CN116413658B - UWB and BLE combination-based low-power-consumption ranging method - Google Patents
UWB and BLE combination-based low-power-consumption ranging method Download PDFInfo
- Publication number
- CN116413658B CN116413658B CN202310168703.4A CN202310168703A CN116413658B CN 116413658 B CN116413658 B CN 116413658B CN 202310168703 A CN202310168703 A CN 202310168703A CN 116413658 B CN116413658 B CN 116413658B
- Authority
- CN
- China
- Prior art keywords
- ranging
- uwb
- ble
- result
- signal intensity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 238000012935 Averaging Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a low-power-consumption ranging method based on combination of UWB and BLE, which comprises the following steps: s1, after the system is electrified, the system is configured, the ranging time slot and the ranging frequency of UWB are determined, BLE ranges for each time slot, and UWB ranges for N time slots once; s2, UWB and BLE carry out ranging simultaneously, and the UWB ranging result is an initial value of the BLE ranging result before the next UWB ranging; s3, the signal intensity outputted by the BLE through a sliding window average mode is used as a reference signal intensity, and an effective measurement result corresponding to the UWB ranging result is used as a measurement result of the BLE. According to the low-power-consumption ranging method based on the combination of UWB and BLE, the absolute reference distance is provided for BLE through UWB through the combination of UWB and BLE, so that the purpose of BLE calibration is achieved, the problem that BLE ranging accuracy is greatly influenced by environmental changes is solved, the high UWB ranging accuracy and the low BLE power consumption are fully utilized, and the high-frequency high-accuracy low-power-consumption ranging method is obtained.
Description
Technical Field
The invention relates to the technical field of communication positioning, in particular to a low-power-consumption ranging method based on combination of UWB and BLE.
Background
At present, an outdoor positioning technology based on GNSS is relatively mature, but in the indoor, satellite signals are easily shielded, normal positioning service cannot be completed, and positioning accuracy cannot meet service requirements. In recent years, the demand for high-precision positioning services is increasing, and 70% -80% of activities of people are counted to occur indoors, so that the indoor positioning technology is of great significance.
Different positioning techniques have also been developed based on different requirements. Such as infrared, radio frequency identification, ultrasound, WIFI, bluetooth, zigbee, visual positioning, UWB, etc., each of which has various features. In order to meet specific application requirements, two technologies are often combined to achieve the purpose of complementary advantages. For example, the positioning accuracy requirements are not particularly high in some cases, but low power consumption is required, and the measurement environment is complex and variable. If bluetooth low energy is used, although the purpose of low power consumption is achieved, the ranging result becomes unstable and unreliable as the measuring environment changes and the measuring terminal changes. If the aim of reliable ranging is to be achieved, the system is frequently calibrated, which becomes complicated in practical implementation. If UWB technology is used, precision and stability can be well guaranteed, but the power consumption is relatively high, and the requirement of low power consumption is difficult to meet at present.
The above problems are readily resolved if low power consumption of BLE technology is utilized, and high accuracy and high stability of UWB technology is utilized.
Disclosure of Invention
The invention aims to provide a low-power-consumption ranging method based on the combination of UWB and BLE, which aims to calibrate BLE by providing absolute reference distance for BLE through UWB by combining UWB and BLE, solve the problem that BLE ranging accuracy is greatly influenced by environmental change, fully utilize high UWB ranging accuracy and low BLE power consumption, and obtain a ranging method with high frequency, high accuracy and low power consumption.
In order to achieve the above purpose, the present invention provides a low power consumption ranging method based on the combination of UWB and BLE, comprising the steps of:
s1, after the system is electrified, the system is configured, the ranging time slot and the ranging frequency of UWB are determined, BLE ranges for each time slot, and UWB ranges for N time slots once;
s2, UWB and BLE carry out ranging simultaneously, and the UWB ranging result is an initial value of the BLE ranging result before the next UWB ranging;
s3, the signal intensity outputted by the BLE in a sliding window average mode is used as a reference signal intensity, and an effective measurement result corresponding to the UWB ranging result is used as a measurement result of the BLE;
s4, before the next UWB ranging, BLE ranging is carried out according to the set frequency, the change of the effective signal intensity is converted into the change of the distance, and an absolute ranging result is obtained according to the ranging initial value provided by UWB;
s5, after N times of Bluetooth ranging, UWB and BLE simultaneously perform ranging again until UWB ranging time, and the BLE ranging initial value and the reference energy value are updated;
s6, repeating the steps S2 to S4 until UWB and BLE are matched to provide a high-frequency and high-precision ranging result.
Preferably, in step S3, the method of outputting the signal strength of BLE by means of sliding window averaging is as follows:
wherein P is meas (n) measuring signal intensity for nth output, P BLE(m) The signal intensity is measured for the mth output of Bluetooth, M is the window size of a sliding window;
in addition, the first effective measurement result is that the signal intensity of BLE is obtained to the measurement output by first filling the sliding window.
Preferably, in step S4, the method of converting the change in signal intensity into the change in distance is as follows:
wherein delta d D for distance variation by signal intensity conversion init Ranging initial value, P, provided for UWB ref Is a BLE effective measurement corresponding to the UWB output;
according to the ranging initial value provided by UWB, obtaining absolute ranging result, the method is as follows:
d meas ＝d init +δ d
wherein d meas Is the absolute ranging result.
Preferably, N in step S1 and step S5 are natural numbers greater than 3
Therefore, the invention adopts the low-power-consumption ranging method based on the combination of UWB and BLE, and has the following technical effects:
(1) Compared with BLE ranging, the method does not need frequent calibration, and can provide ranging results with higher BLE ranging accuracy and stability;
(2) Compared with UWB ranging, the power consumption of the method is far lower than that of UWB ranging alone;
(3) The method can dynamically control between precision and power consumption, can improve the ranging frequency of UWB in the scene with high precision requirement, improve the ranging precision, can reduce the ranging frequency of UWB in the scene with low precision requirement, and reduce the ranging power consumption.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Fig. 1 is a schematic diagram of a ranging procedure of a low-power ranging method based on the combination of UWB and BLE according to the present invention;
fig. 2 is a system processing flow chart of a low power ranging method based on UWB and BLE combination in accordance with the present invention;
fig. 3 is a schematic diagram of a UWB DS-TWR ranging process based on a low power ranging method combining UWB and BLE according to the present invention.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art. Such other embodiments are also within the scope of the present invention.
It should also be understood that the above-mentioned embodiments are only for explaining the present invention, the protection scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the protection scope of the present invention by equally replacing or changing the technical scheme and the inventive concept thereof within the scope of the present invention.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be considered part of the specification where appropriate.
The disclosures of the prior art documents cited in the present specification are incorporated by reference in their entirety into the present invention and are therefore part of the present disclosure.
Example 1
A low-power-consumption ranging method based on combination of UWB and BLE. Fig. 1 is a schematic diagram of a ranging procedure of an embodiment of a low power ranging method based on UWB and BLE combination.
The ranging result of the method is divided into three stages:
(1) An initialization stage: the base station configures a ranging tag by broadcasting a BLE signal;
(2) And (3) system calibration: the UWB base station simultaneously transmits BLE and UWB signals, the tag and the base station obtain a UWB Ranging result through a Double Side Ranging method (DSTWR), and the BLE signal intensity corresponding to the UWB Ranging result is obtained through multiple times of receiving the BLE signals;
(3) BLE ranging: the tag continuously receives the BLE signal, continuously outputs a received signal strength value by summing and averaging the values within a window, and converts the received signal strength value into a ranging result.
The process flow of each step of this embodiment is shown in fig. 2, and includes 6 steps:
s201: after the system is electrified, the system is configured, the ranging time slot and the ranging frequency of UWB are determined, BLE ranges for each time slot, and UWB ranges for one time for N (N is a natural number greater than 3);
the system is configured, and the base station broadcasts the system in a BLE communication mode, so as to tell the basic configuration and communication mode of mobile tag ranging;
wherein the ranging slot is the length of time occupied by a single communication, and therefore the ranging slot must be greater than the sum of the maximum duration and the processing duration of the single communication.
S202: UWB and BLE carry on the range finding at the same time, UWB range finding result is the initial value of BLE range finding result before UWB range finding next time;
the UWB and BLE perform ranging simultaneously, which means that the UWB and BLE can communicate simultaneously in the same ranging time slot;
UWB ranging is obtained by means of DS-TWR, as shown in figure 3, at least 3 ranging time slots are needed to obtain a UWB ranging result;
the specific method of DS-TWR used for UWB ranging is as follows:
wherein T is round1 ＝t 4 -t 1 ，T round2 ＝t 6 -t 3 ，T reply1 ＝t 3 -t 2 ，T reply2 ＝t 5 -t 4 ，t 1 、t 2 、t 3 、t 4 、t 5 、t 6 As shown in fig. 3.
t 1 For the time t of transmitting by the first time slot base station in UWB one-time ranging 2 For the first time slot label receiving time t in UWB one-time distance measurement 3 For the second time slot label transmitting time t in UWB one-time distance measurement 4 For the second time slot base station receiving time t in UWB one-time distance measurement 5 For the third time slot base station transmitting time, t in UWB one-time ranging 6 The third time slot tag in the one-time ranging for UWB receives time.
The ranging result is obtained by means of DS-TWR each time UWB is measured.
S203: the signal intensity of BLE output through the way of sliding window average, the effective measurement result corresponding to UWB ranging result is regarded as the reference signal intensity, later regarded as the measurement result of BLE;
the mobile tag receives BLE signals sent by the base station each time, extracts the received signal strength, fills the received signal strength into a sliding window for calculation, and outputs a calculation result which is an effective measurement result after the sliding window is filled;
the method of outputting signal intensity by sliding window averaging is as follows:
wherein P is meas (n) measuring signal intensity for nth output, P BLE(m) The signal intensity is measured for the mth output of Bluetooth, M is the window size of a sliding window;
reference signal strength P ref Outputting the effective signal strength of BLE output or the first effective signal strength of BLE output for the same time slot of the ranging result for UWB;
the update frequency of the reference signal strength is the same as the update frequency of the UWB ranging result.
S204: before the next UWB ranging, BLE ranges according to the set frequency, the change of effective signal intensity is converted into the change of distance, and an absolute ranging result is obtained according to the ranging initial value provided by UWB;
in the ranging process, each ranging time slot, the mobile tag receives BLE signals transmitted by the base station and calculates the effective signal strength P according to the received strength value meas ；
By the effective signal intensity P meas With reference signal strength P ref Comparing to obtain the change delta P of the signal intensity;
initial value d provided by using calculated signal strength variation deltaP and UWB ranging init The change of the current ranging result relative to UWB ranging can be obtained by the following method
Wherein delta d Distance change by signal intensity conversion.
According to the ranging initial value provided by UWB, obtaining absolute ranging result, the method is as follows:
d meas ＝d init +δ d
wherein d meas Is the absolute ranging result.
S205: after N times of Bluetooth ranging (N is a natural number larger than 3), UWB and BLE range again and simultaneously range up to UWB ranging time, and the BLE ranging initial value and the reference energy value are updated;
when reaching the next UWB ranging, the system will update the reference initial value d of the next BLE ranging with the new UWB ranging result init Simultaneously updating the reference signal strength P ref 。
S206: steps S202-S206 are repeated until UWB cooperates with BLE to provide a high frequency, high accuracy ranging result.
Therefore, the invention adopts the low-power-consumption ranging method based on the combination of UWB and BLE, and compared with BLE ranging, the method does not need frequent calibration and can provide ranging results with higher accuracy and stability than BLE ranging; compared with UWB ranging, the power consumption of the method is far lower than that of UWB ranging alone; the method can dynamically control between precision and power consumption, can improve the ranging frequency of UWB in the scene with high precision requirement, improve the ranging precision, can reduce the ranging frequency of UWB in the scene with low precision requirement, and reduce the ranging power consumption.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (3)
1. The low-power-consumption ranging method based on the combination of UWB and BLE is characterized in that: the method comprises the following steps:
s1, after the system is electrified, the system is configured, the ranging time slot and the ranging frequency of UWB are determined, BLE ranges for each time slot, and UWB ranges for N time slots once;
s2, UWB and BLE carry out ranging simultaneously, and the UWB ranging result is an initial value of the BLE ranging result before the next UWB ranging;
s3, the signal intensity outputted by the BLE in a sliding window average mode is used as a reference signal intensity, and an effective measurement result corresponding to the UWB ranging result is used as a measurement result of the BLE;
the method of signal strength output by BLE through sliding window averaging is as follows:
wherein P is meas (n) measuring signal intensity for nth output, P BLE(m) The signal intensity is measured for the mth output of Bluetooth, M is the window size of a sliding window;
in addition, the signal intensity of BLE is obtained from the first effective measurement result to the measurement output by the first filling of the sliding window;
s4, before the next UWB ranging, BLE ranging is carried out according to the set frequency, the change of the effective signal intensity is converted into the change of the distance, and an absolute ranging result is obtained according to the ranging initial value provided by UWB;
s5, after N times of Bluetooth ranging, UWB and BLE simultaneously perform ranging again until UWB ranging time, and the BLE ranging initial value and the reference energy value are updated;
s6, repeating the steps S2 to S4 until UWB and BLE are matched to provide a high-frequency and high-precision ranging result.
2. The low power ranging method based on combination of UWB and BLE according to claim 1, wherein: in step S4, the method of converting the change in signal intensity into the change in distance is as follows:
wherein delta d D for distance variation by signal intensity conversion init Ranging initial value, P, provided for UWB ref Is a BLE effective measurement corresponding to the UWB output;
according to the ranging initial value provided by UWB, obtaining absolute ranging result, the method is as follows:
d meas ＝d init +δ d
wherein d meas Is the absolute ranging result.
3. The low power ranging method based on combination of UWB and BLE according to claim 1, wherein: n in step S1 and step S5 is a natural number greater than 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310168703.4A CN116413658B (en) | 2023-02-27 | 2023-02-27 | UWB and BLE combination-based low-power-consumption ranging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310168703.4A CN116413658B (en) | 2023-02-27 | 2023-02-27 | UWB and BLE combination-based low-power-consumption ranging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116413658A CN116413658A (en) | 2023-07-11 |
| CN116413658B true CN116413658B (en) | 2023-12-05 |
Family
ID=87058855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310168703.4A Active CN116413658B (en) | 2023-02-27 | 2023-02-27 | UWB and BLE combination-based low-power-consumption ranging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116413658B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117135568B (en) * | 2023-08-31 | 2024-02-09 | 青岛柯锐思德电子科技有限公司 | UWB wireless earphone pose sensing measurement method based on single base station |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102680941A (en) * | 2012-06-01 | 2012-09-19 | 中国矿业大学(北京) | Method and system for ultra wide band positioning in coal mine |
| CN105911578A (en) * | 2016-06-02 | 2016-08-31 | 武汉慧联无限科技有限公司 | Ultra-low power consumption indoor and outdoor hybrid positioning system |
| CN110045324A (en) * | 2019-04-19 | 2019-07-23 | 北京理工大学 | A kind of indoor positioning fusion method based on UWB and Bluetooth technology |
| CN111142094A (en) * | 2020-01-03 | 2020-05-12 | 广州亚美智造科技有限公司 | Multi-tag ranging method and system based on UWB ranging technology |
| WO2020230993A1 (en) * | 2019-05-14 | 2020-11-19 | 삼성전자주식회사 | Electronic device for performing ranging through uwb, and operation method for electronic device |
| CN115201750A (en) * | 2022-06-13 | 2022-10-18 | 中国人民解放军国防科技大学 | Ultra-wideband positioning system NLOS identification method |
| CN115407379A (en) * | 2022-08-29 | 2022-11-29 | 东南大学 | Ambiguity resolution method based on pseudo satellite and UWB fusion positioning system |
| CN115706592A (en) * | 2021-08-16 | 2023-02-17 | 恩智浦有限公司 | Ultra-wideband distance determination with interference compensation based on angle of arrival |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170123045A1 (en) * | 2015-10-29 | 2017-05-04 | Industrial Bank Of Korea | Mobile apparatus for measuring relative location based on uwb and method thereof |
| US11815616B2 (en) * | 2020-11-02 | 2023-11-14 | Apple Inc. | Announcing UWB / NBA-UWB-MMS ranging rounds via narrowband-based advertisements |
-
2023
- 2023-02-27 CN CN202310168703.4A patent/CN116413658B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102680941A (en) * | 2012-06-01 | 2012-09-19 | 中国矿业大学(北京) | Method and system for ultra wide band positioning in coal mine |
| CN105911578A (en) * | 2016-06-02 | 2016-08-31 | 武汉慧联无限科技有限公司 | Ultra-low power consumption indoor and outdoor hybrid positioning system |
| CN110045324A (en) * | 2019-04-19 | 2019-07-23 | 北京理工大学 | A kind of indoor positioning fusion method based on UWB and Bluetooth technology |
| WO2020230993A1 (en) * | 2019-05-14 | 2020-11-19 | 삼성전자주식회사 | Electronic device for performing ranging through uwb, and operation method for electronic device |
| CN113826026A (en) * | 2019-05-14 | 2021-12-21 | 三星电子株式会社 | Electronic device for performing ranging by UWB and operating method for electronic device |
| CN111142094A (en) * | 2020-01-03 | 2020-05-12 | 广州亚美智造科技有限公司 | Multi-tag ranging method and system based on UWB ranging technology |
| CN115706592A (en) * | 2021-08-16 | 2023-02-17 | 恩智浦有限公司 | Ultra-wideband distance determination with interference compensation based on angle of arrival |
| CN115201750A (en) * | 2022-06-13 | 2022-10-18 | 中国人民解放军国防科技大学 | Ultra-wideband positioning system NLOS identification method |
| CN115407379A (en) * | 2022-08-29 | 2022-11-29 | 东南大学 | Ambiguity resolution method based on pseudo satellite and UWB fusion positioning system |
Non-Patent Citations (2)
| Title |
|---|
| 低辐射超宽带雷达的室内人员边缘检测系统;鲍润晗等;单片机与嵌入式系统应用;第21卷(第4期);第71-75、80页 * |
| 脉冲超宽带定位单元设计及应用测试;韦子辉;冯正和;王志峰;孙少欣;;电视技术(第23期);第60-63页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116413658A (en) | 2023-07-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116413658B (en) | UWB and BLE combination-based low-power-consumption ranging method | |
| CN108089204B (en) | High-precision area positioning and navigation system and method for foundation | |
| Van Herbruggen et al. | Wi-pos: A low-cost, open source ultra-wideband (UWB) hardware platform with long range sub-GHZ backbone | |
| CN108024329A (en) | A kind of more base station extended methods self-positioning based on UWB labels and equipment | |
| EP1683285A2 (en) | Self calibration of signal strength location system | |
| CN101282577B (en) | Method for eliminating NLOS positioning error based on Ad-hoc network technique | |
| CN101466070A (en) | Wireless indoor orientation method based on automatic learning of wireless signal acceptance strength distribution | |
| Zhang et al. | PSR J1926-0652: a pulsar with interesting emission properties discovered at FAST | |
| EP3270111A1 (en) | A method and a system for test and calibration of wireless consumption meters | |
| CN102149178A (en) | Method and device for compensating temperature of mobile terminal power | |
| CN105009456A (en) | Method and apparatus for closed loop control of supply and/or comparator common mode voltage in a successive approximation register analog to digital converter | |
| CN102725648A (en) | Apparatus and method for determining a correspondence of a position with a reference position | |
| CN109361390A (en) | For sampling time error correction module and method between time-interleaved ADC channel | |
| CN102404834B (en) | Method for calibrating transmitting power of nonlinear power amplifying system | |
| CN113747360A (en) | Indoor positioning method based on mixed visible light and BLE | |
| CN104717747A (en) | Moving coordinate accurate locating system | |
| Shang et al. | The CALIBRATION of the 35–40 GHz solar radio spectrometer with the new moon and a noise source | |
| CN101471726A (en) | Digitalized automatic frequency correction method based on true frequency reference signal | |
| CN101127574B (en) | A line loss measurement method based on measurement value of mobile phone receiving signal intensity | |
| CN105979581B (en) | A kind of indoor orientation method based on difference power | |
| CN104036136A (en) | Close-range precise positioning method based on RSSI (Received Signal Strength Indication) | |
| CN104090984A (en) | Design method for heterogeneous fingerprint database used for indoor positioning | |
| Wendt et al. | Wake-up methods to extend battery life time of wireless sensor nodes | |
| CN114689056B (en) | Accurate ranging method based on UWB SS-TWR | |
| CN215986510U (en) | Five-position ten-channel virtual satellite generating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |