and its device based on bluetooth |
| CN105451329B (en) * | 2014-09-25 | 2019-04-05 | 华为技术有限公司 | A kind of localization method and electronic equipment |
| KR101645816B1 (en) * | 2014-10-31 | 2016-08-23 | 유영배 | Navigation System By User Identification |
| CN104483658B (en) * | 2014-12-30 | 2016-08-24 | 杭州云象网络技术有限公司 | Based on Wi-Fi and the indoor orientation method in earth's magnetic field |
| WO2016175450A1 (en) * | 2015-04-29 | 2016-11-03 | 삼성전자 주식회사 | Method and system for determining position of mobile electronic device |
| CN105873109B (en) * | 2016-05-26 | 2019-03-08 | Oppo广东移动通信有限公司 | Method for processing network signal and device |
| KR20180045510A (en) * | 2016-10-26 | 2018-05-04 | 삼성에스디에스 주식회사 | Method and apparatus for geomagnetic signal processing |
| CN108668245A (en) * | 2018-04-13 | 2018-10-16 | 哈尔滨工业大学 | A kind of indoor orientation method based on WiFi Yu earth's magnetic field database |
| CN108898881A (en) * | 2018-07-19 | 2018-11-27 | 影动（北京）科技有限公司 | The parking method and geomagnetism detecting equipment monitored based on Bluetooth broadcast and earth magnetism |
| CN110376577B (en) * | 2019-08-01 | 2020-03-13 | 北京市交大路通科技有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
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| CN113301551A (en) | 2021-08-24 |
| CN111194003B (en) | 2021-06-04 |
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Application publication date: 20211019 |