WO2014134804A1 - Procédé et système permettant de détecter une direction de déplacement en intérieur - Google Patents

Procédé et système permettant de détecter une direction de déplacement en intérieur Download PDF

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Publication number
WO2014134804A1
WO2014134804A1 PCT/CN2013/072261 CN2013072261W WO2014134804A1 WO 2014134804 A1 WO2014134804 A1 WO 2014134804A1 CN 2013072261 W CN2013072261 W CN 2013072261W WO 2014134804 A1 WO2014134804 A1 WO 2014134804A1
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WO
WIPO (PCT)
Prior art keywords
client device
acceleration
level
processor
user
Prior art date
Application number
PCT/CN2013/072261
Other languages
English (en)
Inventor
Hongji Bao
Yaoting LIU
Chao Feng
Original Assignee
Google Inc.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Google Inc. filed Critical Google Inc.
Priority to PCT/CN2013/072261 priority Critical patent/WO2014134804A1/fr
Publication of WO2014134804A1 publication Critical patent/WO2014134804A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

Definitions

  • Portable electronic devices such as smartphones, personal digital assistants (PDAs) and handheld location services devices are capable of performing a variety of functions, including location reporting, mapping, and route-finding operations.
  • PDAs personal digital assistants
  • handheld location services devices are capable of performing a variety of functions, including location reporting, mapping, and route-finding operations.
  • GPS systems rely on navigation satellites to determine a moving direction of a mobile device, these satellite systems are not always available.
  • satellite systems that rely on line-of-sight with the mobile device typically do not function properly in an indoor environment.
  • One way of way of determining moving direction in indoor environments may include, for example, measuring wireless signals (e.g., Wifi, Bluetooth, etc.), which typically requires a large initial set-up and/or lengthy site surveys.
  • Another way of determining a moving direction utilizes an inertial navigation sensor
  • INS such as an accelerometer, gyroscope or compass.
  • position and velocity information may be computed by integrating information received from the sensor.
  • traditional integration techniques it may be difficult to obtain an accurate moving direction of a user holding the mobile device indoors .
  • aspects of this disclosure may be advantageous for detecting an indoor walking direction of a user holding a mobile device in a typical manner for using the device with indoor navigation functions.
  • the user's indoor walking direction may be obtained with respect to a magnetic north coordinate.
  • One aspect of the present technology provides a method.
  • the method includes receiving a magnetic North coordinate at a portable client device. Using at least one of the one or more sensors, a level of acceleration of portable client device can be determined. Based on the determined level of acceleration, a screen orientation of a display of the portable client device may be calculated. The method further includes identifying an indoor direction of movement of the portable client device based on the magnetic North coordinate and the screen orientation.
  • the method further includes determining the level of acceleration of at least one axis of orientation of the portable client device.
  • the at least one axis may be parallel to a gravity vector indicating a directional pull of gravity.
  • a difference between the level of acceleration of the at least one axis and the gravity vector may be calculated. If the calculated difference is below a threshold value, the method may further include determining a stability of the portable client device.
  • a heading according to the identified direction of movement may be presented on a display. The heading may be adjusted based on a change in the screen orientation.
  • Another aspect of the present technology provides a computer readable medium that includes instructions when executed by a processor cause the processor to perform a method.
  • the method includes receiving a magnetic North coordinate at a portable client device.
  • a level of acceleration of the portable client device may be determined using one or more sensors of the portable client device.
  • a screen orientation of a display of the portable client device may be calculated using the processor.
  • the method further includes identifying an indoor direction of movement of the portable client device based on the magnetic North coordinate and the screen orientation.
  • the system includes a memory, a display device, one or more sensors and a processor coupled to the memory, the display device and the one or more sensors.
  • the processor may be configured to receive a magnetic North coordinate at the display device and determine a level of acceleration of the display device using the one or more sensors. Based on the determined level of acceleration, a screen orientation of the display may be calculated.
  • the processor also may be configured to identify an indoor direction of movement of the display device based on the magnetic North coordinate and the screen orientation.
  • FIG. 1 is a block diagram depicting an example of a client device in accordance with aspects of the disclosure.
  • FIG. 2 is an illustration of a client device in accordance with aspects of the disclosure.
  • FIG. 3 is an illustration of additional representations of the client device of FIG. 2 in accordance with aspects of the disclosure.
  • FIG. 4 is an example orientation of a client device in accordance with aspects of the disclosure.
  • FIG. 5 is an example of another orientation of the client device of FIG. 4 in accordance with aspects of the disclosure.
  • FIG. 6 is a flow diagram for a method in accordance with an aspect of the disclosure.
  • the present disclosure describes systems and methods for detecting a user's moving directions in an indoor environment. Aspects of the disclosure provide a flexible, portable, user-friendly system for detecting an indoor walking direction of a user holding a client device in a usual manner for using the device with indoor navigation functions.
  • the user's walking direction can be detected with respect to a magnetic north coordinate by determining a screen orientation of the client device and whether the user is holding the device in a "steady hand" (e.g., relatively stable).
  • a client device may receive coordinate information, such as from an internal compass, which may be used to determine a magnetic north coordinate.
  • An accelerometer may calculate whether the user is holding the device in a "steady hand.”
  • the client device may include an application programing interface (API) that provides the screen orientation of the device. In other situations, the screen orientation may be inferred from readings received from the client device's accelerometer.
  • API application programing interface
  • the users may be provided with an opportunity to control whether programs or features collect user information (e.g., information about a user's activities, a user's preferences or a user's current location), or to control whether and/or how to receive content from a content server that may be more relevant to the user.
  • user information e.g., information about a user's activities, a user's preferences or a user's current location
  • certain data may be treated in one or more ways before it is stored or used, so that personally identifiable information is removed.
  • a user's identity may be treated so that no personally identifiable information can be determined for the user, or a user's geographic location may be generalized where location information is obtained (such as to a city, ZIP code or state level) , so that a particular location of a user cannot be determined.
  • location information such as to a city, ZIP code or state level
  • the user may have control over how information is collected about the user and used by a content server.
  • FIG. 1 is a block diagram depicting an example of a client device 100, for example, a type of device that may be used for providing navigation services.
  • the client device 100 may be computing device as known in the art.
  • the client device 100 may be laptop computer, a desktop computer, a netbook, a smartphone, a cellular phone, a tablet computer, or any other device containing programmable hardware or software for executing instructions.
  • aspects of the disclosure generally relate to a portable device, the client device 100 may be implemented as multiple devices with both portable and non-portable components (e.g., software executing on a rack-mounted server with a mobile interface for gathering location information) . As shown in FIG.
  • an example of the client device 100 may include a processor 102 coupled to a memory 104 and other components typically present in general purpose computers
  • the processor 102 may be any processor capable of execution of computer code, such as a central processing unit (CPU) .
  • the processor 102 may be a dedicated controller such as an application-specific integrated circuit (ASIC) or other processing device.
  • ASIC application-specific integrated circuit
  • the client device 100 may have all of the components normally used in connection with a wireless mobile device such as a CPU, memory 104 (e.g., RAM and ROM) storing data 103 and instructions 108, an electronic display 106, a user input device 118 (e.g., a keyboard, touch-screen or microphone), a camera 116, a speaker (not shown) , a network interface component (not shown) , and all of the components used for connecting these elements to one another. Some or all of these components may all be internally stored within the same housing, e.g. a housing defined by a plastic shell and LCD screen.
  • a wireless mobile device such as a CPU, memory 104 (e.g., RAM and ROM) storing data 103 and instructions 108, an electronic display 106, a user input device 118 (e.g., a keyboard, touch-screen or microphone), a camera 116, a speaker (not shown) , a network interface component (not shown) , and all of the components used for connecting these
  • the display 106 of the client device 100 may function to provide and receive information from a user.
  • the display 106 may be implemented as any display device, such as a liquid crystal display (LCD) , cathode-ray tube (CRT), or light-emitting diode (LED) display device.
  • the display 106 may further allow the user to input data or commands, such as by including touch-screen technology.
  • the display 106 may include a monitor having a screen, a projector, a television, a computer printer or any other device that is operable to present information to the user.
  • the client device 100 may accept user input via other components such as a mouse (not pictured) .
  • devices in accordance with the subject matter described herein may comprise any device operative to process instructions and transmit data to and from humans and other computers including general purpose computers, network computers lacking local storage capability, etc.
  • the client device 100 may also include a compass 114.
  • the compass 114 may provide coordinate information for the client device 100 by employing one or more sensors to measure a magnetic field. For example, the compass 114 may output either a digital or analog signal proportional to its orientation. The signal may be read by a controller or microprocessor to interpret the coordinate information.
  • the compass 114 may be a gyroscopic compass, or a traditional "needle" compass, or a type of device capable of providing coordinate information.
  • the client device 100 may further include one or more accelerometers 112.
  • the accelerometers 112 may function to detect movement of the client device 100, such as by determining a direction of acceleration or measuring force or vibrations acting on the client device 100. For example, the accelerometers 112 may identify when the user tilts the client device 100 to one side or in different orientations. In some situations, one or more acceleration threshold values 126 can be applied to a measured level of vibration for determining whether the client device is at rest, moving or being held relatively stable .
  • the client device 100 may include multiple accelerometers 112 for measuring acceleration along different axes.
  • measurements for the accelerometers 112 may be sampled across three accelerometer axes X, Y, Z with respect to the computing device 100, where the X-axis may represent a horizontal axis along computing device 100, the Y-axis may represent a vertical axis, and the Z-axis may represent an axis owards the sky when the device is positioned, face up.
  • the memory 104 may store information that is accessible by the processor 102, including instructions 108 that may be executed by the processor 102, and data 103.
  • the memory 104 may be of any type of memory operative to store information accessible by the processor 102, including a non-transitory computer- readable medium, or other medium that stores data that may be read with the aid of an electronic device, such as a hard-drive, memory card, ROM, RAM, digital versatile disc (DVD) or other optical disks, as well as other write-capable and read-only memories.
  • the system and method may include different combinations of the foregoing, whereby different portions of the instructions and data are stored on different types of media.
  • the instructions 108 may be any set of instructions to be executed directly (such as machine code) or indirectly (such as scripts) by the processor 102.
  • the instructions 108 may be stored as computer code on the computer-readable medium.
  • the terms "instructions” and “programs” may be used interchangeably herein.
  • the instructions 108 may be stored in object code format for direct processing by the processor 102, or in any other computer language including scripts or collections of independent source code modules that are interpreted on demand or compiled in advance. Functions, methods and routines of the instructions 108 are explained in more detail below.
  • the instructions 108 may comprise a direction- detecting program 120 for determining a moving direction of a user holding the client device 100 and a navigation program 122 for providing navigation services, such as route-finding between two indoor locations.
  • the direction-detecting program 120 may make its determination of the user's walking direction based on various sensors, which may include the accelerometer ( s ) 112 and compass 114.
  • the direction-detecting program 120 and navigation program 122 are identified as discrete modules in connection with FIG. 1, the functionality of these modules may overlap and/or exist in a fewer or greater number of modules than what is shown .
  • the direction-detecting program 120 may compute a direction of the client device and interface with the navigation program 122 to provide the user's heading along a particular path.
  • the direction-detecting program 120 and the navigation program 122 may be an "app" executing on a mobile device, such as a smart phone.
  • a user may download the programs from an application marketplace such as the ANDROID MARKETPLACETM.
  • the direction-detecting program 120 and the navigation program 122 may be implemented as distinct applications, they may also be integrated with other programs or elements of the client device 100 to provide similar functionality and other functionalities.
  • the instructions 108 may be implemented as software executed on the processor 102 or by other processing devices, such as ASICs or field-programmable gate arrays ("FPGAs”) .
  • the data 103 may be retrieved, stored or modified by the processor 102 in accordance with the instructions 108.
  • the data 103 may be stored in computer registers, in a relational database as a table having a plurality of different fields and records, Extensible Markup Language ("XML") documents or flat files.
  • XML Extensible Markup Language
  • the data may also be formatted in any computer readable format such as, but not limited to, binary values or Unicode.
  • image data may be stored as bitmaps comprised of grids of pixels that are stored in accordance with formats that are compressed or uncompressed, lossless
  • the data 103 may comprise any information sufficient to identify the relevant information, such as numbers, descriptive text, proprietary codes, references to data stored in other areas of the same memory or different memories (including other network locations) or information that is used by a function to calculate the relevant data.
  • Portions of the data 103 may comprise map information 124.
  • the map information 124 may include a series of floor plans representing an indoor space within a building. According to aspects, the map information 124 may be based upon a series of constraints (e.g., walls) representing locations where a user may not walk
  • FIG. 1 functionally illustrates the processor 102 and memory 104 as being within the same block, the processor 102 and memory 104 may actually comprise multiple processors and memories that may or may not be stored within the same physical housing. Accordingly, references to a processor, computer or memory will be understood to include references to a collection of processors, computers or memories that may or may not operate in parallel.
  • the client device 100 may be at a first node of a network (not shown) .
  • the client device 100 may be operative to directly and indirectly communicate with other nodes of the network.
  • the client device 100 may comprise a mobile device that is operative to communicate across the network such that the client device 100 uses the network to transmit and display information from a remote device to a user of the client device 100.
  • the client device 100 may also comprise a plurality of computers that exchange information with different nodes of a network for the purpose of receiving, processing and transmitting data to the client devices.
  • the client device 100 may communicate with the network using various configurations and various protocols including the Internet, World Wide Web, intranets, virtual private networks, local Ethernet networks, private networks using communication protocols proprietary to one or more companies, cellular and wireless networks (e.g., Wi-Fi), instant messaging, hypertext transfer protocol ("HTTP”) and simple mail transfer protocol (“SMTP”), and various combinations of the foregoing.
  • Wi-Fi cellular and wireless networks
  • HTTP hypertext transfer protocol
  • SMTP simple mail transfer protocol
  • FIG. 2 is an illustration of a client device
  • the client device 200 may be used for directional information.
  • the client device 200 may direct a user 201 holding the device 200 along a route between two indoor locations, by displaying the route on a screen 206 of the device 200.
  • the user's indoor walking direction may be obtained with respect to a magnetic North coordinate.
  • An orthogonal coordinate system ( ⁇ , ⁇ , ⁇ ) can be used to represent various screen orientations of the client device 200.
  • the representation of the X-axis refers to the screen's horizontal axis pointing left to right
  • the Y axis refers to the screen's vertical axis pointing towards the top and bottom of the screen
  • the Z axis refers to an upward direction of a display of the mobile device as it is being held by the user 201 face up.
  • the placement of the client device 200 may be such that an axis lies parallel to the direction of travel. For example, as depicted in FIG.
  • the client device 200 may be equipped to detect different screen orientations.
  • the client device 200 may utilize software, such as a application program interface (API) to determine an actual orientation of the device in real space.
  • the API may detect viewpoint orientation changes, such as when the user rotates the device at different angles.
  • the API may indicate this change by returning values resenting a degree of rotation of the device 200.
  • the API may return a value indicating that it has been reoriented plus or minus a certain number of degrees, such as 10 degrees, 90 degrees, 180 degrees or not at all.
  • the API may access a variety of sensors to determine the screen orientation of the client device 200.
  • a client device is not equipped with a screen orientation API, its screen orientation may be inferred using internal sensors.
  • one or more accelerometers may be used to detect and measure vibration or forces applied to the device 200 as it rotates.
  • the accelerometers may be used to estimate where the user's hand may be situated on the device 200, by measuring the amount of force applied to that region of the device 200. From this measurement, it may be possible to infer an orientation of the device 200 relative to the user.
  • the sensors may be located in regions of device 110 that are typically grasped by a user when holding device 200 in a portrait orientation.
  • Another group of sensors may be located in regions of the device 200 likely to be grasped by a user when holding device 200 in a landscape orientation. Based on output from these sensors, a processor in the device 200 may infer that the user is holding the device in a specific orientation.
  • a measured level of acceleration may be used to calculate a relative stability of the client device 200. For example, it can be calculated when the device 200 is being held steady in hand by analyzing readings from internal accelerators to determine whether the readings deviate from a directional pull of gravity. If an absolute difference between the accelerator readings and the acceleration cause by gravity (e.g., a gravitational vector constant) falls below a threshold value, it may be determined that the client device is relatively stable.
  • the threshold value may be adjusted in order to avoid or reduce erroneous measurements due to excessive vibrations. For example, the threshold value may be increased to take into account possible conditions such as the user experiencing wrist or hand tremors, running or a number of other conditions.
  • the threshold level may be configured by the user 201 on the client device 200 using an application, keyboard, user interface or similar techniques for inputting information into the device 200.
  • an accelerometer used in conjunction with the above- described techniques may be situated in a direction parallel to the pull of gravity.
  • the Z-axis lays parallel to the directional pull of gravity on client device 200.
  • readings from accelerometer sensors located in the direction of the Z- axis are measured against the acceleration caused by gravity to determine whether the client device is at rest
  • the device may be stable enough to determine a walking direction of the user 201.
  • the illustration in FIG. 2 is just merely one example of a way of originating the client device 200, as further discussed below there are several ways a user may position the client device 200 during the normal course of using the device 200 in conjunction with indoor navigation functions.
  • FIG. 3 is an illustration of additional representations of the client device 200 of FIG. 2.
  • the client device 200 can be positioned horizontally so as to arrange a display 206 in landscape mode, or vertically so as to arrange the display 206 in portrait mode.
  • Internal sensors may measure changes in the client device's orientation with respective to a magnetic north coordinate.
  • the client device 200 may detect these changes in orientation and an API may update information on the display 206 of the device 200 in accordance with its new orientation.
  • the magnetic North coordinate represents an angle in reference to Earth's magnetic field intensity with respect to a direction of the North magnetic pole. It may be measured, for example, by using an internal compass or other navigational means for measuring directions with reference to the internal coordinate system described above and a surface of the Earth.
  • the units of measurements around the magnetic North coordinate are between 0 and 360 degrees, which represents a complete rotation of the device 200 divided by 360 equal divisions.
  • FIG. 4 is an example orientation of a client device 400.
  • the client device 400 may receive an image of an indoor space 408 and display it on a display 406 of client device 400.
  • the indoor space 408 may be provided to the client device 400 from a server or local memory of the client device 400.
  • the indoor space 408 may be selected based on a bar code or a captured image of some feature of the indoor space 408 associated with a known location (for example, a picture of a door, sign, monument, or some other feature associated with a location in the indoor space) , a user's known GPS location (e.g., immediately before entering a building) , an address, or any other identifying information inputted by the user.
  • FIG. 4 shows the client device 400 vertically, for example, indicating that the user is holding the device with its longest side pointing 402 in a desired direction of travel 403.
  • Internal sensors may be used to detect the orientation of the device 400 as the user's hold it relatively stable.
  • magnetic North measures at 40 degrees east of the long side of the device as indicated by arrow 404. This may have been calculated by an internal compass or other types of devices used for measuring Earth's magnetic intensity. Based on the orientation of the device and the measured magnetic North coordinate, it may be determined that the user is walking in a direction 40 degrees West of North.
  • FIG. 5 is an example of another orientation of the client device 400 of FIG. 4.
  • the longest side may no longer point in a desired direction of travel.
  • the longest side points left as opposed to the user's direction of travel indicated by arrow 403.
  • internal sensors may be used to detect this change in orientation of the device 400.
  • the orientation reading may be -90 degrees due to the counter-clock wise rotation of the client device by 90 degrees.
  • magnetic North reads at 130 degrees east of the long side of the client device as indicated by arrow 404.
  • FIG. 6 is a flow diagram for a method 600, which may be used, for example, to obtain a direction of a user walking indoors.
  • a magnetic North coordinate may be received at a mobile device.
  • the magnetic North coordinate represents an angel in reference to a North Pole direction of the Earth's magnetic field intensity.
  • the client device may receive the coordinate, for example, from an internal compass or by other navigational means for measuring magnetic directions .
  • One or more accelerometer sensors may be used to detect and measure vibration or forces applied to the mobile device.
  • the sensors may be used to estimate an amount of acceleration along a given axis of the mobile device.
  • the axis may be parallel to a direction of gravity. From these measurements, it may be possible to determine if the mobile device is relatively stable by analyzing readings from at least one of the sensors to determine whether the readings deviate from the directional pull of gravity.
  • stage 625 it may be determined whether an acceleration threshold level has been exceeded. For example, a difference can be calculated between the accelerator readings from stage 620 and the acceleration cause by gravity in order to determine the relative stability of the mobile device. If the difference exceeds a threshold value, then method 600 may end. Otherwise, method 600 may proceed to stage 630.
  • an acceleration threshold level For example, a difference can be calculated between the accelerator readings from stage 620 and the acceleration cause by gravity in order to determine the relative stability of the mobile device. If the difference exceeds a threshold value, then method 600 may end. Otherwise, method 600 may proceed to stage 630.
  • a screen orientation of the mobile device can be calculated based on the determined amount of acceleration vibration. For example, it may be possible to calculate an orientation of the device relative to the user based on the amount of vibration detect in a region of the device.
  • the one or more sensors in stage 620 may be located on regions of device where a user may typically grasp the mobile device in a specific orientation (e.g., vertically, horizontally, etc.) . Based on output from these sensors, a processor may calculate the specific orientation in which the user is holding the device.
  • a walking direction of the user can be detected based on the mobile device's screen orientation and the determined magnetic North coordinate. For example, if the user is holding the client device where the longest length of the display screen is oriented vertically and a magnetic north coordinate is read at 40 degrees east of the long side, the user's detected walking direction is 40 degrees west of the north coordinate.
  • the detected walking direction information may be transmitted, for example, to a server for providing navigational services. For example, in response to the detected walking direction, the user may receive turn-by-turn directions to a desired destination in an indoor location.
  • the above-described aspects of the present disclosure may be advantageous for detecting a walking direction of a user indoors. This may be useful in designing systems for indoor navigation that may reside on a mobile device, such as a mobile phone, a netbook, or some type of networked hand-held client device.
  • a mobile device such as a mobile phone, a netbook, or some type of networked hand-held client device.
  • the benefits of the present subject matter are significantly extended by the fact that, once a user walking direction is determined accurate turn-by-turn instructions can be transmitted to the user.
  • the technology described herein may afford indoor navigation systems, it may also be utilized for detecting the moving direction of consumers within brick and mortar stores as well as many other tangible business benefits.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un système (100) et un procédé (600) permettant de détecter une direction de déplacement en intérieur d'un utilisateur tenant un dispositif mobile. Le procédé comprend les étapes consistant à recevoir des coordonnées de Nord magnétique au niveau d'un dispositif mobile (610) ; à mesurer un niveau d'accélération du dispositif mobile à l'aide d'un ou de plusieurs capteurs du dispositif mobile (620) ; à calculer une orientation d'écran d'un affichage du dispositif mobile sur la base du niveau d'accélération mesuré du dispositif mobile (630) ; et à identifier une direction en intérieur de l'utilisateur sur la base des coordonnées de Nord magnétique déterminées et de l'orientation d'écran calculée (640).
PCT/CN2013/072261 2013-03-06 2013-03-06 Procédé et système permettant de détecter une direction de déplacement en intérieur WO2014134804A1 (fr)

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PCT/CN2013/072261 WO2014134804A1 (fr) 2013-03-06 2013-03-06 Procédé et système permettant de détecter une direction de déplacement en intérieur

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Publication number Priority date Publication date Assignee Title
EP3399279A3 (fr) * 2017-04-10 2019-03-27 HERE Global B.V. Positionnement intérieur précis sur la base de conditions

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Publication number Priority date Publication date Assignee Title
US20050222802A1 (en) * 2002-08-27 2005-10-06 Yasuhiro Tamura Mobile terminal apparatus
US20060010699A1 (en) * 2004-07-15 2006-01-19 C&N Inc. Mobile terminal apparatus
CN101813922A (zh) * 2009-08-10 2010-08-25 李艳霞 具有方位识别功能的智能控制设备

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050222802A1 (en) * 2002-08-27 2005-10-06 Yasuhiro Tamura Mobile terminal apparatus
US20060010699A1 (en) * 2004-07-15 2006-01-19 C&N Inc. Mobile terminal apparatus
CN101813922A (zh) * 2009-08-10 2010-08-25 李艳霞 具有方位识别功能的智能控制设备

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3399279A3 (fr) * 2017-04-10 2019-03-27 HERE Global B.V. Positionnement intérieur précis sur la base de conditions
US10659923B2 (en) 2017-04-10 2020-05-19 Here Global B.V. Condition based accurate indoor positioning
US11350241B2 (en) 2017-04-10 2022-05-31 Here Global B.V. Condition based accurate indoor positioning

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