WO2016183892A1 - Procédé de positionnement, dispositif électronique et support de stockage - Google Patents

Procédé de positionnement, dispositif électronique et support de stockage Download PDF

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Publication number
WO2016183892A1
WO2016183892A1 PCT/CN2015/081690 CN2015081690W WO2016183892A1 WO 2016183892 A1 WO2016183892 A1 WO 2016183892A1 CN 2015081690 W CN2015081690 W CN 2015081690W WO 2016183892 A1 WO2016183892 A1 WO 2016183892A1
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WO
WIPO (PCT)
Prior art keywords
information
electronic device
preset
dimensional coordinate
height
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PCT/CN2015/081690
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English (en)
Chinese (zh)
Inventor
刘学政
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西安中兴新软件有限责任公司
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Publication of WO2016183892A1 publication Critical patent/WO2016183892A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • the present invention relates to positioning technologies, and in particular, to a positioning method, an electronic device, and a storage medium.
  • the embodiments of the present invention provide a positioning method, an electronic device, and a storage medium, which can accurately acquire three-dimensional track information, thereby improving the user experience.
  • An embodiment of the present invention provides a positioning method, where the method applies a first electronic device; the method includes:
  • the first location information is used to represent location information corresponding to the current location of the first electronic device
  • the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
  • the three-dimensional trajectory information can represent height trajectory information corresponding to the first direction.
  • the first electronic device is provided with a sensing unit; correspondingly, the obtained Take the first location information, including:
  • the first location information is obtained by the sensing unit in the first electronic device.
  • the method further includes:
  • Obtaining preset location information where the preset location information is used to represent location information corresponding to when the first electronic device is in a target location;
  • the method further includes:
  • the acquiring preset location information includes:
  • the preset position information is acquired.
  • the method further includes:
  • the determining the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information includes:
  • the three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the embodiment of the present invention further provides a first electronic device, where the first electronic device includes:
  • a first acquiring unit configured to acquire first location information, where the first location information is used to represent location information corresponding to a current location of the first electronic device
  • a first determining unit configured to determine, according to the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
  • the second determining unit is configured to determine the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first electronic device is provided with a sensing unit; correspondingly,
  • the first acquiring unit is further configured to acquire first location information by using the sensing unit.
  • the first electronic device further includes:
  • a second acquiring unit configured to acquire preset location information, where the preset location information is used to represent location information corresponding to when the first electronic device is in the target location;
  • the third determining unit is configured to determine preset three-dimensional coordinate information according to the preset location information.
  • the first electronic device further includes:
  • a third acquiring unit configured to acquire distance information between the first electronic device and the second electronic device
  • the determining unit is configured to determine whether the distance information meets a preset rule, and obtain a determination result
  • the second acquiring unit is further configured to: when the determining result indicates that the distance information meets the preset rule, acquire preset location information.
  • the first electronic device further includes:
  • a fourth determining unit configured to determine, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction
  • a fifth determining unit configured to determine, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction
  • a sixth determining unit configured to determine height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information
  • the second determining unit is further configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the Height trajectory information corresponding to the first direction.
  • the positioning method, the electronic device, and the storage medium according to the embodiment of the present invention acquire the first location information by using the first electronic device, determine the first three-dimensional coordinate information according to the first location information, and further enable the first electronic device.
  • the three-dimensional trajectory information can be determined according to the first three-dimensional coordinate information and the preset three-dimensional coordinate information, where the three-dimensional trajectory information can represent the height information in the first direction, and therefore, the embodiment of the present invention can determine the The height trajectory corresponding to the positional relationship between the first position information and the preset three-dimensional coordinate information, thereby facilitating the electronic device user to obtain the trajectory of the current location and the target position more accurately according to the height trajectory, thereby improving the user Experience.
  • FIG. 1 is a schematic flowchart 1 of an implementation process of a positioning method according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a first electronic device according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart 2 of an implementation process of a positioning method according to an embodiment of the present invention.
  • the basic idea of the embodiment of the present invention is that the first electronic device acquires the first location information; the first location information is used to represent the location information corresponding to the current location of the first electronic device; Determining, by the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information capable of characterizing a height letter corresponding to the first electronic device in a first direction The first electronic device determines the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first electronic device may be specifically a smart phone, a tablet computer, or the like.
  • a sensing unit is disposed in the first electronic device, and the sensing unit may be implemented by using a device such as a gyroscope, a pressure sensor, or the like, so that location information is acquired by the sensing unit. To improve the accuracy of location information and enhance the user experience.
  • FIG. 1 is a schematic flowchart 1 of an implementation process of a positioning method according to an embodiment of the present invention; the method uses a first electronic device; as shown in FIG. 1 , the method includes:
  • Step 101 Acquire first location information, where the first location information is used to represent location information corresponding to a location where the first electronic device is currently located;
  • the first electronic device is provided with a sensing unit; correspondingly, the acquiring the first location information includes:
  • the first location information is obtained by the sensing unit in the first electronic device.
  • the first electronic device in the embodiment of the present invention is provided with a sensing unit, and the first location information is acquired by the sensing unit, and further, the first electronic device is in the first
  • the height information in the direction is determined based on the first position information, and therefore, the height information acquired by the embodiment of the present invention is compared with the height information acquired by the Global Positioning System (GPS). more acurrate.
  • GPS Global Positioning System
  • the method further includes:
  • Obtaining preset location information where the preset location information is used to represent location information corresponding to when the first electronic device is in a target location;
  • the embodiment of the present invention further needs to acquire the preset location information, and further acquire the preset three-dimensional coordinate information corresponding to the preset location information, and thus, by using the preset three-dimensional coordinate information and the location
  • the first three-dimensional coordinate information corresponding to the first location information is compared to determine three-dimensional trajectory information.
  • the preset three-dimensional coordinate information may be specifically an origin (0, 0, 0) in a preset coordinate system, and the first three-dimensional coordinate information may be specifically in the preset coordinate system. Any of the coordinates (a, b, c).
  • the method further includes:
  • the acquiring preset location information includes:
  • the preset position information is acquired.
  • the second electronic device may be any electronic device disposed in a car, such as car navigation, etc., as long as the second electronic device can communicate with the first electronic device to facilitate The first electronic device may acquire distance information between itself and the second electronic device.
  • the first electronic device acquires distance information between itself and the second electronic device, and thus, determining, by the distance information, itself and the second electronic device, that is, itself The distance between the first electronic device and the second electronic device is less than the distance threshold, and the preset rule may be used to indicate that the distance information between the first electronic device and the second electronic device is less than a distance threshold. For example less than 2 meters.
  • the first electronic device is triggered to acquire the preset position information, and then determined according to the preset position information.
  • the three-dimensional coordinate information is preset, and the preset three-dimensional coordinate information is determined as an origin, thereby laying a foundation for finally determining the three-dimensional trajectory information.
  • Step 102 Determine first three-dimensional coordinate information according to the first location information, where the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
  • Step 103 Determine three-dimensional trajectory information based on the first three-dimensional coordinate information and preset three-dimensional coordinate information; the three-dimensional trajectory information can represent height trajectory information corresponding to the first direction.
  • the method further includes:
  • the determining the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information includes:
  • the three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first location information is obtained by the first electronic device, and the first three-dimensional coordinate information is determined according to the first location information, so that the first electronic device can be configured according to the first 3D coordinate information and preset 3D coordinate information to determine a 3D track letter
  • the three-dimensional trajectory information can be used to represent the height information in the first direction. Therefore, the height corresponding to the positional relationship between the first position information and the preset three-dimensional coordinate information can be determined by using the embodiment of the present invention.
  • the trajectory further facilitates the user of the electronic device to obtain the trajectory of the current location and the target location more accurately according to the height trajectory, thereby improving the user experience.
  • the positioning method according to the embodiment of the present invention can determine the three-dimensional trajectory information that represents the height information of the first direction
  • the embodiment of the present invention can be applied to the scene of the parking lot to find a car, and the embodiment of the present invention
  • the three-dimensional trajectory information can represent the height trajectory in the first direction. Therefore, the user of the electronic device can determine the floor information of the target vehicle, thereby expanding the application scenario of the electronic device and improving the user experience.
  • the embodiment of the invention further provides a computer readable storage medium, the storage medium comprising a set of instructions for performing the positioning method according to the first embodiment.
  • the embodiment of the present invention further provides a first electronic device.
  • the first electronic device includes:
  • the first obtaining unit 21 is configured to acquire first location information, where the first location information is used to represent location information corresponding to the current location of the first electronic device;
  • the first determining unit 22 is configured to determine, according to the first location information, first three-dimensional coordinate information, where the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in the first direction;
  • the second determining unit 23 is configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first electronic device is provided with a sensing unit; correspondingly,
  • the first acquiring unit 21 is further configured to acquire first location information by using the sensing unit.
  • the first electronic device further includes:
  • the second obtaining unit 24 is configured to acquire preset location information; the preset location information is used to Characterizing location information corresponding to the first electronic device when it is in the target location;
  • the third determining unit 25 is configured to determine preset three-dimensional coordinate information according to the preset position information.
  • the first electronic device further includes:
  • the third obtaining unit 26 is configured to acquire distance information between the first electronic device and the second electronic device;
  • the determining unit 27 is configured to determine whether the distance information meets a preset rule, and obtain a determination result
  • the second obtaining unit 24 is further configured to: when the determining result indicates that the distance information meets the preset rule, acquire preset location information.
  • the first electronic device further includes:
  • the fourth determining unit 28 is configured to determine, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
  • the fifth determining unit 29 is configured to determine, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
  • the sixth determining unit 20 is configured to determine height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
  • the second determining unit 23 is further configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can be characterized
  • the height trajectory information corresponding to the first direction is described.
  • the first determining unit 22, the second determining unit 23, the third determining unit 25, the determining unit 27, the fourth determining unit 28, the fifth determining unit 29, and the sixth determining unit 20 may all be processed by the central processing.
  • Unit CPU, Central Processing Unit), or digital signal processing (DSP), or Field Programmable Gate Array (FPGA), etc.; the CPU, DSP, and FPGA can be built in
  • the first acquiring unit 21, the second obtaining unit 24, and the third obtaining unit 26 may be implemented by a sensing unit, such as a gyroscope, a pressure sensor, or the like, disposed in the first electronic device.
  • FIG. 3 is a schematic diagram of an implementation process of a positioning method according to an embodiment of the present invention; the method is applied to a first electronic device; in this embodiment, the first electronic device is a smart phone, and the smart phone is set or connected with a wireless security device.
  • Wi-Fi WIreless-Fidelity
  • AGPS Assisted Global Positioning System
  • the method of this embodiment is applied to the parking lot Looking for a car scene, as shown in Figure 3, the method includes:
  • Step 301 The first electronic device acquires preset location information.
  • Step 302 The first electronic device determines preset three-dimensional coordinate information according to the preset location information.
  • the application software of the first electronic device is manually opened, the preset location information is obtained by the application software, and preset three-dimensional coordinate information is acquired based on the preset location information, and the preset three-dimensional coordinate information is corresponding.
  • the coordinate is determined as the origin in the first three-dimensional coordinate system, that is, (0, 0, 0); that is, in this embodiment, the default position where the smart phone is located, that is, the stop position of the car is
  • the origin in the first three-dimensional coordinate system that is, the position where the user's car is stopped is determined as the origin in the first three-dimensional coordinate system.
  • the first electronic device can also automatically determine the first three-dimensional sitting The origin of the standard system; specifically, the user manually opens the application software of the first electronic device after the user stops, obtains the distance information between the user and the second electronic device in real time through the application software, and determines whether the distance information satisfies the preset rule.
  • the acquired distance information satisfies the preset rule.
  • the acquired distance information is smaller than the distance threshold.
  • the first electronic device acquires the location information, and the location information acquired at this time is the preset location information, and That is, when the distance between the first electronic device and the second electronic device is less than the distance threshold, the preset distance information acquired by the first electronic device is the preset position of the corresponding vehicle of the second electronic device.
  • the preset three-dimensional coordinate information corresponding to the preset position information is used as an origin in the first three-dimensional coordinate system, thereby laying a foundation for finally determining the three-dimensional trajectory information.
  • the second electronic device may be any electronic device disposed in a car, such as car navigation or the like.
  • the step of establishing the first three-dimensional coordinate system may specifically include:
  • the first three-dimensional coordinate system is recommended.
  • the pressure sensor of the smart phone is used to determine the altitude at which the smart phone is located.
  • the altitude relationship may be determined by a curve relationship between the air pressure measured by the pressure sensor and the altitude.
  • the smart phone can determine its own moving height on the Z axis in real time through its own pressure sensor, for example, preset three-dimensional coordinate information corresponding to the preset position information of the smart phone.
  • the smart phone determines the height on its Z axis in real time through its own pressure sensor, and determines the intelligence by the distance relationship between the height and the origin.
  • the moving height of the mobile phone on the Z axis Further, if the smart phone can find the GPS signal at this time, combined with the altitude of the GPS positioning, the moving height on the Z axis can be made more accurate.
  • the height of the user's car can be determined, that is, the height of the user's car parked in the parking lot, so that the user can find the car, saving user time and improving the user experience.
  • Step 303 The first electronic device acquires first location information corresponding to the current location.
  • Step 304 The first electronic device determines first three-dimensional coordinate information according to the first location information.
  • Step 305 Determine, according to the first three-dimensional coordinate information and preset three-dimensional coordinate information, three-dimensional trajectory information in a first three-dimensional coordinate system, so that the three-dimensional trajectory information can represent the first electronic device at the first Height trajectory information in the direction.
  • the first method is also the Z-axis direction.
  • the first location information corresponding to the current location of the smart phone is determined by the increment of the displacement in a unit time
  • the speed includes a linear velocity and an angular velocity
  • an acceleration sensor in a smartphone is used to measure the linear acceleration in the horizontal direction
  • a gyroscope in the smartphone is used to measure the angular velocity in the horizontal direction
  • the rotation is obtained by integrating the angular velocity.
  • Angle, by the angle information of the rotation, the linear acceleration in the horizontal direction measured by the acceleration sensor is respectively projected on the X and Y axes to obtain the linear accelerations on the X and Y axes respectively, and the X and Y axes are obtained by integrating the time.
  • the line speed on the upper side is integrated with the time to obtain the displacement in the X and Y axis directions, and then the displacement in the X and Y axis directions is determined by the increment of the displacement in the unit time; therefore, the simultaneous acquisition is performed at the same frequency.
  • the data of the acceleration sensor and the gyroscope can obtain the displacement in the horizontal direction on the X and Y axes, that is, the current horizontal position coordinate (x, y).
  • the AGPS module obtains the AGPS signal provided by the network, and can assist the acceleration sensor and the gyroscope to calibrate the motion information, including the direction and the stride, thereby improving the positioning of the positioning under long-term work.
  • the smart phone can connect to the Wi-Fi calling location of all Wi-Fi hotspots in the database through the Wi-Fi module, and each Wi-Fi The signal strength of the hotspot is used to calculate the current location information of the smart phone, thereby assisting the data of the acceleration sensor and the gyroscope to obtain more accurate position information. Therefore, if there are GPS, AGPS, and Wi-Fi signals at the same time, all of them are used to assist the data acquired by the acceleration sensor and the gyroscope, and the position information with higher accuracy can be obtained.
  • the data of the auxiliary acceleration sensor and the gyroscope are used, the accuracy of the obtained data is second; if there is no GPS, AGPS, WI-FI signal, only the acceleration sensor and the gyroscope are used, then The data obtained is the least accurate. However, the relative positional relationship between the smart phone and the preset position information, that is, the three-dimensional trajectory information can still be displayed.
  • the embodiment of the present invention can determine the three-dimensional coordinates (x, y, z) corresponding to the current first position information of the smart phone in the first three-dimensional coordinate system in real time, and thus, through the three-dimensional coordinates ( The positional relationship between x, y, z) and the origin determines the three-dimensional trajectory information, so that the user can find the car with purpose, reduce the time of searching for the car, and improve the user experience.
  • the horizontal direction is determined by the compass in the smart phone, and the X-axis and the Y-axis direction are determined according to the horizontal direction, and the vertical direction perpendicular to the horizontal direction is taken as the Z-axis to establish three-dimensional coordinates.
  • the present invention is implemented in the parking lot.
  • the target three-dimensional trajectory can be accurately determined, which lays a foundation for the user to accurately obtain the location of the vehicle.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
  • the first electronic device obtains the first location information, and determines the first three-dimensional coordinate information according to the first location information, so that the first electronic device can be configured according to the first three-dimensional coordinate information and the preset
  • the three-dimensional coordinate information determines three-dimensional trajectory information, where the three-dimensional trajectory information can represent the height information in the first direction. Therefore, the first position information and the preset three-dimensional coordinate information can be determined by using the embodiment of the present invention.
  • the height trajectory corresponding to the positional relationship thereby facilitating the electronic device user to obtain the trajectory of the current location and the target location more accurately according to the height trajectory, thereby improving the user experience.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé de positionnement qui s'applique à un premier dispositif électronique et consiste: à acquérir des premières informations de position utilisées pour caractériser des informations de position correspondant à une position actuelle du premier dispositif électronique (101); à déterminer, en fonction des premières informations de position, des premières informations de coordonnées tridimensionnelles pouvant caractériser les informations de hauteur correspondantes concernant le premier dispositif électronique dans une première direction (102); et à déterminer des informations de parcours tridimensionnelles sur la base des premières informations de coordonnées tridimensionnelles et d'informations de coordonnées tridimensionnelles préétablies, les informations de parcours tridimensionnelles pouvant caractériser les informations de parcours de hauteur correspondantes dans la première direction (103). L'invention concerne en outre un premier dispositif électronique et un support de stockage.
PCT/CN2015/081690 2015-05-19 2015-06-17 Procédé de positionnement, dispositif électronique et support de stockage WO2016183892A1 (fr)

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CN201510256381.4 2015-05-19
CN201510256381.4A CN106289224A (zh) 2015-05-19 2015-05-19 一种定位方法及电子设备

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CN107172583A (zh) * 2017-03-31 2017-09-15 捷开通讯(深圳)有限公司 存储装置、移动终端及其定位方法和寻车方法
CN108051839B (zh) * 2017-10-27 2021-11-05 成都天合世纪科技有限责任公司 一种车载三维定位装置及三维定位的方法
CN110856106B (zh) * 2019-11-20 2021-06-18 重庆邮电大学 基于uwb和气压计的室内高精度三维定位方法

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