CN101795447A - Cell-Id positioning system based on data sharing and self learning and positioning method thereof - Google Patents
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Abstract
The invention discloses a cell-Id positioning system based on data sharing and self learning, comprising at least one positioning terminal and a background server, wherein the positioning terminal is used for receiving GPS (Global Position System) positioning signals and Cell-Id data and transmitting longitude and latitude data corresponding to the GPS positioning signals and the Cell-Id data in a zone covered by a mobile network; and the background server carries out data interaction with at least one positioning terminal to obtain the longitude and latitude data and the Cell-Id data of the positioning terminal and transforms longitude and latitude to actual geographical positions. In a GPS signal dead zone, the positioning system obtains the longitude and the latitude corresponding to the Cell-Id data in a database to realize positioning, and because the parameters of a mobile base station can be obtained without payment, the development and use costs of the positioning system can be reduced. The invention also discloses a cell-Id positioning method based on data sharing and self learning, which can utilize the Cell-Id data to position in the GPS signal dead zone.
Description
Technical field
The present invention relates to field of locating technology, particularly a kind of in the gps signal blind area, based on the Cell-Id navigation system and the localization method thereof of data sharing and self study.
Background technology
Existing navigation system mainly comprise location, mobile network's the location of gps satellite system (or other satellite system) and auxiliary global satellite positioning system (Assisted Global PositioningSystem, AGPS).
Described satellite fix is to utilize the satellite of spatial distribution and satellite and topocentricly draw ground point location apart from intersection.
The mobile network location is to utilize the location of the information interaction realization of mobile base station and portable terminal to terminal, it comprises: based on location technology, TOA (the Time OfArrival of Cell-ID (cell ID), the time of advent) location technology, TDOA (Time Difference Of Arrival, the time of advent is poor) location technology, E-OTD (Enhanced-Observed Time Difference, enhancement mode observed time difference) location technology and AOA (Arrival Of Angle angle reaches) location technology etc.Described mobile network comprises GSM network, cdma network etc.
Auxiliary global satellite positioning system (AGPS) is to utilize GPS location and mobile network's positioning combination reality location, can improve locating speed, and when the satellite-signal blind area, locate the realization location by the mobile network.
Because mobile network location and assisted global satellite fix depend critically upon the basic database of Mobile Network Operator, base station location parameter etc. for example, common developer and consumer can't obtain or freely use, so development cost and use cost are higher.Because mobile network's base station position information can change, and the Cell-Id corresponding with this base station position information also can change, the Cell-ID data can not be upgraded in real time, will cause position error big simultaneously.
Summary of the invention
The technical problem that the present invention mainly solves provides a kind of Cell-Id navigation system and localization method thereof based on data sharing and self study, can obtain the Cell-Id data, and real-time update Cell-Id database, reduces the exploitation and the use cost of navigation system.
In order to address the above problem, the invention provides a kind of Cell-Id navigation system based on data sharing and self study, this system comprises:
At least one locating terminal receives the Cell-Id data of GPS framing signal and mobile base station, sends the longitude and latitude data and the Cell-Id data of described GPS framing signal correspondence in the zone that the mobile network covers;
Background server, carry out data interaction with described at least one locating terminal, obtain the longitude and latitude data and the Cell-Id data of at least one locating terminal current location, this longitude and latitude is converted to actual geographical position, and the Cell-Id data of interior this longitude and latitude correspondence of real-time update database.
Preferably, described at least one locating terminal comprises:
The GPS module receives the GPS framing signal, and the GPS framing signal that receives is handled, the message of output corresponding format;
Main control module is coordinated each module work and terminal traffic running software, and described message is carried out dissection process, generates the longitude and latitude data of described at least one locating terminal current location correspondence;
Communication module obtains the Cell-Id data, and carries out data interaction based on TCP/IP and Internet with described background server, zone foundation that the mobile network covers and keep and background server between data channel;
Reminding module is used for prompting or shows more specific location information.
Preferably, described reminding module comprises audio prompt unit and display unit.
Preferably, described display unit comprises light-emitting diode display or LCD display.
Preferably, described audio prompt unit comprises loud speaker.
Preferably, described background server comprises:
Server module with the data interaction that described communication module is carried out, carries out dissection process to the packet that receives;
The engine map module, the longitude and latitude data transaction that described server module is imported becomes actual geographical position;
Database module is used to store longitude and latitude data and the Cell-Id data corresponding with these longitude and latitude data.
Another purpose of the present invention is to provide a kind of Cell-Id localization method based on data sharing and self study, comprises step:
Preferably, described learning procedure comprises:
Obtain longitude and latitude data and Cell-Id data;
Transmission contains the packet of longitude and latitude data and Cell-Id data;
Described packet is carried out dissection process, generate longitude and latitude data and Cell-Id data;
Data in described longitude and latitude data and Cell-Id data and the database are inquired about comparison, and new database more.
Preferably, described positioning step comprises:
Obtain the Cell-Id data;
Transmission contains the packet of Cell-Id data;
Described packet is carried out dissection process, generate the Cell-Id data;
Data in described Cell-Id data and the database are inquired about comparison;
Transfer the longitude and latitude data corresponding according to the inquiry comparison result with these Cell-Id data;
With the longitude and latitude data conversion is more specific location information.
Preferably, the described transmission step that contains the packet of longitude and latitude data and Cell-Id data comprises:
With described longitude and latitude data and the Cell-Id data step of packing.
Cell-Id navigation system based on data sharing and self study of the present invention receives the GPS framing signal by described GPS module 31, and resolves through 33 pairs of GPS framing signals of described main control module, obtains the longitude and latitude data; Obtain the Cell-Id data corresponding by described communication module 32 simultaneously with the longitude and latitude data.Again with described longitude and latitude data and Cell-Id storage in database, and real-time update.When described navigation system is in GPS framing signal blind area, can obtain by the Cell-Id data of mobile base station and the interior corresponding longitude and latitude of these Cell-Id data of database, realize the location.Do not obtain the mobile base station parameter owing to do not need to pay, therefore can reduce the development cost and the use cost of described navigation system from mobile network supplier.
Description of drawings
Fig. 1 is the embodiment schematic diagram of the present invention in the Cell-Id of data sharing and self study navigation system;
Fig. 2 is that the present invention is in the Cell-Id of data sharing and self study localization method flow chart;
Fig. 3 is a learning procedure flow chart of the present invention;
Fig. 4 is a positioning step flow chart of the present invention.
Below in conjunction with example, and, realization of the present invention, functional characteristics and advantage are described further with reference to accompanying drawing.
Embodiment
As shown in Figure 1, the present invention proposes a kind of embodiment of the Cell-Id navigation system based on data sharing and self study.
Described Cell-Id navigation system based on data sharing and self study, by GPS framing signal that receives many communication satellites 1 and the Cell-Id data that receive mobile base station 2, this system comprises: locating terminal 3 and background server 4.
Described locating terminal 3 receives the Cell-Id data of GPS framing signal and mobile base station 2, based on TCP/IP and Internet, transmits the longitude and latitude data and the Cell-Id data of described GPS framing signal correspondence in the zone that the mobile network covers.
Described background server 4 carries out data interaction with locating terminal 3, obtains the longitude and latitude data and the Cell-Id data of locating terminal 3 current locations, and this longitude and latitude is converted to actual geographical position, and the Cell-Id data of interior this longitude and latitude correspondence of real-time update database.
Specifically, described locating terminal 3 comprises main control module 33 and the GPS module 31, communication module 32 and the reminding module 34 that are electrically connected with this main control module 33 respectively.
Described main control module 33 is coordinated each module work and terminal traffic running software, and the message that described GPS module 31 is produced carries out dissection process, generation and the corresponding longitude and latitude data of described locating terminal 3 current locations.The GPS framing signal of described GPS module 31 received communication satellites 1, and the GPS framing signal that receives handled the message of output corresponding format.Described communication module 32 obtains the Cell-Id data of current locations, and carries out data interaction based on TCP/IP and Internet with background server 4, zone foundation that the mobile network covers and keep and background server 4 between data channel.Described reminding module 34 is used for prompting or shows particular location; This reminding module 34 comprises the audio prompt unit or/and display unit, and wherein, described display unit comprises light-emitting diode display or LCD display; Described audio prompt unit comprises loud speaker.Described reminding module 34 can be provided with audio prompt unit or display unit as required respectively, and audio prompt unit and display unit perhaps are set simultaneously.
Described background server 4 comprises: server module 41 and engine map module 42 that is electrically connected with it respectively and database module 43.
The data interaction that described server module 41 and communication module 32 are carried out, and the packet that receives carried out dissection process, longitude and latitude data that parsing is obtained and the Cell-Id data are transferred to described engine map module 42 respectively and database module 43 is handled; Described engine map module 42 becomes actual geographical position with the longitude and latitude data transaction of described server module 41 inputs; Described database module 43 is used to store longitude and latitude data and the Cell-Id data corresponding with these longitude and latitude data, and the database in the described database module 43 is a shared data.
The quantity of described locating terminal 3 can be provided with as required, and for example, described locating terminal 3 can be one, two or more, and each described locating terminal 3 all carries out data interaction based on TCP/IP and Internet and background server 4.
When described GPS module 31 adopts the module of supporting the NMEA agreement, should be as follows based on the Cell-Id navigation system course of work of data sharing and self study:
After described locating terminal 3 powers on, start described GPS module 31, and after after a while, lock at least one communication satellite 1, and receive the GPS framing signal of described communication satellite 1.
Described GPS module 31 for example adopts shown in the NMEA0183 form according to described GPS framing signal output NMEA or SiRF form message data:
$GPGGA，121252.000，3937.3032，N，11611.6046，E，1，05，2.0，45.9，M，-5.7，M，，0000*77
$GPRMC，121252.000，A，3958.3032，N，11629.6046，E，15.15，359.95，070306，，，A*54
$GPVTG，359.95，T，，M，15.15，N，28.0，K，A*04
$GPGGA，121253.000，3937.3090，N，11611.6057，E，1，06，1.2，44.6，M，-5.7，M，，0000*72
$GPGSA，A，3，14，15，05，22，18，26，，，，，，，2.1，1.2，1.7*3D
$GPGS?V，3，1，10，18，84，067，23，09，67，067，27，22，49，312，28，15，47，231，30*70
$GPGS?V，3，2，10，21，32，199，23，14，25，272，24，05，21，140，32，26，14，070，20*7E
$GPGSV，3，3，10，29，07，074，，30，07，163，28*7D
33 pairs of above-mentioned NMEA formatted datas of described main control module are resolved, and obtain longitude and latitude to be: north latitude 39.373090, east longitude 116.116057.
Described communication module 32 is obtained the Cell-Id data of locating terminal 3 current location mobile base stations, for example:
Described locating terminal 3 current location mobile base station parameters are 460:00:21931:10493, and wherein four of this parameter field implications are respectively: China: move: LAC:CELLID, the Cell-Id data of described locating terminal 3 current locations are 10493.Described communication module 32 is that 10493 data send to main control module 33 with Cell-Id.
The longitude and latitude data of the locating terminal 3 current location correspondences that described main control module 33 obtains parsing and Cell-Id packing data become to preset the packet of form, and send to and background server 4 by described communication module 32 data channel.There are corresponding relation in described locating terminal 3 current location longitude and latitude data and mobile base station Cell-Id data, and promptly each longitude and latitude data exists unique corresponding with the Cell-Id data of the mobile base station that is in this longitude and latitude position.
4 pairs of packets of receiving of described background server are resolved, data in parsing Cell-Id data that obtain and the database that is arranged in the described database module 43 are inquired about comparison, obtain the corresponding relation of a new longitude and latitude and Cell-Id, and deposit it in database.Send to described engine map module 42 with resolving the longitude and latitude data that obtain, and described longitude and latitude data are converted to actual geographical position, obtain the text description of current location, such as " near the XX mansion of XX road, XX city ", and this text description sent to locating terminal 3, point out or show by reminding module 34.
When described locating terminal 3 during in GPS framing signal district, described navigation system is learnt earlier, is received the GPS framing signal of a plurality of communication satellites 1 by GPS module 31.33 pairs of messages corresponding with the GPS framing signal of described main control module are resolved, obtain the longitude and latitude data, and, be sent to described background server 4 by the data channel of described communication module 32 with these longitude and latitude data and locating terminal 3 current location Cell-Id packing data.Resolve by 4 pairs of packets of described background server, and parsing is obtained new Cell-Id data and longitude and latitude data, be stored in the database.
When described locating terminal 3 positions constantly change, build up increasing positional information in the database, also there are unique corresponding relation in wherein new longitude and latitude and Cell-Id.
Described engine map module 42 is converted to actual geographical position with described longitude and latitude data, obtain the text description of current location, such as " near the XX mansion of XX road, XX city ", and this text description sent to locating terminal 3, point out or show by reminding module 34.For example can carry out voice suggestion by loud speaker.
When described Cell-Id navigation system based on data sharing and self study comprises a plurality of described locating terminal 3, behind each described locating terminal 3 normal electrifying startup, each described locating terminal 3 continues form with packet according to default frequency and reports separately that the longitude and latitude data and the Cell-Id data of position provide described background server 4.
Described background server 4 is resolved the packet that each described locating terminal 3 sends, and longitude and latitude data and the Cell-Id data that parsing obtains are stored in respectively in the database, therefore builds up increasing positional information in the described database.Each described locating terminal 3 also can obtain the longitude and latitude data corresponding with the Cell-Id data in the database of sharing.
After described locating terminal 3 enters GPS framing signal blind area, can't position by the GPS framing signal.Because the mobile network signals coverage rate is wider, when no GPS framing signal, described locating terminal 3 can receive movable signal.
By described main control module 32 the Cell-Id data of current location are packed, and the data channel of this packet by communication module 32 is sent to background server 4.4 pairs of packets that receive of described background server are resolved, and obtain the Cell-Id data, and the data in these Cell-Id data and the database are inquired about comparison and storage, determine the longitude and latitude data corresponding with these Cell-Id data.Described engine map module 42 is converted to actual geographical position with this longitude and latitude, and sends to described reminding module 34 by data channel and point out.
Variation along with mobile network's covering, described locating terminal 3 can be gathered the Cell-Id data of up-to-date mobile base station in real time, the Cell-Id data of new mobile base station are reported background server 4, and Cell-Id data of this longitude and latitude data correspondence in the new database more, thereby guarantee that each described locating terminal 3 can obtain latest position information.
Cell-Id navigation system embodiment based on data sharing and self study of the present invention receives the GPS framing signal by described GPS module 31, and resolves through 33 pairs of GPS framing signals of described main control module, obtains the longitude and latitude data.Obtain the Cell-Id data corresponding by described communication module 32 simultaneously with the longitude and latitude data; Again with described longitude and latitude data and Cell-Id storage in database, and real-time update.When described navigation system is in the gps signal blind area, can obtain the longitude and latitude corresponding by the Cell-Id data of mobile base station with these Cell-Id data, realize the location.Do not obtain the mobile base station parameter owing to do not need to pay, therefore can reduce the development cost and the use cost of described navigation system from mobile network supplier.
The present invention proposes a kind of embodiment of the Cell-Id localization method based on data sharing and self study.
As shown in Figure 2, described Cell-Id localization method based on data sharing and self study comprises step:
Step S11, learning procedure;
Specifically, in GPS framing signal district, described locating terminal 3 can be determined longitude and latitude by the GPS framing signal, and is converted to actual geographical position by described engine map module 42 described longitudes and latitudes, thereby realizes the location.Gather gps signal by described GPS module 31, the message of 32 pairs of these framing signal correspondences of described main control module carries out dissection process, generates the longitude and latitude data; Described communication module 33 obtains the Cell-Id data of mobile base stations, and by the processing of packing of described main control module 32 pair warp and weft degrees of data and Cell-Id data, this packet sends to background server 4 by data channel; Packet by 4 pairs of receptions of this background server is resolved, and the interior longitude and latitude data that will resolve and Cell-Id storage are in database.
Step S12, positioning step;
Specifically,, obtain the Cell-Id data, and by the processing of packing of 32 pairs of Cell-Id data of described main control module, this packet sends by the data channel of communication module 32 by described communication module 33 in GPS framing signal blind area.The packet of 41 pairs of receptions of described server module carries out dissection process, obtains the Cell-In data, and the data in these Cell-In data and the database are compared, and determines the longitude and latitude data corresponding with these Cell-In data.Described engine map module 42 is converted to actual geographical position with this longitude and latitude, thereby realizes the location.
As shown in Figure 3, described learning procedure S11 comprises:
Step S111 obtains longitude and latitude data and Cell-Id data; Specifically, the message by 31 outputs of 33 pairs of GPS modules of described main control module carries out dissection process, acquisition longitude and latitude data; Obtain the Cell-Id data of mobile base station by described communication module 32.
Step S112 sends the packet that contains above-mentioned longitude and latitude data and Cell-Id data; Specifically, by the processing of packing of described main control module 33 pair warp and weft degrees of data and Cell-Id data, and the data channel of this packet by communication module 32 sent.
Step S113 carries out dissection process to described packet, generates described longitude and latitude data and Cell-Id data; Specifically, carry out dissection process by producing packet among 41 couples of above-mentioned steps S113 of described server module, and obtain should phase longitude and latitude data and Cell-Id data.
Step S114 inquires about comparison with the data in described longitude and latitude data and Cell-Id data and the database, and new database more; Specifically, resolve the longitude and latitude data and the Cell-Id data that obtain by described server module 41 and inquire about contrast, when not having corresponding longitude and latitude data and Cell-Id data in the data, these longitude and latitude data and Cell-Id data are put into database; The Cell-Id data of longitude and latitude data correspondence and current new Cell-Id data are not simultaneously in database, then be current new Cell-Id data with the Cell-Id Data Update in the database, these current new Cell-Id data are corresponding with the longitude and latitude data in the database.
As shown in Figure 4, described allocation step S12 comprises:
Step S121 obtains the Cell-Id data; Specifically, when GPS framing signal blind area, obtain the Cell-Id data of mobile base station by described communication module 33.
Step S122 sends the packet that contains above-mentioned Cell-Id data; Specifically, by the processing of packing of 32 pairs of Cell-Id data of described main control module, this packet sends by the data channel of communication module 32.
Step S123 carries out dissection process to above-mentioned packet, obtains the Cell-Id data; Specifically, resolve, generate the Cell-Id data by 41 pairs of above-mentioned packets of described server module.
Step S124 inquires about comparison with the data in described Cell-Id data and the database; Specifically, by described server module 41 data in above-mentioned Cell-In data and the database are inquired about comparison.
Step S125 transfers the longitude and latitude data corresponding with these Cell-Id data according to the inquiry comparison result; Specifically, when there were corresponding with it longitude and latitude data in described Cell-In data, longitude and latitude data that will be corresponding with these Cell-In data by described server module 41 sent to engine map module 42.
Step S126 is a more specific location information with described longitude and latitude data conversion; Specifically, the longitude and latitude of determining among the above-mentioned steps S125 is converted to actual geographical position, thereby realizes the location by described engine map module 42.
In the above-described embodiments, described longitude and latitude data and Cell-Id data are packed step.
Because described Cell-Id localization method based on data sharing and self study, by when the GPS framing signal district, first pair warp and weft degrees of data and Cell-Id data are learnt.When GPS framing signal blind area, can obtain by the Cell-Id data of mobile base station and the interior corresponding longitude and latitude of these Cell-Id data of database, thereby realize the location, also can position when therefore being implemented in GPS framing signal blind area, do not obtain the mobile base station parameter owing to do not need to pay, therefore can reduce the development cost and the use cost of navigation system from mobile network supplier.
The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. based on the Cell-Id navigation system of data sharing and self study, it is characterized in that, comprising:
At least one locating terminal receives the Cell-Id data of GPS framing signal and mobile base station, sends the longitude and latitude data and the Cell-Id data of described GPS framing signal correspondence in the zone that the mobile network covers;
Background server, carry out data interaction with described at least one locating terminal, obtain the longitude and latitude data and the Cell-Id data of at least one locating terminal current location, this longitude and latitude is converted to actual geographical position, and the Cell-Id data of interior this longitude and latitude correspondence of real-time update database.
2. according to the described Cell-Id navigation system of claim 1, it is characterized in that described at least one locating terminal comprises based on data sharing and self study:
The GPS module receives the GPS framing signal, and the GPS framing signal that receives is handled, the message of output corresponding format;
Main control module is coordinated each module work and terminal traffic running software, and described message is carried out dissection process, generates the longitude and latitude data of described at least one locating terminal current location correspondence;
Communication module obtains the Cell-Id data, and carries out data interaction based on TCP/IP and Internet with described background server, zone foundation that the mobile network covers and keep and background server between data channel;
Reminding module is used for prompting or shows more specific location information.
3. according to the described Cell-Id navigation system of claim 2, it is characterized in that based on data sharing and self study:
Described reminding module comprises the audio prompt unit or/and display unit.
4. according to the described Cell-Id navigation system of claim 3, it is characterized in that based on data sharing and self study:
Described display unit comprises light-emitting diode display or LCD display.
5. according to claim 3 or 2 described Cell-Id navigation systems, it is characterized in that based on data sharing and self study:
Described audio prompt unit comprises loud speaker.
6. according to claim 1 or 2 described Cell-Id navigation systems, it is characterized in that described background server comprises based on data sharing and self study:
Server module with the data interaction that described communication module is carried out, carries out dissection process to the packet that receives;
The engine map module, the longitude and latitude data transaction that described server module is imported becomes actual geographical position;
Database module is used to store longitude and latitude data and the Cell-Id data corresponding with these longitude and latitude data.
7. the Cell-Id localization method based on data sharing and self study according to claim 1 is characterized in that, comprises step:
Learning procedure;
Positioning step;
8. the Cell-Id localization method based on data sharing and self study according to claim 6 is characterized in that described learning procedure comprises:
Obtain longitude and latitude data and Cell-Id data;
Transmission contains the packet of longitude and latitude data and Cell-Id data;
Described packet is carried out dissection process, generate longitude and latitude data and Cell-Id data;
Data in described longitude and latitude data and Cell-Id data and the database are inquired about comparison, and new database more.
9. according to claim 7 or 8 described Cell-Id localization methods, it is characterized in that described positioning step comprises based on data sharing and self study:
Obtain the Cell-Id data;
Transmission contains the packet of Cell-Id data;
Described packet is carried out dissection process, generate the Cell-Id data;
Data in described Cell-Id data and the database are inquired about comparison;
Transfer the longitude and latitude data corresponding according to the inquiry comparison result with these Cell-Id data;
With the longitude and latitude data conversion is more specific location information.
10. according to claim 7 or 8 described Cell-Id localization methods, it is characterized in that the step that described transmission contains the packet of longitude and latitude data and Cell-Id data comprises based on data sharing and self study:
With described longitude and latitude data and the Cell-Id data step of packing.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102158844A (en) * | 2011-05-13 | 2011-08-17 | 中国联合网络通信集团有限公司 | Method and system for updating position of base station |
| CN102395107A (en) * | 2011-11-11 | 2012-03-28 | 上海摩软通讯技术有限公司 | Mobile terminal possessing tracking and positioning function and method for realizing tracking and positioning |
| CN102509249A (en) * | 2011-10-14 | 2012-06-20 | 郭华 | Micro-lesson system based on knowledge points and location and construction method thereof |
| CN103713304A (en) * | 2012-09-29 | 2014-04-09 | 厦门雅迅网络股份有限公司 | Positioning method based on fusion of satellite positioning and self-help base station positioning |
| CN103906233A (en) * | 2014-03-31 | 2014-07-02 | 黄卿 | Method and device for collecting and processing positioning data |
| CN103926904A (en) * | 2014-04-25 | 2014-07-16 | 桂林电子科技大学 | Mobile Internet of Things with path optimization function and management method thereof |
| CN108737960A (en) * | 2018-05-28 | 2018-11-02 | 深圳优美创新科技有限公司 | Self study localization method, positioning system and electronic equipment based on multiple sampling |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158844A (en) * | 2011-05-13 | 2011-08-17 | 中国联合网络通信集团有限公司 | Method and system for updating position of base station |
| CN102509249A (en) * | 2011-10-14 | 2012-06-20 | 郭华 | Micro-lesson system based on knowledge points and location and construction method thereof |
| CN102395107A (en) * | 2011-11-11 | 2012-03-28 | 上海摩软通讯技术有限公司 | Mobile terminal possessing tracking and positioning function and method for realizing tracking and positioning |
| CN103713304A (en) * | 2012-09-29 | 2014-04-09 | 厦门雅迅网络股份有限公司 | Positioning method based on fusion of satellite positioning and self-help base station positioning |
| CN103906233A (en) * | 2014-03-31 | 2014-07-02 | 黄卿 | Method and device for collecting and processing positioning data |
| CN103926904A (en) * | 2014-04-25 | 2014-07-16 | 桂林电子科技大学 | Mobile Internet of Things with path optimization function and management method thereof |
| CN108737960A (en) * | 2018-05-28 | 2018-11-02 | 深圳优美创新科技有限公司 | Self study localization method, positioning system and electronic equipment based on multiple sampling |
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