CN204009060U - A kind of ultrasonic positioner - Google Patents
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- CN204009060U CN204009060U CN201420054550.7U CN201420054550U CN204009060U CN 204009060 U CN204009060 U CN 204009060U CN 201420054550 U CN201420054550 U CN 201420054550U CN 204009060 U CN204009060 U CN 204009060U
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Abstract
A ultrasonic positioner, described ultrasonic positioner is suitable for carrying out ultrasonic communication with mobile device, and described ultrasonic positioner comprises: storer, for storing unique identifier and the frequency modulation information of described ultrasonic positioner; Processor, generates the Frame that comprises described unique identifier, and described Frame comprises header portion and data division; Frequency generation unit, is converted to frequency signal according to described frequency modulation information by described Frame; Signal amplifies and filter unit, and described frequency signal is amplified and carry out filtering, and frequency signal is after filtering loaded into ultrasonic transducer; And ultrasonic transducer, frequency signal is converted to ultrasonic signal, and launches described ultrasonic signal.
Description
Technical field
Usually, the application relates to communication positioning field, and particularly, relates to for the intelligent mobile communication apparatus such as mobile phone being carried out to the device of ultrasound wave location.
Background technology
At present, the location technology of using very widely comprises GPS location.GPS positioning system is collected observational data and the weather information of each monitoring station by ground master station, calculate ephemeris and the satellite clock correction of each satellite, and format editing navigation message in accordance with regulations, injects these information by ground injection plant to gps satellite.During measurement and positioning, user can utilize the storage ephemeris of receiver to obtain the rough position of each satellite.The GPS positioning system GPRS that is otherwise known as, GPS positioning system, by the built-in chip that can communicate in various terminals, is transferred to backstage by mobile phone signal, realizes location, GPS terminal is exactly this backstage, can help you realize a key navigation, background service, etc. various people's sex services.GPS positioning system is along with social development is applied to increasing industry, and it plays supervision in early stage, the effect of final-period management, and unified distribution, is convenient to management, improves our work efficiency, reduces costs.
For example, yet when the weak position (, buildings) of terminal device entering signal, GPS positioning system is difficult to determine the accurate location of terminal device conventionally.Therefore, need to utilize other location technologies to deal with the weak situation of signal of communication.
The appearance of MEMS (micro electro mechanical system) (MEMS) technology makes the intelligent terminals such as smart mobile phone become possibility to the high perception of voice signal and high sensitivity.Take in the market the microphone that IPhone and Android etc. are that main smart mobile phone and dull and stereotyped apparatus such as computer substantially all adopt MEMS technique, the automatic gain control function generally all having in conjunction with these smart machines, the perception of sound ability of smart machine is improved greatly, and its excellent receiving feature make to receive may becoming a reality of low-frequency ultrasonic waves.
Therefore, utilize intelligent terminal to carrying the ultrasound wave of broadcast address and receive, process and reduce its address information, can obtain the precise position information of terminal.The application can be widely used in indoor locating system, and the occasion that cannot use such as other GPS.Be compared to traditional localization method, method for ultrasonic locating is simple, quick, does not need the feature of extra hardware, also unlike methods such as WiFi, bluetooths, need to input the operations such as authentication such as password.The ultrasonic transmission device that uses the application's low price, can obtain the quick location and the application relevant to position that are easy to popularize.
Summary of the invention
In order to solve the problems of the prior art, a kind of ultrasonic positioner is proposed, described ultrasonic positioner is suitable for carrying out ultrasonic communication with mobile device, and described ultrasonic positioner comprises:
Storer, for storing unique identifier and the frequency modulation information of described ultrasonic positioner;
Processor, generates the Frame that comprises described unique identifier, and described Frame comprises header portion and data division;
Frequency generation unit, is converted to frequency signal according to described frequency modulation information by described Frame;
Signal amplifies and filter unit, and described frequency signal is amplified and carry out filtering, and frequency signal is after filtering loaded into ultrasonic transducer; And
Ultrasonic transducer, is converted to ultrasonic signal by frequency signal, and launches described ultrasonic signal.
Preferably, described end device utilizes microphone to receive described ultrasonic signal, and described ultrasonic signal is converted to frequency signal, and described frequency signal is converted to Frame, obtains the unique identifier of ultrasonic positioner from described Frame.
Preferably, described end device sends to server by the unique identifier of described ultrasonic positioner, and described server is determined the physical address of described ultrasonic positioner according to the unique identifier of described ultrasonic positioner.
Preferably, described server sends to described end device by the physical address of described ultrasonic positioner, and described end device is determined the current location of described end device according to the physical address of described ultrasonic positioner.
Preferably, wherein header portion comprises the pseudo-random code of 31 bits, and with as frame synchronizing signal, and described data division comprises geocoding and check code, and wherein said geocoding is that 32 bits and described check code are 16 bits.
Preferably, the frequency range of wherein said ultrasonic signal is 20KHz to 22KHz, and/or utilizes the single-chip microcomputer with EEPROM to produce frequency for the square-wave signal of F0=20.5KHz and F1=21.5KHz.
Preferably, wherein with frequency shift keying, carry out Modulated Ultrasonic ripple signal.
Preferably, described processor also has I/O unit.
Preferably, described Frame comprises N bit, and wherein N is greater than 81 integer.
Preferably, wherein according to described frequency modulation information, described Frame being converted to frequency signal comprises: by each bits switch of Frame, be frequency signal.In this case, according to described frequency modulation information, all bits in described Frame (at least 82 bits) are converted to frequency signal together, and utilize signal amplification and filter unit described frequency signal to be amplified and carried out filtering, frequency signal is after filtering loaded into ultrasonic transducer, then by ultrasonic transducer, frequency signal is converted to ultrasonic signal, and launches described ultrasonic signal.
Preferably, wherein according to described frequency modulation information, described Frame being converted to frequency signal comprises: by every n bits switch in the N of a Frame bit, be frequency signal respectively in order, wherein n is 1,2,3,4 or 5, wherein in N bit, during not enough n of non-switched remaining bits, with filling bit, fill.
In the situation that n is 1, according to described frequency modulation information, each bit in all bits in described Frame (at least 82 bits) is converted to respectively to frequency signal in order, and while changing a bit into frequency signal at every turn, utilize signal amplification and filter unit described frequency signal to be amplified and carried out filtering, frequency signal is after filtering loaded into ultrasonic transducer, then by ultrasonic transducer, frequency signal is converted to ultrasonic signal, and launches described ultrasonic signal.Subsequently, by next bits switch, be frequency signal, and repeat above-mentioned amplification, filtering, loading, conversion and emission process, until all bits have all carried out just finishing after respective handling.
Preferably, when Frame comprises 82 bits, and while 2 bits switch being frequency signal, need to carry out 41 conversions at every turn.
According to an embodiment, a kind of low-frequency ultrasonic waves positioning system for intelligent mobile communication apparatus location is proposed, described positioning system comprises: ultrasound wave transmitter, there is unique identifier and described identifier is associated with physical address, described ultrasonic transmission device can produce the Frame that comprises described identifier, and according to frequency modulation information, described Frame is converted to frequency signal, then described frequency signal is converted to ultrasonic signal, and ultrasonic signal is launched; Ultrasound wave receiving equipment, received ultrasonic signal and ultrasonic signal is converted to frequency signal, is converted to Frame according to frequency demodulation information processed by described frequency signal, and extracts identifier from Frame, and described identifier is sent to server; And server, according to described identifier, determine and the physical address of described ultrasonic positioner described physical address is sent to ultrasound wave receiving equipment.Thereby realized the accurate positioning function of ultrasound wave receiving equipment.
The application can be achieved as follows beneficial effect:
The low-frequency ultrasonic waves that the application utilizes ultrasonic transmission device to produce, is used the audio frequency receiving function of mobile intelligent terminal to receive and analyze this signal, obtains the unique identifier of ultrasonic transmission device.Intelligent terminal is confirmed this unique identifier, and then is obtained location and the message exchange of mobile intelligent terminal by network.
Accompanying drawing explanation
Generally described the application, referring now to accompanying drawing, it is scale according to the rules, wherein:
Fig. 1 shows the ultrasound wave location schematic diagram according to the application's preferred implementation;
Fig. 2 shows according to the hyperacoustic schematic diagram of the transmission of the application's preferred implementation;
Fig. 3 shows according to the signal amplification of the application's preferred implementation and the circuit theory diagrams of filter unit; And
Fig. 4 illustrates according to the schematic diagram of the ultrasonic positioner of the application's preferred implementation.
Embodiment
Below, with reference to accompanying drawing, more completely describe the application's embodiment, in the accompanying drawings, some embodiments of the application are shown, and are not all embodiments.Certainly, the application's various embodiment can be by many multi-form realizations, and should not be construed as and be restricted to the embodiment of setting forth here; But, provide these embodiments to make described disclosure will meet legitimate claim applicatory.Wherein similarly label represents similar element.Wherein, term " data ", " content ", " information " and the commutative use of similar terms, with the data that represent to send, to receive and/or store according to the application's embodiment.Therefore, the use of term should not be used to limit the spirit and scope of the application's embodiment so arbitrarily.
In addition, as used herein, term " circuit " refers to (a) only hardware circuit scheme (for example using the scheme of mimic channel and/or digital circuit); (b) be included in software and/or the circuit of firmware instructions and the combination of computer program of storing on one or more computer-readable memories, it works so that carrying out one or more functions described here together; And (c) need to for example, for software or the circuit of firmware (even if the non-physics of software or firmware exists), the part for microprocessor or microprocessor operating.This definition of " circuit " is applied at this, comprises any claim, all uses to this term.As other examples, here, term " circuit " also comprises and contains one or more processors and/or its part and follow software and/or the scheme of firmware.As another example, term used herein " circuit " also comprises, for example, for base band integrated circuit or the application processor integrated circuit of mobile phone, or the similar integrated circuit in server, cellular network device, other network equipments and/or other computing equipments.
As definition herein, refer to " computer-readable recording medium " of physical storage medium (for example, volatibility or non-volatile memory devices), may be different from " the computer-readable transmission medium " that refer to electromagnetic signal.
Fig. 1 shows the ultrasound wave location schematic diagram according to the application's preferred implementation.As shown in Figure 1, ultrasonic positioning system comprises: ultrasonic positioner, end device and server.Preferably, described ultrasonic positioner belongs to low power consuming devices, and can launch towards periphery constantly for a long time ultrasonic signal.And further as shown in Figure 4, Fig. 4 illustrates according to the schematic diagram of the ultrasonic positioner of the application's preferred implementation.Described ultrasonic positioner can include but not limited to, storer, processor, frequency productive unit, signal amplification and filter unit and ultrasonic transducer.Preferably, ultrasonic positioner can also comprise I/O unit, AD conversion unit, D/A conversion unit etc.Preferably, storer can be various types of memory devices, for example, and volatile memory and nonvolatile memory etc.Described storer is for storing unique identifier and the frequency modulation information of described ultrasonic positioner.Wherein, the identifier of all ultrasonic positioners is unique and different.Preferably, described identifier is associated with the physical address of ultrasonic positioner.Preferably, the corresponding relation of location identifier and physical address in server.
Preferably, processor can be general processor or the application specific processor that can carry out data processing.Processor, for generating the Frame of the identifier that comprises ultrasonic positioner.Preferably, described Frame comprises header portion and data division.Particular content about described Frame will describe in detail below.Preferably, frequency generation unit, is converted to frequency signal according to the frequency modulation information of storing in storer by described Frame.Particular content about described frequency modulation information will describe in detail below.Preferably, signal amplifies and filter unit, and the frequency signal that frequency generation unit is generated amplifies and carry out filtering, and frequency signal is after filtering loaded into ultrasonic transducer.Preferably, ultrasonic transducer is for being converted to ultrasonic signal by frequency signal, and to the described ultrasonic signal of surrounding's transmitting of ultrasonic positioner.Preferably, described ultrasonic transducer can be loudspeaker.
According to the application's preferred implementation, end device can be any type device that can move and store various application, for example PDA(Personal Digital Assistant), smart mobile phone, flat computer, wireless telephone, mobile computing device, camera, video recorder, audio/video player, positioning equipment (for example, GPS (GPS) equipment), game station, wireless device or various other similar equipment or its combination.Preferably, end device can include but not limited to, preferably, end device can utilize ultrasonic transducer for storer, processor, ultrasonic transducer and demodulation unit, and for example, microphone, receives the ultrasonic signal being sent by ultrasonic positioner.Preferably, end device can be converted to frequency signal by the ultrasonic signal of reception, and according to frequency demodulation information processed, described frequency signal is converted to Frame.Preferably, end device extracts the identifier of ultrasonic positioner from Frame, and described identifier is sent to server.
According to the application's preferred implementation, server can be various types of equipment that can carry out data storage and calculating.Preferably, the identifier of all ultrasonic positioners and the corresponding relation of physical location in server, have been stored.Preferably, server can utilize database to store above-mentioned corresponding relation.When server receives the identifier of the ultrasonic positioner that end device sends, can inquire the physical address corresponding with described identifier, and described physical address is sent to end device.Thereby end device can be determined its current location according to described physical address.Preferably, end device can be defined as the physical address of ultrasonic positioner the physical address of self.
According to preferred embodiment, as the application's ultrasound wave, locate basic ultrasonic signal, in air transmission attenuation rapidly, be easy to be subject to many-sided interference such as many ways, air turbulence.Therefore, ultrasonic signal is had to limitation as signal transmission, also retrained the bit rate of transmission simultaneously.Therefore, the application need to solve the composite request of frequency selection, modulation system, bit rate and the coded system of propagation.Meanwhile, the application also must consider receiving trap, particularly towards but be not limited to the mobile device with network and processing power, as smart mobile phone and portable computer etc.
The selection of transmitting ultrasonic frequency:
The application mainly considers three factors when used ultrasonic frequency is selected:
(1) from the angle of propagation attenuation, consider, the lower decay of frequency of use is less, and propagation distance is far away, but neighbourhood noise is also larger in low-frequency range, is easily disturbed, unfavorable to input;
(2) limit bandwidth of the acoustical signal of the end device such as mobile phone, as previously described, for current most smart mobile phone, the reception bandwidth of audio frequency can reach 22KHz, and the reception bandwidth of part mobile phone can reach 24KHz; And
(3) audio band of avoiding the mankind to hear, should be as far as possible higher than 20KHz.
Comprehensive three factors above, the frequency range of the ultrasonic signal that the application uses is 20KHz-22KHz.
The composition transmitting:
Transmit is that form with Frame (Frame) is carried out.Preferably, each frame comprises header (Header) and two parts of data segment (Data).Header partly has two purposes, and the one, complete the synchronous of frame, the 2nd, use the characteristic of this data acquisition sound channel.Data partly comprises geocoding and check code.
Header partly selects the pseudo-random code sequence using in radio communication, it is PN code sequence, conventionally PN code sequence is more long is more conducive to the synchronous of frame, but in air ultrasound channel, due to multi-path effects such as above-mentioned decay, transmittings, bit rate is subject to larger restriction, therefore needs to select to be applicable to the PN code of ultrasonic channel.The application use code length be the PN code of 31 bits as frame synchronizing signal, the sample of channel estimating during simultaneously also as decoding.
Data is partly the geocoding after interweaving and the coding of check code.Due to ultrasonic signal, in transmitting procedure, decay large and multi-path effect is obvious, therefore will guarantee can recover address code in position far away, need terminal that signal processing gain can be provided.The address code of choosing is 32 (bits), and check code is CRC check code, and length is selected 16 bits, and address code length is 48 bits like this.In order to adapt to the transmission of ultrasonic channel, the address code of 48 bits is used the Turbo code of standard 1/3 code check to encode, so the code length after Error Correction of Coding is 144 bits.
The modulation system of ultrasonic signal transmitting:
Consider the factors such as the characteristic, bit rate of transonic, anti-interference, calculated amount, the application's proportion modulation system transmitting ultrasonic signal, i.e. FSK modulation, the frequency of signal is F0=20.5KHz and F1=21.5KHz, represents respectively 0 frequency and 1 frequency.Preferably, the application is not limited to use 2 Frequency points, can also modulate with the Frequency point of 4,8,16,32 etc.Preferably, when selecting 2 frequencies, by 1 bits switch in Frame, be frequency signal at every turn.When selecting 4 frequencies, by 2 bits switch in Frame, be frequency signal, by that analogy at every turn.
Fig. 2 shows according to the hyperacoustic schematic diagram of the transmission of the application's preferred implementation.As shown in Figure 2, the transmitting flow process of device starts at step 201 place.Preferably, in step 201, ultrasonic positioner carries out power-up initializing.In step 202, generate the Frame of the identifier that comprises ultrasonic positioner.Preferably, in step 203, read the output bit of described Frame.Preferably, described output bit can compare top grade by 1 bit, 2.Preferably, the output gap between each bit can be 2.5ms, 3.5ms etc.Preferably, described output bit can be also whole bits of Frame.Preferably, after the output of all bits, carry out Frame repeat send, again comprise the transmission of Frame of the identifier of ultrasonic positioner.When in this case, in the time of after all bit outputs of step 207 judgment frame, after all bits have been exported, flow process rotates back into step 202.For example, when frame always has 175 bits and transmits 1 bit at every turn, repeat above-mentioned steps 175 times.In step 204, frequency generation unit is frequency signal according to the frequency modulation information of storing in storer by described output bits switch.In step 205, the frequency signal that frequency generation unit is generated amplifies and carries out filtering, obtains frequency signal after filtering.In step 206, frequency signal is after filtering loaded into ultrasonic transducer, by transaudient wave transducer, described frequency signal is after filtering converted to ultrasonic signal and is transmitted in surrounding environment.In step 207, judge whether all bits outputs of Frame completely, if also have the not bit of output, flow process rotates back into step 203 so, carries out the processing of bit subsequently; If the bit of not exporting, flow process transfers back to step 202 so, carries out next Frame processing.According to the application's preferred implementation, ultrasonic positioner periodically sends towards periphery ultrasonic signal after power-up initializing, to help end device to position.
The signal of launching due to ultrasound positioning device is frequency modulated signal, therefore sine (cosine) signal generator of can service routine controlling, but because its use is complicated, price is relatively high, therefore the single-chip microcomputer of choosing with EEPROM in the application produces the square-wave signal that frequency is F0 and F1, can realize a kind of single-chip microcomputer of this function, as STC11F04E.This single-chip microcomputer has can self-loading timer function, is used for exporting at its I/O output port the square-wave signal of required frequency; Memory storage on single-chip microcomputer for each device pre-assigned position encoded.Through the square wave frequency signal of ovennodulation, after amplification and filtering, be loaded into transducer and launch.Amplification and filtering circuit schematic diagram are as shown in Fig. 3 below.
Fig. 3 shows according to the signal amplification of the application's preferred implementation and the circuit theory diagrams of filter unit.In Fig. 3, result from the square-wave signal of 2 tunnel complementations of single-chip microcomputer, after SN75372D carries out drive amplification, driving signal as Q1 and Q2, drive 2 MOS FET to turn-off, thereby but produce the square-wave signal (not considering the dividing potential drop on R5) that amplitude identical with incoming frequency is about 12V.This signal is by after centre tapped transformer T0, at the output terminal of T0, is converted to the square-wave signal through amplifying.For the noise of filtering people ear audible, in circuit, L1, C4 and L2, C5 have formed a second-order bandpass filter, and centre frequency is 21KHz, and bandwidth is about 3KHz.Sine after bandpass filtering (cosine) signal loading is to Speaker(ultrasonic transducer) upper, complete the conversion of electroacoustic signal, be transmitted in air.
Under the instruction presenting in previous instructions and relevant drawings, in the field that the application relates to, those of ordinary skill will be learnt many modifications and other embodiments of the application set forth herein.Therefore, be appreciated that the application's embodiment is not limited to specific implementations disclosed herein, and it is revised and other embodiments are also included within the scope of the appended claims.In addition, although above instructions and relevant drawings have been described the illustrative embodiments under the environment of some example combinations of element and/or function, it should be understood that the various combination of element and/or function can be provided by alternate embodiment, and do not depart from the scope of claims.In this, for example, as can be set forth in claims, also can imagine except above clear and definite described element and/or the various combination function.Although the particular term adopting here, they can only use by general and descriptive concept, not the object for limiting.
Claims (10)
1. a ultrasonic positioner, described ultrasonic positioner is suitable for carrying out ultrasonic communication with end device, and described ultrasonic positioner comprises:
Storer, for storing unique identifier and the frequency modulation information of described ultrasonic positioner;
Processor, generates the Frame that comprises described unique identifier, and described Frame comprises header portion and data division;
Frequency generation unit, is converted to frequency signal according to described frequency modulation information by described Frame;
Signal amplifies and filter unit, and described frequency signal is amplified and carry out filtering, and frequency signal is after filtering loaded into ultrasonic transducer; And
Ultrasonic transducer, is converted to ultrasonic signal by frequency signal, and launches described ultrasonic signal.
2. device according to claim 1, described end device utilizes microphone to receive described ultrasonic signal, described ultrasonic signal is converted to frequency signal, and described frequency signal is converted to Frame, from described Frame, obtain the unique identifier of ultrasonic positioner.
3. device according to claim 2, described end device sends to server by the unique identifier of described ultrasonic positioner, and described server is determined the physical address of described ultrasonic positioner according to the unique identifier of described ultrasonic positioner.
4. device according to claim 3, described server sends to described end device by the physical address of described ultrasonic positioner, and described end device is determined the current location of described end device according to the physical address of described ultrasonic positioner.
5. device according to claim 1, wherein header portion comprises the pseudo-random code of 31, and with as frame synchronizing signal, and described data division comprises geocoding and check code, and wherein said geocoding is that 32 and described check code are 16.
6. device according to claim 1, wherein carrys out Modulated Ultrasonic ripple signal with frequency shift keying.
7. device according to claim 1, the frequency range of wherein said ultrasonic signal is 20KHz to 22KHz, and/or the square-wave signal that to utilize single-chip microcomputer with EEPROM to produce frequency be F0=20.5KHz and F1=21.5KHz while modulating for Binary Frequency Shift Keying, or other a plurality of frequency signals while modulating for multi system frequency shift key control.
8. device according to claim 1, described processor also has I/O unit.
9. device according to claim 1, wherein said Frame comprises N bit, wherein N is greater than 81 integer, wherein according to described frequency modulation information, described Frame being converted to frequency signal comprises: by every n bits switch in the N of a Frame bit, be frequency signal respectively in order, wherein n is 1,2,3 or 4, wherein in N bit, during not enough n of non-switched remaining bits, with filling bit, fill.
10. device according to claim 1, wherein said Frame comprises N bit, wherein N is greater than 81 integer, wherein according to described frequency modulation information, described Frame is converted to frequency signal and comprises: the N bit of Frame is all converted to frequency signal.
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| CN201420054550.7U CN204009060U (en) | 2014-01-28 | 2014-01-28 | A kind of ultrasonic positioner |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105577239A (en) * | 2015-04-24 | 2016-05-11 | 宇龙计算机通信科技(深圳)有限公司 | Data transmission method and device |
| CN105680957A (en) * | 2016-04-18 | 2016-06-15 | 重庆喜玛拉雅科技有限公司 | Information push system based on pickup on intelligent device |
| CN105846911A (en) * | 2016-05-23 | 2016-08-10 | 罗迎晓 | Data transmission method, device and system based on sound wave |
| CN107124230A (en) * | 2017-04-25 | 2017-09-01 | 腾讯科技（深圳）有限公司 | Sound wave communication method, terminal and server |
| CN107277767A (en) * | 2017-05-23 | 2017-10-20 | 上海迈外迪网络科技有限公司 | Localization method and device, equipment to be positioned, server and storage medium |
| CN107948112A (en) * | 2017-09-29 | 2018-04-20 | 中山大学 | A kind of acoustic signals frame synchornization method for sound wave indoor positioning |
| CN108344974A (en) * | 2017-09-29 | 2018-07-31 | 中山大学 | A kind of acoustic signals coding method for sound wave indoor locating system |
| CN109901172A (en) * | 2019-03-28 | 2019-06-18 | 如皋忠广电子技术有限公司 | Ultrasonic ranging method, device and the electronic equipment adjusted based on frequency |
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2014
- 2014-01-28 CN CN201420054550.7U patent/CN204009060U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105577239A (en) * | 2015-04-24 | 2016-05-11 | 宇龙计算机通信科技(深圳)有限公司 | Data transmission method and device |
| CN105577239B (en) * | 2015-04-24 | 2019-08-02 | 宇龙计算机通信科技(深圳)有限公司 | A kind of data transmission method and device |
| CN105680957A (en) * | 2016-04-18 | 2016-06-15 | 重庆喜玛拉雅科技有限公司 | Information push system based on pickup on intelligent device |
| CN105846911A (en) * | 2016-05-23 | 2016-08-10 | 罗迎晓 | Data transmission method, device and system based on sound wave |
| CN107124230A (en) * | 2017-04-25 | 2017-09-01 | 腾讯科技（深圳）有限公司 | Sound wave communication method, terminal and server |
| CN107124230B (en) * | 2017-04-25 | 2018-09-04 | 腾讯科技（深圳）有限公司 | Sound wave communication method, terminal and server |
| CN107277767A (en) * | 2017-05-23 | 2017-10-20 | 上海迈外迪网络科技有限公司 | Localization method and device, equipment to be positioned, server and storage medium |
| CN107948112A (en) * | 2017-09-29 | 2018-04-20 | 中山大学 | A kind of acoustic signals frame synchornization method for sound wave indoor positioning |
| CN108344974A (en) * | 2017-09-29 | 2018-07-31 | 中山大学 | A kind of acoustic signals coding method for sound wave indoor locating system |
| CN107948112B (en) * | 2017-09-29 | 2021-01-22 | 中山大学 | Sound wave signal frame synchronization method for sound wave indoor positioning |
| CN108344974B (en) * | 2017-09-29 | 2021-12-31 | 中山大学 | Sound wave signal coding method for sound wave indoor positioning system |
| CN109901172A (en) * | 2019-03-28 | 2019-06-18 | 如皋忠广电子技术有限公司 | Ultrasonic ranging method, device and the electronic equipment adjusted based on frequency |
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