WO2020062531A1 - 一种定位装置及其定位方法 - Google Patents
一种定位装置及其定位方法 Download PDFInfo
- Publication number
- WO2020062531A1 WO2020062531A1 PCT/CN2018/117470 CN2018117470W WO2020062531A1 WO 2020062531 A1 WO2020062531 A1 WO 2020062531A1 CN 2018117470 W CN2018117470 W CN 2018117470W WO 2020062531 A1 WO2020062531 A1 WO 2020062531A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- positioning
- module
- uwb
- data
- satellite
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Definitions
- the present disclosure relates to the field of positioning technology, and in particular, to a positioning device and a positioning method thereof.
- GPS Global Positioning System
- Beidou Global System for Mobile Communications
- satellite signals when there is an object between the positioning receiver antenna and the satellite antenna, the accuracy and reliability of positioning will be affected, especially in large buildings, which is affected by the blockage of the cement wall. , The satellite signal will be weakened so sharply that positioning cannot be achieved.
- UWB Ultra-Wide band positioning
- the pulse signals of UWB positioning are easily blocked by obstacles and reflected, which reduces the accuracy of UWB ranging and greatly affects its positioning accuracy. .
- Embodiments of the present disclosure provide a positioning method and device, which can solve the problem of indoor and outdoor fusion seamless positioning.
- the technical solution is as follows:
- a positioning device includes: a satellite positioning module, an ultra-wideband UWB positioning module, a core processor, an ad hoc network module, and a power module; wherein the satellite positioning module is used for Satellite signals are used for outdoor positioning; UWB positioning modules are used for indoor positioning based on signals from UWB base stations; core processors are used to collect positioning data of satellite positioning modules and / or UWB positioning modules, determine positioning locations, and perform the unified standard data format Storage of position information; ad hoc network module is used to transmit position information; power module is used to supply power to the positioning device.
- the satellite positioning module may include a Beidou positioning module and / or a global positioning system GPS positioning module.
- the core processor may be further configured to determine whether to start the UWB positioning module according to a coverage strength of a satellite signal.
- the core processor may be further configured to perform transmission format conversion on the positioning data according to a communication protocol adopted by the ad hoc network module.
- the ad hoc network module may be further configured to receive a data call request and send location information according to the data call request.
- the positioning device further includes a display module for displaying the positioning position.
- a positioning method device applied to a positioning device includes: determining satellite positioning data according to a satellite signal; determining UWB positioning data according to a UWB base station signal; determining according to satellite positioning data and UWB positioning data Locate the position, and store the position information according to the unified standard data format; transmit the position information.
- positioning is performed according to a UWB base station signal to obtain the UWB positioning data.
- the method further includes converting a transmission format of the positioning data according to a communication protocol.
- the method further includes receiving a data call request, and sending the location information according to the data call request.
- the positioning device and method provided in the embodiments of the present disclosure integrate satellite positioning and UWB positioning to realize indoor and outdoor fusion seamless positioning. It can meet the needs of outdoor positioning, indoor positioning, mixed positioning under multiple environments, indoor and outdoor mobile positioning, high positioning accuracy and strong real-time performance.
- FIG. 1 is a structural block diagram of a positioning device according to an embodiment of the present disclosure
- FIG. 2 is a flowchart of a positioning method according to an embodiment of the present disclosure.
- FIG. 1 is a structural block diagram of a positioning device provided by the present disclosure.
- the positioning device 100 includes: a satellite positioning module 101, a UWB positioning module 102, a core processor 103, an ad hoc network module 104, and a power module 105.
- the satellite positioning module 101 is used for positioning according to satellite signals; it can be a Beidou positioning module or a GPS positioning module; it is mainly used for outdoor positioning. Taking the positioning by the Beidou satellite positioning system as an example, the satellite positioning module 101 is a Beidou positioning module. After collecting satellite positioning data, the Beidou positioning module realizes data encoding and transmission through a communication serial port and stores the data in the core processor 103.
- the UWB positioning module 102 is used for indoor positioning according to the signals of the UWB base station. Specifically, the UWB positioning module 102 and the UWB base station may use the TOF (Time of Flight) distance measurement method to measure the distance, that is, by TDOA (Time Difference Arrival (arrival time difference) algorithm performs data calculation, and calculates the distance through the spatial information transmission time difference to determine the positioning coordinate information. Specifically, the first time that the UWB positioning module 102 transmits the pulse radio, and the second time that multiple UWB base stations receive the pulse radio, and based on the time difference between the first time and the second time, the flight time of the pulse radio is obtained, and then calculated.
- TOF Time of Flight
- TDOA Time Difference Arrival (arrival time difference) algorithm
- the positioning data collected by the UWB positioning module 102 can be transmitted to the core processor 103 through the communication serial port for data storage and processing.
- the UWB positioning module may perform positioning according to the signal of the UWB base station.
- the coverage strength of the satellite signal can be represented by the number of received stars.
- the predetermined threshold can be based on the user's requirements for positioning accuracy, positioning scenarios, One or more factors such as signal interference conditions are determined by comprehensive consideration. For example, according to the user's requirements for positioning accuracy, when the number of Beidou satellites received is less than 4, the coverage strength is considered weak, and the UWB positioning module is enabled to perform positioning based on the signals of the UWB base station.
- the core processor 103 is configured to collect positioning data of the satellite positioning module 101 and / or the UWB positioning module 102, determine a positioning position, and store the position information according to a unified standard data format.
- a unified standard data format For example: Most commonly used GPS modules use the NMEA-0183 protocol.
- NMEA-0183 is a standard specification designated by the National Marine Electronics Association (National Marine Electronics Association). This standard formulates communication standards for all marine electronic instruments, including the format of data transmission and the communication protocol for data transmission. After the GPS is powered on, it will return data in a certain format every certain time.
- the data format is: $ Information type, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, x, The characters at the beginning of each line of x are '$', followed by the information type, followed by data, separated by commas. A complete line of data is as follows:
- the information types include: GPGLL geolocation information; GPRMC recommended minimum location information.
- the positioning data of the satellite positioning module 101 and the UWB positioning module 102 can store position information according to a unified standard data format; the unified standard data format can be defined according to the needs of users, for example, they can be converted into GPRMC in a unified manner It is recommended to store the minimum positioning information.
- the core processor 103 is further configured to convert the positioning data according to a communication protocol adopted by the ad hoc network module.
- the core processor 103 can communicate with the UWB positioning module, the Beidou positioning module, and the ad hoc network module through three communication serial ports, respectively. After the core processor 103 collects UWB positioning data and Beidou positioning data, because the Beidou positioning data has its own data frame format and UWB positioning data also has its own data frame format, the core processor 103 needs to perform a unified standard data format. Storage. Specifically, the core processor 103 needs to output the frame format according to the ad hoc network communication data transfer protocol according to the requirements of the ad hoc network module, that is, it needs to perform data format conversion on the collected data and convert it to the ad hoc network module output frame.
- the format requires the same data format for remote transmission of data. It can be seen that the core processor 103 plays a role of data protocol conversion and storage in the whole process.
- the core processor 103 may be implemented by an MCU (Micro Control Unit), which is also directly referred to as an MCU or MUC core processor.
- MCU Micro Control Unit
- the positioning device 100 may obtain its own movement speed and movement direction, perform position or space prediction based on the movement speed and movement direction, switch and call position data in a database, and set related switching rules. Switch the positioning data. Specifically, when it is determined that it is currently indoors, the positioning position is determined according to the positioning data of the UWB positioning module 102; when it is determined that it is outdoors, the positioning position is determined according to the positioning data of the satellite positioning module 101. Or in some embodiments, when it is determined that it is currently indoors, the positioning data of the UWB positioning module 102 is mainly used, and the positioning position is determined by referring to the positioning data of the satellite positioning module 101; when it is determined that it is outdoor, the positioning of the satellite positioning module 101 is used.
- the positioning data is mainly used, and the positioning position is determined with reference to the positioning data of the UWB positioning module 102.
- the acquired movement speed and movement direction can also assist in determining the positioning position.
- the coverage strength of the satellite signal and the strength of the UWB base station signal may also be combined to determine more accurate positioning data. For example, if the number of Beidou satellites is less than 4, the positioning accuracy is poor; when the signal strength of the UWB base station is lower than -107dBm, the positioning accuracy is poor.
- the core processor 103 may start the UWB positioning module 102 when indoors according to the prediction of the position or space; it may also determine whether to start the UWB positioning module according to the coverage strength of the satellite signal; for example, the core processing
- the UWB positioning module is activated for positioning. Specifically, the UWB module is used for positioning in a space area not covered by the satellite, or when the satellite signal is weak enough to support positioning.
- the UWB positioning module performs positioning according to the signal of the UWB base station.
- the coverage strength of the satellite signal can be represented by the number of received stars. If the number of received stars is high, the coverage strength of the signal is strong, otherwise the coverage strength is weak; the predetermined threshold can be based on the user's requirements for positioning accuracy, positioning scenarios, One or more factors such as signal interference conditions are determined by comprehensive consideration. For example, according to the user's requirements for positioning accuracy, when the number of Beidou satellites received is less than 4, the coverage strength is considered weak, and the UWB positioning module is enabled to perform positioning based on the signals of the UWB base station.
- the ad hoc network module 104 is used for remote wireless data transmission. It can encode the stored location information and transmit it to the background or other remote devices. It can also call the local location in real time according to the information or data call requirements of the background or other remote devices. Data is encoded and transmitted to the background or other remote devices. For example, the ad hoc network module 104 may receive a positioning request sent by a remote device, and encode the positioning data and send it to the remote device according to the positioning request.
- the power supply module 105 is used to supply power to the positioning device. Specifically, the power supply module 105 can supply power to the satellite positioning module 101, the UWB positioning module 102, the core processor 103, and the ad hoc network module 104 through AC-DC conversion; When the positioning device 100 also includes other modules (such as a display module, etc.), the power module 105 can also be used to supply power to these modules.
- the positioning device 100 further includes a display module 106 for displaying a positioning position.
- the display module 106 may be an LCD screen or an LED screen, and may display the core processor 101 to determine the positioning position.
- the display module 106 may be designed integrally with the positioning device 100 as a part of the positioning device 100 or as an external module of the positioning device 100 and connected through a peripheral interface.
- real-time invocation of positioning data can be achieved through application software, and application development is combined with a holographic GIS system to construct a real-time display of positioning in the entire airspace.
- the positioning device provided in the embodiment of the present disclosure integrates satellite positioning and UWB positioning to achieve seamless positioning of indoor and outdoor fusion. It can meet the needs of outdoor positioning, indoor positioning, mixed positioning under multiple environments, indoor and outdoor mobile positioning, high positioning accuracy and strong real-time performance.
- FIG. 2 is a flowchart of a positioning method according to an embodiment of the present invention. As shown in FIG. 2, the positioning method includes:
- the positioning device determines satellite positioning data according to the satellite signal.
- the positioning device determines UWB positioning data according to a UWB base station signal.
- the positioning device determines a positioning position according to the satellite positioning data and UWB positioning data, and stores position information according to a unified standard data format.
- the positioning device transmits the position information.
- determining the satellite positioning data according to the satellite signal may be positioning according to the Beidou positioning system, or positioning based on the GPS system.
- Positioning is based on signals from the UWB base station.
- the TOF ranging between the positioning device and the UWB base station can be used, that is, data calculation is performed by the TDOA algorithm, and distance is calculated by the time difference of the spatial information transmission to determine positioning coordinate information.
- the positioning device collects UWB positioning data and Beidou positioning data, because Beidou positioning data has its own data frame format, and UWB positioning data also has its own data frame format, it is necessary to perform protocol conversion storage on the collected data, and also need to convert The same data format as the output frame format of the ad hoc network module is required to achieve remote transmission of data.
- the positioning device may obtain its own speed and direction of movement, perform position or space prediction based on the speed and direction of movement, switch and call the position data in the database, set relevant switching rules, and perform Positioning data switching.
- UWB positioning can be started when indoors according to the prediction of location or space; it can also be determined whether the UWB positioning is started according to the coverage strength of satellite signals; specifically, when the space is not covered by satellites In areas where satellite signals are weak enough to support positioning, UWB positioning is enabled. In specific implementation, when the coverage strength of the satellite signal is less than a predetermined threshold, the UWB positioning module may perform positioning according to the signal of the UWB base station.
- the coverage strength of the satellite signal can be represented by the number of received stars. If the number of received stars is high, the coverage strength of the signal is strong, otherwise the coverage strength is weak; the predetermined threshold can be based on the user's requirements for positioning accuracy, positioning scenarios, One or more factors such as signal interference conditions are determined by comprehensive consideration. For example, according to the user's requirements for positioning accuracy, when the number of Beidou satellites received is less than 4, the coverage strength is considered weak, and the UWB positioning module is enabled to perform positioning based on the signals of the UWB base station. In some embodiments, the coverage strength of the satellite signal and the strength of the UWB base station signal may also be combined to determine more accurate positioning data. For example, if the number of Beidou satellites is less than 4, the positioning accuracy is poor; when the signal strength of the UWB base station is lower than -107dBm, the positioning accuracy is poor.
- the positioning device may encode the stored position information and transmit it to the background or other remote devices; or may encode and transmit the local positioning data in real time according to the information or data call requirements of the background or other remote devices.
- a positioning request sent by a remote device may be received, and the positioning data may be encoded and sent to the remote device according to the positioning request.
- the positioning device may further display the positioning position, and real-time invocation of positioning data may be implemented through application software, combined with holographic GIS (Geographic Information System, Geographic Information System) for application development, to construct a real-time display of positioning in the entire airspace.
- holographic GIS Geographic Information System, Geographic Information System
- the positioning method provided by the embodiment of the present disclosure can be applied to a positioning device to achieve the integration of satellite positioning and UWB positioning to achieve seamless positioning indoors and outdoors; to meet the needs of outdoor positioning, indoor positioning, and mixed positioning in a variety of environments, real-time Precise mobile positioning.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (10)
- 一种定位装置,其特征在于,所述装置包括:卫星定位模块、超宽带UWB定位模块、核心处理器、自组网模块和电源模块;所述卫星定位模块,用于根据卫星信号进行室外定位;当所述卫星信号的覆盖强度小于预定门限时,所述UWB定位模块,用于根据UWB基站的信号进行室内定位;所述核心处理器,用于采集所述卫星定位模块和/或所述UWB定位模块的定位数据、确定定位位置,并按照统一的标准数据格式进行位置信息的存储;所述自组网模块,用于传输所述位置信息;所述电源模块,用于为所述定位装置供电。
- 根据权利要求1所述的定位装置,其特征在于,所述卫星定位模块包括北斗定位模块和/或全球定位系统GPS定位模块。
- 根据权利要求1所述的定位装置,其特征在于,所述核心处理器还用于判断所述卫星信号的覆盖强度,当所述卫星信号的覆盖强度小于所述预定门限时,启动所述UWB定位模块进行定位。
- 根据权利要求1所述的定位装置,其特征在于,所述核心处理器还用于按照所述自组网模块采用的通信协议对所述定位数据进行传输格式转换。
- 根据权利要求1所述的定位装置,其特征在于,所述自组网模块用于接收数据调用请求,根据所述数据调用请求发送所述位置信息。
- 根据权利要求1所述的定位装置,其特征在于,所述定位装置还包括显示模块,用于所述定位位置的显示。
- 一种定位方法,其特征在于:根据卫星信号确定卫星定位数据;根据UWB基站信号确定UWB定位数据;根据所述卫星定位数据和所述UWB定位数据确定定位位置,并按照统一的标准数据格式进行位置信息存储;传输所述位置信息。
- 根据权利要求7所述的定位方法,其特征在于:当所述卫星信号强 度小于预定门限时根据UWB基站信号进行定位,得到所述UWB定位数据。
- 根据权利要求7所述的定位方法,其特征在于,还包括对所述定位数据按照通信协议进行传输格式转换。
- 根据权利要求7所述的定位方法,其特征在于,还包括接收数据调用请求,根据所述数据调用请求发送所述位置信息。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2018442628A AU2018442628A1 (en) | 2018-09-28 | 2018-11-26 | Positioning device and positioning method therefor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811139630.1A CN109375244A (zh) | 2018-09-28 | 2018-09-28 | 一种定位装置及其定位方法 |
CN201811139630.1 | 2018-09-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020062531A1 true WO2020062531A1 (zh) | 2020-04-02 |
Family
ID=65402340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2018/117470 WO2020062531A1 (zh) | 2018-09-28 | 2018-11-26 | 一种定位装置及其定位方法 |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN109375244A (zh) |
AU (1) | AU2018442628A1 (zh) |
WO (1) | WO2020062531A1 (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112770389A (zh) * | 2020-12-17 | 2021-05-07 | 歌尔光学科技有限公司 | 定位精度反馈方法、装置、设备及计算机可读存储介质 |
CN113784291A (zh) * | 2021-07-23 | 2021-12-10 | 广东电网有限责任公司广州供电局 | 基于网关的电力人员定位方法、装置、网关设备和介质 |
CN114500134A (zh) * | 2020-11-13 | 2022-05-13 | Oppo广东移动通信有限公司 | 基于uwb的信息处理方法及装置、设备、存储介质 |
CN117111126A (zh) * | 2023-10-20 | 2023-11-24 | 成都格理特电子技术有限公司 | 基于北斗的石化工作人员联合定位方法和装置 |
CN117148406A (zh) * | 2023-10-30 | 2023-12-01 | 山东大学 | 一种室内外无缝弹性融合定位方法、系统、介质及设备 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109932685A (zh) * | 2019-03-29 | 2019-06-25 | 维沃移动通信有限公司 | 一种定位方法、移动终端及室内定位系统 |
CN110095799A (zh) * | 2019-06-05 | 2019-08-06 | 广东电网有限责任公司 | 一种集成卫星导航与超宽带技术定位系统及其方法 |
CN110687563B (zh) * | 2019-09-27 | 2022-02-22 | 万翼科技有限公司 | 应用于5g通信空间中的动态定位方法及相关装置 |
CN110706451A (zh) * | 2019-10-15 | 2020-01-17 | 上海无线电设备研究所 | 一种防走失装置、防走失系统和防走失方法 |
CN112235713A (zh) * | 2020-09-09 | 2021-01-15 | 红点定位(北京)科技有限公司 | 移动对象定位方法、车辆导航方法、装置、设备和介质 |
CN114111808A (zh) * | 2021-11-30 | 2022-03-01 | 上汽通用五菱汽车股份有限公司 | 无人驾驶车的定位方法、系统、装置及可读存储介质 |
CN114401483A (zh) * | 2022-01-24 | 2022-04-26 | 北京宸控科技有限公司 | 一种基于高精度定位的便携式融合通讯基站及定位系统 |
CN114509798A (zh) * | 2022-01-25 | 2022-05-17 | 中国长江三峡集团有限公司 | 一种定位系统、方法、装置及电子设备 |
CN116156625B (zh) * | 2023-02-21 | 2024-01-02 | 北京中集智冷科技有限公司 | 一种新型定位器 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202563079U (zh) * | 2012-04-28 | 2012-11-28 | 合肥佳讯科技有限公司 | 一种定位跟踪仪 |
CN203490370U (zh) * | 2013-09-09 | 2014-03-19 | 四川航天系统工程研究所 | 北斗导航与uwb技术相结合的室内外无缝定位系统 |
CN205210312U (zh) * | 2015-07-13 | 2016-05-04 | 北京中天易观信息技术有限公司 | 基于北斗/uwb技术高精度室内外联合定位装置 |
CN107024709A (zh) * | 2017-05-27 | 2017-08-08 | 北京国泰星云科技有限公司 | 一种室内外无缝定位系统及方法 |
CN206740990U (zh) * | 2017-05-27 | 2017-12-12 | 北京国泰星云科技有限公司 | 一种室内外无缝定位系统 |
CN107783162A (zh) * | 2017-12-08 | 2018-03-09 | 深圳市中舟智能科技有限公司 | 基于uwb和北斗系统的室内室外无缝对接定位系统 |
CN108008433A (zh) * | 2017-12-08 | 2018-05-08 | 深圳市中舟智能科技有限公司 | 基于uwb和gps技术的室外室内无缝对接定位系统 |
CN108124302A (zh) * | 2016-11-28 | 2018-06-05 | 北京金坤科创技术有限公司 | 一种室内外定位自适应无缝切换方法 |
CN108366341A (zh) * | 2018-03-08 | 2018-08-03 | 中国科学院遥感与数字地球研究所 | 一种支持室内外定位之间的无缝切换的定位方法及装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102279404B (zh) * | 2010-06-13 | 2013-11-06 | 上海伽利略导航有限公司 | 一种无缝定位方法及装置 |
CN103856989B (zh) * | 2012-11-28 | 2017-12-15 | 中国电信股份有限公司 | 室内外定位切换的方法和系统、终端以及定位应用平台 |
CN206945986U (zh) * | 2017-05-15 | 2018-01-30 | 北京智汇空间科技有限公司 | 室内外一体化定位接收机及车载终端 |
CN207340196U (zh) * | 2017-06-09 | 2018-05-08 | 广东粤高保广告科技有限公司 | 一种基于uwb技术的定位卡 |
CN107402400A (zh) * | 2017-07-27 | 2017-11-28 | 国网河南省电力公司电力科学研究院 | 基于gps和uwb的台区数据普查移动终端及定位方法 |
-
2018
- 2018-09-28 CN CN201811139630.1A patent/CN109375244A/zh active Pending
- 2018-11-26 AU AU2018442628A patent/AU2018442628A1/en not_active Abandoned
- 2018-11-26 WO PCT/CN2018/117470 patent/WO2020062531A1/zh active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202563079U (zh) * | 2012-04-28 | 2012-11-28 | 合肥佳讯科技有限公司 | 一种定位跟踪仪 |
CN203490370U (zh) * | 2013-09-09 | 2014-03-19 | 四川航天系统工程研究所 | 北斗导航与uwb技术相结合的室内外无缝定位系统 |
CN205210312U (zh) * | 2015-07-13 | 2016-05-04 | 北京中天易观信息技术有限公司 | 基于北斗/uwb技术高精度室内外联合定位装置 |
CN108124302A (zh) * | 2016-11-28 | 2018-06-05 | 北京金坤科创技术有限公司 | 一种室内外定位自适应无缝切换方法 |
CN107024709A (zh) * | 2017-05-27 | 2017-08-08 | 北京国泰星云科技有限公司 | 一种室内外无缝定位系统及方法 |
CN206740990U (zh) * | 2017-05-27 | 2017-12-12 | 北京国泰星云科技有限公司 | 一种室内外无缝定位系统 |
CN107783162A (zh) * | 2017-12-08 | 2018-03-09 | 深圳市中舟智能科技有限公司 | 基于uwb和北斗系统的室内室外无缝对接定位系统 |
CN108008433A (zh) * | 2017-12-08 | 2018-05-08 | 深圳市中舟智能科技有限公司 | 基于uwb和gps技术的室外室内无缝对接定位系统 |
CN108366341A (zh) * | 2018-03-08 | 2018-08-03 | 中国科学院遥感与数字地球研究所 | 一种支持室内外定位之间的无缝切换的定位方法及装置 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114500134A (zh) * | 2020-11-13 | 2022-05-13 | Oppo广东移动通信有限公司 | 基于uwb的信息处理方法及装置、设备、存储介质 |
CN112770389A (zh) * | 2020-12-17 | 2021-05-07 | 歌尔光学科技有限公司 | 定位精度反馈方法、装置、设备及计算机可读存储介质 |
CN113784291A (zh) * | 2021-07-23 | 2021-12-10 | 广东电网有限责任公司广州供电局 | 基于网关的电力人员定位方法、装置、网关设备和介质 |
CN117111126A (zh) * | 2023-10-20 | 2023-11-24 | 成都格理特电子技术有限公司 | 基于北斗的石化工作人员联合定位方法和装置 |
CN117111126B (zh) * | 2023-10-20 | 2023-12-22 | 成都格理特电子技术有限公司 | 基于北斗的石化工作人员联合定位方法和装置 |
CN117148406A (zh) * | 2023-10-30 | 2023-12-01 | 山东大学 | 一种室内外无缝弹性融合定位方法、系统、介质及设备 |
CN117148406B (zh) * | 2023-10-30 | 2024-01-30 | 山东大学 | 一种室内外无缝弹性融合定位方法、系统、介质及设备 |
Also Published As
Publication number | Publication date |
---|---|
CN109375244A (zh) | 2019-02-22 |
AU2018442628A1 (en) | 2020-10-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020062531A1 (zh) | 一种定位装置及其定位方法 | |
CN104837118B (zh) | 一种基于WiFi和BLUETOOTH的室内融合定位系统及方法 | |
US8040219B2 (en) | System and method for in-building location determination | |
US6618005B2 (en) | Determining wireless device locations | |
EP2523013B1 (en) | Cooperative positioning | |
JP2004503787A (ja) | 位置の推定値を提供する方法 | |
CN110926461B (zh) | 一种基于超宽带室内定位方法和系统、导航方法和系统 | |
JP2010169688A (ja) | 無線通信信号による衛星位置決めの強化 | |
CN112102645B (zh) | 一种基于蓝牙aoa技术的室内定位寻车系统及方法 | |
WO2004070513A2 (en) | Method and system for monitoring mobile communication terminal position determination performance by using wireless communication network and a-gps | |
CN103941231A (zh) | 超声射频信号联合处理的室内定位系统及定位方法 | |
EP3092830B2 (en) | Feedback in a positioning system | |
CN102469500A (zh) | 一种基于无线传感技术的移动定位服务方法 | |
CN102469580A (zh) | 一种基于无线传感技术的移动定位服务系统 | |
CN102469406A (zh) | 一种基于无线传感技术的移动定位标识 | |
US20230221399A1 (en) | Devices, Systems and Methods for Detecting Locations of Wireless Communication Devices | |
KR20100128409A (ko) | 위치 기반 서비스 중계 시스템 | |
CN106304320A (zh) | 一种终端定位方法、终端、云计算解析服务平台和系统 | |
CN102547974A (zh) | 一种分层异构无线协同定位方法 | |
CN109922426B (zh) | 平面二维基站定位方法及装置 | |
CN113267193B (zh) | 基于超声信标的室内精确定位组网方法 | |
CN102469581A (zh) | 一种基于无线传感技术的移动定位装置 | |
CN108613678A (zh) | 基于北斗导航节点的室内导航声音定位系统及方法 | |
US20240015687A1 (en) | Cooperative positioning method and apparatus | |
KR101188538B1 (ko) | 위치 기반의 알람 시스템, 위치 기반의 알람 서비스를 제공하는 모바일 기기 및 위치 기반의 알람 서비스 제공 방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18934979 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2018442628 Country of ref document: AU Date of ref document: 20181126 Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18934979 Country of ref document: EP Kind code of ref document: A1 |