CN202121780U - Active node positioning tracking system under linear environment - Google Patents
Active node positioning tracking system under linear environment Download PDFInfo
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- CN202121780U CN202121780U CN 201020692555 CN201020692555U CN202121780U CN 202121780 U CN202121780 U CN 202121780U CN 201020692555 CN201020692555 CN 201020692555 CN 201020692555 U CN201020692555 U CN 201020692555U CN 202121780 U CN202121780 U CN 202121780U
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Abstract
The utility model discloses an active node positioning tracking system under linear environment, comprising a wireless access point, positioning labels and a server communicated with the wireless access point, wherein the positioning labels serving as the active node move in a linear area of the linear environment and send explore frame data periodically, the wireless access point serving as an anchor node is distributed at a fixed position in the linear environment and is used for capturing the explore frame data sent by the positioning labels, calculating RSSI information of the positioning labels according to the captured explore frame data and assembling the RSSI information of the positioning labels into a data package and directly sending the data package to a server via a multi-hop wireless route or a wired network, and the server integrates and processes the RSSI information of the positioning labels and obtaining the real-time position of each positioning label according to the RSSI information of all the positioning labels. The positioning system is accurate, reliable and stable in positioning positions.
Description
Technical field
The present invention relates to a kind of mobile node positioning and tracing method; Relate in particular to a kind of WIFI wireless network based on receiving signal strength signal intensity (Received Signal Strength Indicator; RSSI) the node locating tracking under the linear environment belongs to technical field of telecommunications.
Background technology
In the WIFI wireless network; Usually WIFI access point (the Access Point that comprises some; The AP node), because these AP nodes are immovable, therefore generally be regarded as these AP nodes the anchor node (stationary nodes) of the fixed position of known self physical location information.In order to realize location, require each personnel to carry a positioning label, so because moving of personnel can be regarded as mobile node to each positioning label to personnel.Generally in order to be considered to this factor, the positioning label of employing only has the ability of cycle transmission explore frame, and does not have the function of sending the self-defining data frame.
There are a lot of environment all can be approximately linear environment in the reality, highway system for example, the tunnel under the mine.Need navigate to positioning label certain position on the concrete line segment under the linear environment positioning label only being positioned, and need not navigate to the position outside the non-line segment.The linear environment among Fig. 1 for example, positioning label only can be at line segment AB, and AC and AD go up movable; Can't be at other regional activities outside these three line segments; Therefore the location positioning that can confirm positioning label on AC and the AD, and need not consider to be positioned at three places outside the line segment at line segment AB.The environment that has predetermined line segment like this is called linear environment, and these line segments are called the range of linearity of linear environment.There is the application scenarios of a lot of reality can abstractly be linear environment, the for example tunnel under highway system, the mine, the corridor in the building or the like in the reality.Lack under this linear environment Precise Position System and localization method thereof in the prior art to active node.
Summary of the invention
The object of the invention is exactly for the location tracking problem under the linear environment, has designed one to mobile object effective positioning and tracing method when between a plurality of ranges of linearity, moving.
Active node locating and tracking system under a kind of linear environment; It is characterized in that said system comprise WAP, positioning label and with the server of WAP communication; Said positioning label is movable in the range of linearity of linear environment as active node, is used for periodically sending the explore frame data; Said WAP is deployed to ensure effective monitoring and control of illegal activities in linear environment internal fixation position as anchor node; Be used to catch the explore frame data that positioning label sends; The RSSI information of coming the compute location label according to the explore frame data that capture, and the RSSI information sets of positioning label is dressed up packet directly be sent to server through multi-hop wireless route or cable network; Server is used to integrate the RSSI information of all positioning labels, and according to the real time position of each positioning label of RSSI information acquisition of all positioning labels.
Preferably, cycle the giving out a contract for a project the cycle that give out a contract for a project of said WAP greater than positioning label; The locating periodically of said server is given out a contract for a project the cycle greater than WAP.
Preferably, said server comprises accepts module, memory module, locating module, stable module, and the said module of accepting is used to receive WAP data sent package informatin, and offers the memory module storage; Said locating module reads WAP data sent package informatin and resolves, confirms the range of linearity and the positioning label of the positioning label exact position in the range of linearity; Said stable module is used for confirming the back positioning label when locating module and carries out stabilized treatment when producing chattering in the position of the range of linearity.
The present invention also provides active node positioning and tracing method under a kind of linear environment, it is characterized in that said method comprising the steps of:
(1) positioning label as active node periodically sends the explore frame data;
(2) accept the explore frame data that positioning label sends as the WAP of anchor node; The RSSI information of coming the compute location label according to the explore frame data that receive, and the RSSI information sets of positioning label is dressed up packet directly be sent to server through multi-hop wireless route or cable network;
(3) Server Consolidation is handled the RSSI information of all positioning labels, and according to the real time position of each positioning label of RSSI information acquisition of all positioning labels.
Preferably; The middle WAP of said method step (2) is constructed two-dimensional array AP [Size] [2] in advance and is used for the explore frame data that the store location label sends; Wherein Size representes the number of the positioning label that WAP is received; The MAC Address of AP [Size] [0] store location label, the RSSI information of the corresponding positioning label that the explore frame data that AP [Size] [1] storage WAP basis captures obtain.
Preferably; The two-dimensional array Mobile [nAP] [2] that the middle server of said method step (3) is constructed positioning label in advance stores the RSSI value that calculates for identical positioning label different radio access point; Wherein the nAP representative has the number of the WAP of this positioning label RSSI value information; The logical address of Mobile [nAP] [0] storage WAP, the RSSI value of the corresponding positioning label of Mobile [nAP] [2] storage WAP storage.
Preferably, the server locating module carries out the domestic range of linearity judgement of linear loop according to the RSSI value among the Mobile [nAP] [2] of positioning label in the said method step (3).
Preferably, said range of linearity determining step comprises:
A) when the WAP of maximum RSSI value during more than or equal to preset constant MR, the location positioning of positioning label is in the position of this WAP; Otherwise the average RSSI value of the range of linearity is calculated in the range of linearity that construction set LR storage has the RSSI value of two effective WAPs, carries out B) the step judgement;
B) only have a range of linearity when gathering LR, then this range of linearity is the range of linearity that needs the positioning label place of location; Otherwise seek maximum range of linearity FMRegion of average RSSI value and the average second largest range of linearity SMRegion of RSSI value, carry out C) the step judgement;
C) if the average RSSI in two zones greater than predetermined threshold value, the range of linearity that the maximum range of linearity FMRegion of then average RSSI value belongs to for the positioning label that needs the location; Otherwise give up current location (coming to nothing in promptly current location).
Preferably, said server locating module obtains localization step in the laggard line linearity zone, the range of linearity at positioning label place; The location may further comprise the steps in the said range of linearity:
1) forms the location line segment to dividing between the adjacent WAP in the range of linearity at positioning label place;
2) threshold value of the difference of the RSSI value through adjacent WAP and location line segment Internally fixed node point difference carries out accurately confirming the exact position between adjacent WAP that positioning label belongs to.
Preferably; Said server comprises that also locating module accurately locatees the back and come the level and smooth pinpoint result of demonstration through stable module; Said stable module is kept a positioning result formation for each positioning label, when the positioning result that produces a specific label, at first judges whether it is for the first time to this positioning label location; If then return this positioning result; Otherwise this positioning result is pressed into formation, and judges whether the number of elements of this formation is 3, if not then positioning label does not move; And, judge then whether these three positioning results have one not make the result of position or exist a positioning result identical with current positioning label position if three elements are arranged, if then current position location is constant; Otherwise the location positioning of the positioning label position of positioning result the last time.
Navigation system of the present invention can be applied to linear environment such as highway, tunnel, corridor etc.When positioning label moves on each line segment of linear environment; To periodically send detection packet information; Be positioned near the WAP (being the AP node) of this positioning label and then can receive these detection packet; Thereby calculate corresponding RSSI information according to the detection packet that receives; And a plurality of RSSI information sets with respect to each mobile tag that will receive dress up a packet and directly are sent to server through multi-hop wireless route or cable network, are integrated with respect to relevant RSSI information in each AP packet of each mobile tag by server, and calculate the real time position of each positioning label according to these information.
Because under actual environment, the RSSI value is extremely unsettled, promptly RSSI value fluctuation (Fluctuate) is bigger.Follow the tracks of if directly be used for the location of moving target, the tracking error of gained is bigger.To the inherent characteristics of linear environment, the present invention adopts and confirms the residing range of linearity of mobile node through RSSI information earlier, utilizes the RSSI information of the anchor node at two ends, the range of linearity to realize the accurate location to mobile node again.Because the extremely unsteadiness of RSSI value; To may different (but all satisfying positioning accuracy) at the positioning result of two groups of RSSI values of priority of the positioning label of same position; If all directly be shown on the interface result of twice of front and back; Then chattering can take place, so the present invention provides also a kind of simple antihunt means to come smoothly to fall these chatterings.The present invention's continuous running fix label in display module in addition, thus make the client think that positioning label is to move continuously, and be not to move to another point from any suddenly; And utilize coordinate transform that final result is presented on the screen accurately.
In addition, distinguish each AP node and positioning label for unique mark, the present invention has selected the MAC Address of positioning label and AP to accord with as physical markings.In order to distinguish the AP node and the positioning label of layout; The present invention has created some configuration files at server end; Store the relevant information of existing AP node of this system and positioning label, and all be mapped as the simplicity that a logic shaping ID reaches expression to their MAC Address.Simultaneously, more used threshold values of some location algorithms and the used system parameters of system have also been deposited in the configuration file.In real system, the present invention has designed a configuration software and has accomplished the generation of most of configuration file, thereby has improved the simplicity that the client writes configuration file greatly.
The present invention is based on the WIFI wireless network positioning and tracing method of RSSI; Wherein: by positioning label (mobile node) emission detection frame information; Calculate corresponding RSSI information by AP node (anchor node) according to the corresponding explore frame that receives then and with the fixed cycle with these RSSI information uploadings to server, mobile tag is positioned according to these RSSI values by server subsequently and shows.And be directed to special linear environment, the present invention proposes range of linearity judge with the range of linearity in localization method, and the antihunt means of having transplanted a node smoothly fall the chattering in the demonstration.
Concrete, carrying out preliminary treatment earlier, the application configuration file is created the AP node that belongs to this system, and the configuration file of the relevant information of the range of linearity on the map is tested some fixing threshold values; Position according to following steps then
The corresponding dynamic augmentation RSSI value array AP [Size] [2] of step 2, structure positioning label and AP; Wherein Size representes the number of the positioning label that this AP node is received; The MAC Address of AP [Size] [0] store location label, AP [Size] [1] stores corresponding RSSI information.Each AP node is collected explore frame, just calculates corresponding RSSI value, and is updated to this value among the array AP [Size] [2].Notice that each AP only preserves Max the maximum pairing positioning label of RSSI information, promptly satisfy Size＜=Max, and for outside less RSSI information, will give up.The AP node is also packed the MAC Address of oneself with certain cycle (being greater than giving out a contract for a project the cycle of positioning label) and is sent to server with corresponding AP [Size] [2] array;
The packet of each AP that step 3, server parses are received; And integrate with respect to the RSSI information in each AP packet of each mobile tag; Just upgrade the peculiar array Mobile [nAP] [2] of each positioning label; Wherein the nAP representative has the number of the AP node of this positioning label RSSI value information, the logical address of the corresponding AP node of Mobile [nAP] [0] storage, and Mobile [nAP] [2] stores corresponding RSSI value.Notice that each positioning label all only preserves the maximum pairing AP node of nAPMAX RSSI information, should satisfy nAP＜=nAPMAX, and for outside less RSSI information will give up.Server whenever will send to the server locating module to peculiar array Mobile [nAP] [2] information of each positioning label at a distance from a fixing cycle (this cycle is greater than giving out a contract for a project the cycle of AP node), clear out the peculiar dope vector of each positioning label subsequently;
Step 4, server locating module position this label according to the peculiar array Mobile [nAP] [2] of each positioning label.The AP node of supposing to have maximum RSSI value is AP1.Whether the RSSI value that at first will judge AP1 is more than or equal to constant MR, if then locating module is positioned at this positioning label at the AP node place that has maximum RSSI value.Otherwise; Utilize in this array other information to come determinating area, at first create a set LR and store the range of linearity of RSSI value, and calculate the average RSSI value of this range of linearity simultaneously with two effective AP; If LR only comprises a range of linearity, then return this range of linearity; Have the maximum on average regional FMRegion of RSSI value and the region S MRegion of second largest average RSSI value otherwise search; If the average RSSI in two zones is greater than threshold value δ (δ is 2 in the system); Return area FMRegion then; Think that otherwise there is mistake in this dope vector, give up current location, this part is called to be judged the range of linearity of positioning label.Suppose finally to judge positioning label on the range of linearity between AP1 and the AP2, will judge this positioning label subsequently specifically on that particular location of line segment, this part is called location in the range of linearity.In the position fixing process, the present invention is divided into fixing several sections to this line segment in the range of linearity, marks off some concrete districts then, subsequently this positioning label is positioned at the centre (except the zone of AP place end points) in this district.The location hop count of supposing this line segment is 3, can be divided into as shown in Figure 2 three sections, and wherein AP1-A is one section, and A is one section to B, and B is another section to AP2.Then, the present invention is divided into four districts to this range of linearity.The present invention subsequently calculates the difference d of the corresponding RSSI value of AP1 between the corresponding RSSI of AP2; And (be respectively d1 through threshold value with known 1,2,3 loca differences; D2 and d3) compare the residing zone of decision node; If d＞=d1, then node has been fallen in location process in the scope in 0 district, can location node be positioned at the position at AP1 place in theory; If d1＞d＞=d2, then node has been fallen in location process in the scope in 1 district, can be positioned at the position that A is ordered in theory; If d2＞d＞=d3, then node has been fallen in location process in the scope in 2 districts, can be positioned at the position that B is ordered in theory; If d＜d3, then node has been fallen in location process in the scope in 3 districts, can location node be positioned at the position at AP2 place in theory.Can find out like this if when the location hop count promotes; The location worst error can reduce; But the chattering behind the location can be more serious; This will look the numerical value that actual situation feels to locate hop count, and main reference factor is the influence of the concrete environment of distance and location between per two AP to the RSSI value.
Step 5, the present invention's discovery in reality, chattering only can be carried out between nigh several anchor points.For example in Fig. 2,, can be positioned at the A place to this positioning label in most cases, but, will produce the chattering in the demonstration like this because the extremely instability of RSSI value also can be positioned at the B place to this positioning label once in a while if mobile tag fixedly is placed at 2 and locates.Therefore the present invention will transplant in the past towards the stabiliser achievement of radio sensing network and solve this type problem, adopt the motionless method of trying one's best to come level and smooth jump exactly.Each positioning label is kept a positioning result formation.When the positioning result that produces a specific label, at first judge whether it is for the first time to this tag location, if then return this positioning result; Otherwise this positioning result is pressed into formation, and the number of elements of judging this formation whether be 3 if not, return null, just the specific bit label does not move.And, judge then whether these three positioning results have one not make the result of position or exist a positioning result identical with current positioning label position if three elements are arranged, if then current position location is constant; Otherwise the location positioning of the positioning label position of positioning result the last time.
Step 6: deposit relevant information in database.
With respect to scheme of the prior art, advantage of the present invention is:
The pattern of giving out a contract for a project: by positioning label (mobile node) with fixing periodic broadcasting detection information; Change traditional AP node (anchor node) and send out the pattern of explore frame; But so only needing the cycle of using to send out the positioning label of establishing detection packet gets final product; Do not need the programmability of label and the function of sending the self-defining data bag, thereby greatly reduce the cost of system.
The range of linearity is judged: only consider earlier whether positioning label is very near apart from certain AP node, and whether promptly maximum RSSI value is greater than certain threshold value; Judge the final range of linearity according to each zone leveling RSSI value subsequently.The error probability of final area result of determination is very little.
Location in the range of linearity: be divided into several sub-districts to whole line segment; With cross the difference adopt two AP end points RSSI values in this zone with each section threshold value relatively come to confirm the residing concrete sub-district of node, thereby with the mid point (zone location at two ends at AP node place) of final location positioning in each sub-district.But so just reduced the number of anchor point on the line segment, thereby made final positioning result more stable.
In sum, the present invention is particularly suitable for the location of moving target under linear environment and follows the tracks of application, like the roadway system under the mine, and highway system, the corridor system of office building etc.This shows that the present invention has expanded the space for the technological progress of this area, implementation result is good.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further described:
Fig. 1 is the sketch map of linear environment;
Fig. 2 is the schematic diagram of location in the range of linearity;
Fig. 3 is the system architecture diagram of active node locating and tracking system under the linear environment of the present invention;
Fig. 4 is that positioning section is divided diagram in the embodiment of the invention range of linearity;
Fig. 5 is that positioning result is showed in the embodiment of the invention embodiment.
Embodiment
Below in conjunction with specific embodiment such scheme is further specified.Should be understood that these embodiment are used to the present invention is described and are not limited to limit scope of the present invention.The implementation condition that adopts among the embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in the normal experiment.
Embodiment
As shown in Figure 3, this embodiment provides the linear environment of a kind of WIFI wireless network to move down moving member's locating and tracking system, at first by positioning label so that the cycle (being set to 300ms in the system) is sent detection packet faster.Then, when the AP node is collected this explore frame, just calculate corresponding RSSI value, and be updated to the MAC Address of this positioning label and corresponding RSSI value among the dynamic augmentation array AP [Size] [2].Notice that each AP only preserves Max the maximum pairing positioning label of RSSI information, promptly satisfy Size＜=Max, and for outside less RSSI information, will give up.The AP node is also packed the MAC Address of oneself with certain cycle (be greater than giving out a contract for a project the cycle of positioning label, be set to 500ms in the system) and is sent to server with corresponding AP [Size] [2] array.
The packet of each AP that the AP server parses is received; And integrate with respect to the RSSI information in each AP packet of each mobile tag; Just upgrade the peculiar array Mobile [nAP] [2] of each positioning label; Wherein the nAP representative has the number of the AP node of this positioning label RSSI value information, the logical address of the corresponding AP node of Mobile [nAP] [0] storage, and Mobile [nAP] [2] stores corresponding RSSI value.Notice that each positioning label all only preserves the maximum pairing AP node of nAPMAX RSSI information, should satisfy nAP＜=nAPMAX, and for outside less RSSI information will give up.Server is every, and (this cycle is greater than giving out a contract for a project the cycle of AP node at a distance from a fixing cycle; Be set to 800ms in the system) will sort the peculiar array Mobile [nAP] [2] of each positioning label from big to small by the RSSI value also sends to locating module to the copy information after the ordering, clears out the peculiar dope vector of each positioning label subsequently.
Locating module is whenever received a Mobile [nAP] [2] information, at first utilizes the range of linearity to judge to confirm the residing range of linearity of this positioning label (line segment).Under the very near situation of two nodal distances, it is stronger to receive signal, and its RSSI value is also bigger.Therefore for those more special extremely strong signal strength values; Even whether Mobile [0] [1] is more than or equal to constant MR (being set to-45) in the system; If then be positioned at this positioning label the range of linearity at AP1 (Mobile [0] [0]) the node place that has maximum RSSI value.
Yet in most cases, the RSSI information of collection does not satisfy extremely strong signal strength signal intensity Rule of judgment, so the RSSI value that the present invention will analyze other AP node in Mobile [nAP] [2] array is confirmed the final range of linearity.At first create a set LR and store the range of linearity of RSSI value, and calculate the average RSSI value of this range of linearity simultaneously,, then return this range of linearity if LR only comprises a range of linearity with two effective AP; Have the maximum on average regional FMRegion of RSSI value and the region S MRegion of second largest average RSSI value otherwise search; If the average RSSI in two zones is greater than threshold value δ (δ is 2 in the system); Return area FMRegion then; Think that otherwise there is mistake in this dope vector, give up current location, this part is called to be judged the range of linearity of positioning label.
After the judgement of the range of linearity; The present invention has known that this positioning label is positioned on that range of linearity (line segment); Be assumed to be the range of linearity at AP1 and AP2 place, the present invention subsequently will adopt the exact position of location mechanism definite positioning label in this range of linearity in the range of linearity.In this mechanism, the present invention at first is divided into fixing several sections to this line segment, marks off some districts then, judges the concrete district at this positioning label place subsequently, and this positioning label is positioned at the centre (except the zone of AP place end points) in this district.
To be divided into the range of linearity between AP1 and the AP2 k section if from configuration file, read in, then need be trapped among k+1 point surely altogether, i.e. AP1 and AP2, and L1 is to Lk-1; And this range of linearity can be divided into k district.The present invention subsequently calculates the difference d of the corresponding RSSI value of AP1 between the corresponding RSSI of AP2, and through with known 1,2; The threshold value of k point loca difference (d [i], 1＜=i＜=k) compare the residing zone of decision node (), when realizing in concrete system of Fig. 4; The present invention gives two sentry's information of array d [i], promptly d [0]=+ ∞ and d [k+1]=-∞.
Subsequently, the present invention has transplanted a jump problem that the stabiliser towards radio sensing network solves to occur in the demonstration, and the essence of this mechanism is exactly to adopt the motionless method of trying one's best to come level and smooth the jump.In this mechanism, each positioning label is kept a positioning result S.When the positioning result that produces a specific label, at first judge whether it is for the first time to this tag location, if then return this positioning result; Otherwise this positioning result is added should set, and the number of elements of judging this set whether be 3 if not, return null, just the specific bit label is mobile.And if three elements have been arranged; Judge then whether these three positioning results have one not make the result of position or exist a positioning result with current positioning label position identical (supposing that current position is PreLocation); If then current position location is constant; Otherwise the location positioning of the positioning label position of positioning result the last time.
Deposit relevant information in database at last.
Specifically application is, the AP node can adopt the AP of Suzhou City Hamming scientific & technical corporation, and positioning label adopts the positioning label of Suzhou City Hamming scientific & technical corporation equally.In view of present client mostly is the support to the .NET development environment of Windows system and Windows system, this Development of Software platform selecting Windows system, development environment is described below:
Operating system: the windows operating system of selecting to be higher than windows 2000 versions;
Database MS SQL 2005: as the data management of future generation and the analysis software of Microsoft company; SQL Server 2005 helps to simplify establishment, deployment and the management of business data and analytical applications, and aspect solution retractility, availability and fail safe, realizes significant improvement.
Visual Studio 2005:Visual Studio 2005 is Microsoft's a kind of omnibearing tool platforms newly developed; It can reduce complexity of developing effectively; Guarantee that the user issues the solution of Framework easily; No matter whether you are a senior programming personnel or the beginner that programmes, can both service efficiently be provided for you.
Experiment is to carry out in Suzhou Institute for Advanced Study, USTC's administrative building the 4th buildings, and the present invention has arranged 3 AP nodes on the corridor of this floor, at a distance of 30 meters, and is divided into 3 sections and locatees between per two AP, so theoretical worst error is 30/ (2*3)=5 meter.Use a positioning label in this system, to move.
As shown in Figure 5, the present invention is provided with d11-d13, and the threshold value of d21-d23 is as shown in table 1.When positioning label is positioned at position A, B, C, during the D place, the RSSI result of collection sees that the final result of location is respectively L11 shown in the table 2-5, AP2, L22 and AP3 place can know that final positioning result is very accurate, and locate worst error within 5 meters.
The setting of table 1 threshold value
The table 2A point RSSI of place value
The table 3B point RSSI of place value
The table 4C point RSSI of place value
The table 5D point RSSI of place value
In sum, adopt the present invention after, realized mobile node accurate location and real-time tracking when mobile under linear environment solved the chattering in the orientation problem.This shows that the present invention has substantive technical characterstic and significant technological progress, its application prospect is boundless.
Above-mentioned instance only is explanation technical conceive of the present invention and characteristics, and its purpose is to let the people who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalent transformations that spirit is done according to the present invention or modification all should be encompassed within protection scope of the present invention.
Claims (1)
1. active node locating and tracking system under the linear environment; It is characterized in that said system comprise WAP, positioning label and with the server of WAP communication; Said positioning label is movable in the range of linearity of linear environment as active node, is used for periodically sending the explore frame data; Said WAP is deployed to ensure effective monitoring and control of illegal activities in linear environment internal fixation position as anchor node; Be used to catch the explore frame data that positioning label sends; The RSSI information of coming the compute location label according to the explore frame data that capture, and the RSSI information sets of positioning label is dressed up packet directly be sent to server through multi-hop wireless route or cable network; Server is used to integrate the RSSI information of all positioning labels, and according to the real time position of each positioning label of RSSI information acquisition of all positioning labels.
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| CN 201020692555 CN202121780U (en) | 2010-12-31 | 2010-12-31 | Active node positioning tracking system under linear environment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104349453A (en) * | 2013-07-24 | 2015-02-11 | 普天信息技术研究院有限公司 | Positioning method of mobile sensor node |
| CN105554879A (en) * | 2015-05-07 | 2016-05-04 | 中国科学院信息工程研究所 | Method and system for positioning and optimizing indoor area |
| CN105873211A (en) * | 2016-04-29 | 2016-08-17 | 安徽华米信息科技有限公司 | Positioning method and device |
-
2010
- 2010-12-31 CN CN 201020692555 patent/CN202121780U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104349453A (en) * | 2013-07-24 | 2015-02-11 | 普天信息技术研究院有限公司 | Positioning method of mobile sensor node |
| CN105554879A (en) * | 2015-05-07 | 2016-05-04 | 中国科学院信息工程研究所 | Method and system for positioning and optimizing indoor area |
| CN105554879B (en) * | 2015-05-07 | 2019-01-22 | 中国科学院信息工程研究所 | A kind of room area positioning and optimizing method and system |
| CN105873211A (en) * | 2016-04-29 | 2016-08-17 | 安徽华米信息科技有限公司 | Positioning method and device |
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