CN102469406A - Mobile location mark based on wireless sensing technology - Google Patents
Mobile location mark based on wireless sensing technology Download PDFInfo
- Publication number
- CN102469406A CN102469406A CN2010105496522A CN201010549652A CN102469406A CN 102469406 A CN102469406 A CN 102469406A CN 2010105496522 A CN2010105496522 A CN 2010105496522A CN 201010549652 A CN201010549652 A CN 201010549652A CN 102469406 A CN102469406 A CN 102469406A
- Authority
- CN
- China
- Prior art keywords
- positioning
- network
- wireless
- node
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005516 engineering process Methods 0.000 title claims description 45
- 238000004891 communication Methods 0.000 claims description 29
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 abstract description 2
- 238000007726 management method Methods 0.000 description 75
- 238000005259 measurement Methods 0.000 description 44
- 230000006870 function Effects 0.000 description 27
- 238000000034 method Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 15
- 238000012545 processing Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000012937 correction Methods 0.000 description 8
- 230000002093 peripheral effect Effects 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 6
- 230000035945 sensitivity Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 238000010295 mobile communication Methods 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 230000003321 amplification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 208000006379 syphilis Diseases 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005059 dormancy Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000007958 sleep Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010897 surface acoustic wave method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention provides a mobile location mark LM, which consists of a main control unit and a wireless sensing unit. The LM is connected to a wireless sensing network through the wireless sensing unit and regularly transmits a normal state message to a superior network node, wherein the normal state message includes self identity identification number ID-2, signal intensity approaching the network node, a node identity (ID) and self work state information; or an alarming state report message is triggered by a special button to be instantly transmitted to the superior network node, wherein the alarming state report message includes the self identity identification number ID-2, the signal intensity approaching to the network node and the node ID information. The mobile location mark is convenient to use, can adequately utilize the present mobile network terminal to do business, has low power consumption, favors multiple types of location value-added service, and particularly favors the realizing of location services having requirements on low power consumption and disguise of the location terminal.
Description
Technical Field
The invention relates to a mobile positioning service system, in particular to a system for providing positioning service by comprehensively utilizing a GPS technology, an inertial navigation technology, a wireless communication technology and a wireless sensing technology.
Background
As one of the distinctive services of the wireless communication system, the positioning service has received general attention as a bright spot of mobile value-added service. Currently, mobile location services have been opened by major mobile operators in north america, europe, and asia-pacific regions. The positioning technologies currently applied in mobile positioning services mainly include the following:
a network-based source Cell (COO) positioning technology, namely a Cell ID-based positioning technology, which is used for acquiring Cell information of a base station where a user is currently located by a network side to acquire the current position of the user, wherein the accuracy of the positioning technology depends on the distribution of mobile base stations and the size of a coverage area;
triangulation techniques based on time of arrival (TOA) or time difference of arrival (TDOA) principles, such as aflt (advanced Forward Link correlation) positioning techniques used in CDMA networks, where, during positioning operations, a mobile phone/terminal monitors pilot information of multiple base stations simultaneously, determines distances to nearby base stations by using chip delay, and finally calculates specific positions by using triangulation;
assisted GPS (A-GPS) technology based on a satellite-based wireless navigation system. The traditional GPS technology integrates satellite scanning, acquisition, pseudo-range signal reception, positioning operation, and other operations into a whole, which is too dependent on the terminal performance, and thus has disadvantages of low positioning sensitivity, high power consumption of the terminal, and the like. The A-GPS simplifies the position calculation work of the terminal, the positioning work is completed by the cooperation of the positioning server at the network side and the terminal, and the heaviest work of satellite scanning, positioning operation and the like is transferred from the terminal side to the positioning server at the network side. The positioning accuracy, the sensitivity and the cold start speed of the terminal are improved, and the power consumption of the terminal is reduced. Specifically, the a-GPS technology utilizes a wide area GPS satellite reference network composed of a plurality of high sensitivity GPS receivers to monitor positioning information such as ephemeris data and doppler shift of all GPS satellites over a coverage area in all weather, and dynamically refreshes a GPS satellite database (a correspondence between satellite data and geographic position) stored in a positioning platform. The terminal notifies the positioning platform of the approximate position (which base station the terminal belongs to) through the wireless network only when positioning is needed, and then obtains GPS satellite information through the positioning platform, so that the satellite capturing time is greatly shortened, and the power consumption is greatly reduced. By means of strong computing power of the positioning server, a complex positioning algorithm can be adopted to reduce the influence of adverse factors such as weak received signals and the like, so that the positioning accuracy and the sensitivity are improved;
the GPSONE technology is a location technology developed by the american college of high traffic for location-based mobile services. The GPS-assisted GPS and AFLT triangulation positioning method organically combines two positioning technologies, under the condition that GPS satellite signals and wireless network signals can not be independently positioned, a GPSONE system can combine the two information sources, positioning can be completed only by one satellite and one cell site, the problem which can not be solved by the traditional GPS is solved, high precision, high availability and rapid positioning are realized, and the indoor positioning effect is improved. In an environment where both positioning technologies cannot be used, the gpson automatically switches to a Cell ID sector positioning mode, thereby ensuring a positioning success rate.
In addition, positioning schemes RTLS implemented by using short-range wireless technology and triangulation technology, such as WiFi positioning systems and ZigBee positioning systems, have appeared in recent years, and their working mechanisms are that multiple positioning base stations are deployed, and then a terminal to be positioned calculates position coordinates by measuring signal strength of a nearby base station and using a positioning algorithm model.
For mobile positioning services such as public safety, positioning tracking, navigation and the like, although the positioning technology based on CELL ID and base station wireless measurement has high success rate, the accuracy is far from meeting the service requirement, so the positioning technology based on GPS, such as A-GPS or GPSONE, is mostly adopted for the services. However, in practical applications, the availability of GPS technology has significant problems, such as that in urban environments, GPS signals are blocked by many high buildings, reflection of GPS signals by buildings around the positioning terminal causes measurement errors, and GPS signals cannot be received by many locations requiring positioning services (e.g., roads under urban highways, underground parking lots, indoor environments such as station terminals, etc.). In order to solve the above problems, new technologies have been introduced in the field of positioning services in recent years, such as a conventional vehicle navigation system that performs a navigation function by using a GPS receiver in combination with Dead-Reckoning (Dead-Reckoning) devices, such as a gyroscope, an accelerometer, an electronic compass, wheel rotation signals, and the like, which can measure a position change of a vehicle in a relatively short time, and the GPS receiver can measure an absolute position of the vehicle within a certain error range. Both have natural complementarity: the dead reckoning device can average out errors of the GPS receiver in a short time, and the GPS receiver can calibrate the dead reckoning device in a long time. The traditional dead reckoning equipment used in the aerospace field has high precision, but is huge in size and high in price, and is not suitable for general civil vehicle navigation. With the progress of micro-electro-mechanical systems (MEMS) technology in recent decades, the performance of micro-gyroscopes and micro-accelerometers adopting the MEMS technology is rapidly improved, and the MEMS devices provide new choices for the design of navigation positioning systems by virtue of the advantages of small volume, low cost, simple peripheral circuits and the like. In addition to the GPS receiver and the dead reckoning device, the car navigator is loaded with a digital map, which is a digitized traffic road database. The position of the vehicle to be navigated can be determined well by map matching using the information and measurement data of the digital map. The well-designed navigator can well integrate the measurement data from the GPS receiver and the dead reckoning device, thereby further making good map matching. In order to integrate these measurement data well to achieve satisfactory navigation effect, the industry often uses Kalman filter (Kalman filter) to balance the current measurement data and the historical measurement data, and uses the principles of linearity, unbiased, and minimum variance as the optimal estimation to reduce the system noise as much as possible so as to improve the positioning accuracy and usability.
In summary, the mobile positioning technology has advanced significantly through the continuous development in recent years, but the market currently provides the following technologies and products to meet the requirements of high-quality mobile positioning services, especially for applications in public safety fields such as personnel positioning and tracking, and positioning and tracking of sensitive or dangerous goods:
the existing positioning product has larger size and does not consider hidden design, so that the requirements of miniaturization, miniaturization and concealment of the application are difficult to meet;
the existing positioning product is not specially designed on the aspect of low power consumption design, and the low power consumption requirement when a battery is adopted for power supply in the application is difficult to meet;
the existing positioning products and services are limited to obtaining positioning information, reporting the positioning information or providing a simple historical track recording function by combining a Geographic Information System (GIS) and an electronic map, and are lack of value-added service functions of tracking and early warning, unified management of a large number of positioning terminals by using a background system, positioning accuracy and success rate improvement by using historical redundant information of the background system and the like.
Chinese patent CN2010101477791 proposes a solution to the above problem, but also brings a new problem, and the patent proposes a positioning beacon LIU for correcting the positioning information and track of a mobile positioning terminal LE moving to its vicinity, and to obtain a good application effect, the positioning beacon LIU needs to be deployed at some key locations according to an application scenario, which may bring a large system implementation cost, and in many cases, a large implementation difficulty may be encountered.
If a positioning beacon which is convenient to deploy and low in cost can be provided on the basis of the patent, the market demand can be better met.
Disclosure of Invention
The invention provides a mobile positioning mark LM, which comprises:
A) the wireless sensing unit detects surrounding wireless sensing network nodes by adopting a short-distance wireless communication technology and automatically accesses the wireless sensing network according to a wireless sensing network protocol;
B) and the main control unit completes initialization, parameter configuration and working state monitoring control of the LM, is connected to the wireless sensing network through the wireless sensing unit and sends a state message to the upper-level network node at regular time.
Preferably, the wireless sensing unit of the LM adopts ZigBee wireless technology, and is configured as a reduced function device RFD, which is accessed to an adjacent wireless sensing network as an end node.
The configuration parameters of the LM comprise an identity identification number ID-2, a wireless sensor network ID, a node ID, an encryption mode, a secret key and a working mode, and the parameters are configured through a local configuration port and can be modified online after being accessed into the wireless sensor network.
After the LM is accessed to the adjacent wireless sensor network, a normal state report message is sent to the upper-level network node at regular time, wherein the normal state report message comprises the self identity identification number ID-2, the signal strength of the adjacent network node, the node ID of the adjacent network node and the working state information of the LM, and the working state information comprises the self residual electric quantity and local alarm information.
The LM can be triggered by a specific button to immediately send an alarm state report message to an upper-level network node, wherein the alarm state report message comprises an own identity identification number ID-2, the signal strength of an adjacent network node and node ID information of the adjacent network node.
The working flow of the LM is as follows:
A) the operation state is switched from the dormant state to the working state by the triggering of a timing mechanism or a specific button;
B) firstly, checking whether the wireless sensor network is still in the original wireless sensor network, and if the wireless sensor network is still in the original wireless sensor network, skipping the next step C);
C) searching surrounding wireless sensing networks, and accessing the searched wireless sensing networks according to preset working parameters;
D) sending a normal state report message or an alarm state report message to a superior node;
E) and entering a dormant state until the next time of timing trigger or returning to the step A) after the emergency button is pressed.
The device of the invention is convenient to deploy, can fully utilize the existing mobile network terminal to develop services, has extremely low power consumption of LM, is beneficial to developing various positioning value-added services, and is particularly beneficial to developing the positioning services which have low power consumption and concealment requirements on the positioning terminal.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a system architecture diagram of one embodiment of a device application system of the present invention;
fig. 2 is a functional block diagram of an embodiment of a positioning terminal LE in the application system of the present invention;
FIG. 3 is a functional block diagram of one embodiment of a location indicator LM of the present invention;
fig. 4 is a hardware implementation of an embodiment of the positioning terminal LE in the application system of the present invention;
fig. 5 shows another hardware implementation of an embodiment of the positioning terminal LE in the application system of the present invention;
FIG. 6 is a schematic diagram illustrating a registration process of an LE on a location management platform according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the working flow of a location identifier LM in an embodiment of the application system of the present invention;
fig. 8 is a schematic flow chart of processing LE report information by the positioning management platform in an embodiment of the application system of the present invention;
fig. 9 is a schematic diagram of the principle of estimating the approximate location of the LE by wireless parameters.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Fig. 1 shows a system architecture diagram of an embodiment of the present invention, in which a plurality of positioning terminals LE access a communication network S101 through a wireless link S103 and further establish a communication connection with a positioning management platform S102, the positioning management platform S102 collects positioning measurement information reported by each LE, and determines and records a current position of each LE by combining terminal history track information and a positioning algorithm in a database; meanwhile, the positioning terminal LE and the positioning identifier LM automatically form a network wireless sensor network through the short-distance wireless link S104, wherein the LE at the gateway position collects state information of each node and reports the state information to the positioning management platform S102, the positioning management platform S102 calculates and obtains a position coordinate of the LM according to the short-distance wireless positioning RTLS technology, and further, the positioning management platform S102 can correct the positioning information of the node LE by using the state information of the wireless sensor network. In addition, the location management platform S102 also establishes a communication connection with an authorized third party location service provider LBS and a location service user LUE through the communication network S101, and issues value-added service information such as instant location information, location alarm, and historical track of the LE and LM to the LBS and LUE. The communication network refers to a mobile communication network, a wired broadband network, a wireless broadband network or a combination thereof capable of providing wide area coverage, and for clarity and conciseness of the description, the idea of the present invention is described by taking a CDMA mobile communication network as an example. As shown in fig. 1, the positioning management platform S102 establishes communication connection with a plurality of LEs, LUEs and LBS through the short message gateway, the packet Data Serving node pdsn (packet Data Serving node) and the router in S101.
The positioning management platform S102 adopts a distributed and modular architecture in specific implementation, and may flexibly adopt one server or a plurality of server groups to form a visual application scale. The system comprises an information acquisition and release unit, a data processing unit, a database unit and a management unit, wherein the functions and the connection relation of each unit are as follows:
the information acquisition and release unit is responsible for finishing the communication between the positioning management platform S102 and the LE, the LUE and the LBS based on a TCP/IP protocol or a short message SMS, and finishing the encapsulation and the decapsulation of the interactive messages between the positioning management platform S102 and the LE, the LUE and the LBS; meanwhile, the system is also responsible for extracting an identification number of the LM, an identification number of the LE, positioning measurement information and state information of the wireless sensing network from a report message of the LE and transferring the identification number, the identification number of the LE, the positioning measurement information and the state information of the wireless sensing network to a data processing unit; in addition, the information acquisition and distribution unit is also responsible for distributing LE position information to the authorized LBS and LUE according to the instruction of the management unit.
The database unit is the integration of various logic databases, including a terminal management database TM _ DB, a user management database CM _ DB and a service database TF _ DB. The TM _ DB stores terminal management data including identification numbers of all LEs, normal motion modes and current motion modes of the LEs, current postures of the LEs, location service types of the LEs, location measurement capability configured by the LEs, effective distances of the LEs for identifying the LMs through short-distance wireless technology, identification numbers of the LMs, normal motion modes and current motion modes of the LMs and the like. The CM _ DB stores user management data including identification numbers of LUEs and LBS, authentication information, authorized service class and level, etc. The service data stored in the TF _ DB comprises a digital map of a service-developing area, surface feature and landform information, mobile base station planning information, positioning measurement information reported by LE all the time, LE historical position information, wireless sensing network state information reported by a gateway LE all the time, LM historical position information and the like.
The data processing unit is responsible for processing LE positioning measurement data forwarded by the information acquisition unit according to a positioning algorithm, and determining the current position coordinates, the current movement mode and the movement posture of the LE and recording results by combining the LE historical movement track, the movement mode and the movement posture at the previous moment recorded by the database unit and the geographic information system of the area where the LE is located. And meanwhile, the wireless sensor network state information reported by the gateway LE forwarded by the information acquisition unit is processed, the confidence coefficient of the positioning result of each node LE in the wireless sensor network is evaluated and calculated, the LE with the confidence coefficient higher than a standard value is used as a correction source, and then the position coordinates and related tracks of each node LE are corrected by combining a short-distance wireless positioning technology RTLS, so that the position coordinates of the LM node are obtained.
The management unit is responsible for managing registration, access authentication, working state monitoring statistics, upgrading maintenance and updating of associated attribute data of all the LEs and the LMs, and is also responsible for managing service opening, service change and service use records of LBS and LUE.
Figure 2 shows a functional block diagram of one embodiment of the LE. Wherein,
the positioning measurement unit comprises a GPS module and an Inertial Measurement Unit (IMU), and the GPS unit is responsible for receiving GPS signals, decoding and outputting positioning results to the main control unit. The output signal of the GPS complies with the NMEA-0183 protocol standard formulated by the National Marine Electronics Association (NMEA), which includes information such as GPS positioning data time, longitude, latitude, number of satellites used, altitude, number of GNSS satellites observed and their numbers, position, signal-to-noise ratio, ground rate, ground heading, date, etc. The inertial Measurement unit IMU (inertial Measurement unit) comprises acceleration sensors and angular velocity sensors in three directions of a rectangular coordinate system X/Y/Z, and is responsible for measuring the acceleration and the angular velocity of the LE in three coordinate axial directions in real time, so that the motion attitude, the heading and the navigational speed of the LE can be calculated and reported to the main control unit.
The wireless sensing unit automatically detects surrounding LM and other LEs by using a short-distance wireless technology such as a ZigBee technology, wherein a ZigBee module configured into a full-function device FFD stores an identity identification number ID-1 of an LE and uniformly configures ZigBee network parameters such as a network ID, a node ID, an encryption mode, a secret key, a working mode and the like in advance, when the LE approaches to other LEs or LMs which are also configured with the ZigBee module, wireless connection can be automatically established, and the identity identification number close to the LE or LM and the signal intensity of the identity identification number are detected.
The wireless communication unit is responsible for establishing communication connection with the management platform S102 by accessing the communication network S101, and simultaneously can report some wireless network parameters according to the control instruction of the main control unit, and for the CDMA network, the wireless network parameters comprise a pseudo-random code phase offset coefficient, a pilot frequency active set, a pilot frequency candidate set and a pilot frequency adjacent set, and the parameters are acquired from the network side when the wireless communication module accesses the CDMA network.
The display unit provides a use interface for a user by adopting the liquid crystal display screen, and displays the working state of the LE such as the name of a wireless network, the signal intensity, the residual battery capacity and the like and a user use menu in a graphic mode.
The input and output unit provides input and output function modules such as a keyboard, an earphone, an external power supply, an extended memory card and the like for a user.
The main control unit is connected with other functional units through control and data interfaces to complete initialization, parameter configuration and working state monitoring control of each unit, process the measurement results reported by the positioning measurement unit and report the measurement results to the management platform S102 through the wireless communication unit, and meanwhile, the management instructions of the management platform S102 are received and responded through the wireless communication unit.
It will be understood by those skilled in the art that a complete LE shall also include the general functional units of power, clock, memory, etc. and for brevity of description, these general functional units are not described one by one and are omitted from fig. 2. The same is done in the LM embodiment description below.
FIG. 3 is a functional block diagram of an embodiment of LM in which the wireless sensor units are configured as reduced function devices RFD using short-range wireless communication technology such as ZigBee and automatically access the wireless sensor network as end nodes according to a wireless sensor network protocol when detecting surrounding wireless sensor network nodes; the main control unit completes initialization, parameter configuration and working state monitoring control of the LM, static working parameters such as an identity identification number ID-2 and ZigBee network parameters such as a wireless sensing network ID, a node ID, an encryption mode, a secret key and a working mode are configured and stored in advance through a local configuration port, the main control unit is connected to a wireless sensing network through the wireless sensing unit and further sends a heartbeat message to an upper-level network node at regular time, wherein the heartbeat message comprises the self identity identification number ID-2, the signal strength of adjacent network nodes and the node ID thereof, and a working state report consisting of self residual electric quantity, local alarm and other information. Further, the main control unit may be connected to a local alarm button, and when the button is pressed, the main control unit immediately sends an "alarm" message to the upper-level network node, where the "alarm" message includes the self-ID-2, the signal strength of the adjacent network node, the node ID of the adjacent network node, and the like.
For the wireless sensor network automatically networking, the LE node is online assigned as a gateway node or a routing node by a positioning management platform. An LE serving as a routing node is accessed to a network and then sends a heartbeat message to an upper level network node at fixed time, wherein the heartbeat message comprises information such as an identity identification number ID-1 of the LE, signal strength of adjacent network nodes, node IDs of the adjacent network nodes and the like, and meanwhile, the routing node LE also forwards a message sent by a lower level node to the upper level node; and the LE serving as the gateway node reports the collected state information of the wireless sensor network to a positioning management platform at regular time, wherein the state information of the wireless sensor network comprises information such as a topological structure of the network, signal intensity of adjacent nodes observed by each node, heartbeat messages reported by all subordinate end nodes LM, corresponding time of the state report and the like.
Fig. 4 further shows a hardware implementation scheme of LE, which adopts a CDMA terminal chip solution of the american college to implement functions of a main control unit and a wireless communication unit, and simultaneously, an asynchronous serial interface UART of the main chip is connected with a ZigBee module to implement a function of a wireless sensing unit, and is connected with an acceleration sensor to implement a function of an IMU unit. As shown in fig. 4, the CDMA signal received by the antenna S401 is sent to the RFL6000 through the duplexer for low noise amplification, then sent to the RF receiving module RFR6000 after being filtered by the surface acoustic wave filter RxSAW, and the RFR6000 demodulates the received signal to an analog baseband and then sends the demodulated signal to the Rx ADC port of the CDMA main chip MSM6050 for AD conversion, and then the analog baseband signal is converted to a digital baseband signal and then CDMA signal processing is performed. The GPS satellite signal received by the antenna S402 is also sent to the RF receiving module RFR6000 after band-pass filtering, and the RFR6000 demodulates the received signal to an analog baseband and then sends the demodulated signal to the Rx ADC port of the MSM6050 for AD conversion, and the analog baseband signal is converted to a digital baseband signal and then further subjected to GPS signal decoding processing. The MSM6050 sends the CDMA baseband signal to be sent to the RF sending module RFT6100 through the Tx DAC, performs filtering TxSAW and power amplification PA after frequency conversion modulation, and finally feeds the radio frequency sending signal into the antenna S401 through the duplexer to be sent out. The power management chip PM6050 is responsible for power and clock management inside the LE, including battery management, such as power supply, charging, power display, etc.; the voltage of the power supply is boosted and reduced; backlight illumination management; providing a working power supply for each chip; RF receive, transmit clock management, system sleep clock management, and the like. The MSM6050 is connected with the PM6050, the RFR6000 and the RFT6100 through a serial bus interface SBI, so that the control and management of the chip are realized. The MSM6050 is embedded with an ARM7 microprocessor and can be used as a main control unit of the positioning terminal LE. The SDRAM and the FLASH are connected through a parallel data bus, an address bus and a memory management port of the display device to serve as a storage unit of the LE, and the LCD is connected to serve as a display unit. The input button or keyboard of LE is connected to GPIO interface of MSM6050, and the audio codec interface is connected to the peripheral audio circuit, and can provide audio input and output function. The uim (universal model) card circuit may be directly connected to the UART interface of the MSM 6050. The output signal of the acceleration sensor for realizing the IMU function is input into a GPIO interface of the MSM6050 after analog-to-digital conversion, and the ZigBee module for realizing the wireless sensing function is connected to a UART interface of the MSM6050 through a serial port. The MEMS sensor can be selected from an acceleration sensor ADXL335 and a gyroscope ADXRS150 of ANALOG DEVICES of American ANALOG device company, and can realize acceleration measurement and angular velocity measurement in three axial directions of X/Y/Z. The ZigBee module can be realized by a CC2431 chip of American TI company, a C8051 microprocessor, a 2.4GHz radio frequency transceiver conforming to IEEE802.15.4 standard, a 128KB FLASH and an 8KB RAM are embedded in the CC2431, and the ZigBee protocol stack is loaded in the C8051 to realize the functions of the ZigBeeFFD equipment.
Similarly, a CC2431 chip of American TI company is selected and matched with peripheral circuits such as a power supply, a clock and the like to form a hardware implementation scheme of the LM, and an embedded C8051 microprocessor is loaded with a ZigBee protocol stack to realize the ZigBee simplified function device RFD.
In a specific implementation, the LE may be further configured by adding a function expansion unit to a general commercial mobile phone with a GPS positioning function, as shown in fig. 5. The function expansion unit realizes the functions of inertial measurement IMU and ZigBee, and communicates with the mobile phone main control CPU through the USB interface, Bluetooth interface or infrared interface of the mobile phone, and meanwhile, mobile positioning application client software and driving software aiming at the function expansion unit are loaded in the mobile phone. Certainly, the ZigBee unit still needs to increase external interface module and is used for realizing the function of USB interface, bluetooth interface or infrared interface.
In practical application, the positioning mark LM is arranged on a vehicle or an article needing positioning and tracking or worn on a person needing positioning and tracking, and a battery is needed to supply power in most cases, so that the design of miniaturization and low power consumption is very important. The positioning terminal LE is configured to the relevant industry manager, government officer, volunteer, etc. When the number of the LEs is large enough, adjacent LEs and LMs can be automatically networked through ZigBee and connected to a positioning management platform through a wireless communication network at any time and any place. And the positioning management platform can perform positioning operation and position tracking on each active LE and LM according to the information reported by the LE.
After installing the new UIM card, the location terminal LE needs to obtain the legal authorization through the authentication of the location management platform S102 through the registration process before being used for the first time, and the specific steps are as shown in fig. 6:
s601: LE power up start;
s602: the LE detects whether the registration state is unregistered, if the registration state is unregistered, the process is switched to S603, and if the registration state is not unregistered, the process is ended, and the process is switched to a login process;
s603: the LE accesses a communication network S101 through a wireless communication unit, and then establishes communication connection with a positioning management platform S102;
s603: the LE sends a registration request to a positioning management platform S102, wherein the registration request comprises a terminal number and UIM card information;
s604: the positioning management platform S102 checks the LE information, including whether the positioning terminal number accords with the rule, whether the positioning terminal is registered on the platform or not and whether the positioning terminal is cancelled or not, and if the checking is wrong, the registration process is ended;
s605: the positioning management platform S102 checks the UIM card information, including whether the UIM card is opened or not and whether the state is available or not, and if the checking is wrong, the registration process is ended;
s606: the positioning management platform S102 performs logic check on the UIM card and the terminal number, respectively, checks whether the UIM card has been bound with other terminal numbers or whether the terminal number has been bound with other UIM cards, and releases the original binding if the binding relationship exists.
S607: the positioning management platform S102 returns a registration result to the LE according to the verification result, issues an access password and creates a binding relationship between the terminal number and the UIM card;
s608: the terminal changes its registration state to registered.
After the location terminal LE which has been successfully registered is powered on and started each time, the validity of the terminal and the UIM card also needs to be verified through a login process, so that the terminal can be ensured to be correctly accessed to a location management platform and smoothly perform location services.
The positioning management platform S102 controls the positioning policy of the LE by issuing the configuration parameters to the logged-in positioning terminal LE. The positioning strategy is determined according to the positioning service type applied by the LE, the conventional movement mode of the LE, the operational capability of the LE and other factors, and comprises the positioning parameters which need to be measured and reported by the terminal at regular time, the time interval of the measurement and the reporting at regular time, how to correspondingly change the positioning strategy when the movement state changes suddenly and the like. For example, for the vehicle positioning application, the positioning management platform S102 records information such as a normal driving speed range and a daily activity range of a vehicle to which the vehicle positioning terminal belongs in advance, and according to the information, in combination with the requirement of positioning and tracking accuracy and the energy saving requirement of the LE, may define a positioning policy of the LE as follows: when the LE movement rate measured by the IUM is less than 1m/s, the LE carries out GPS measurement once every 10 seconds and reports the result, samples and records the IUM measurement result every 100 milliseconds, reports the result after accumulating 100 times (namely reports the result every 10 seconds), and reports the wireless network parameters every 10 minutes; when the LE movement rate measured by the IUM is more than or equal to 15m/s, the LE carries out GPS measurement once per second and reports the result, samples and records the IUM measurement result once every 10 milliseconds, reports the result after accumulating 100 times (namely reports the result once per second), and reports the wireless network parameters once every 1 minute; and when the LE movement speed measured by the IUM is between 1m/s and 15m/s, gradually reducing the time interval between LE positioning measurement and reporting according to the movement speed from low to high. By adopting the positioning strategy, the relevant modules of the LE, such as positioning measurement, display, main control, wireless communication and the like, can adopt power-saving measures of dormancy, turning off a peripheral circuit power supply and the like during the two measurement reporting periods, so that the average power consumption of the LE is obviously reduced, meanwhile, the positioning management platform is ensured to acquire enough positioning information in time, the positioning and track tracking precision of the LE is ensured, and the positioning service quality is ensured.
The positioning mark LM realizes a wireless sensing function by adopting a ZigBee technology with low power consumption, and the working flow is shown in figure 7:
1) the timing trigger or the emergency button is pressed down to trigger the working state;
2) firstly, checking whether the wireless sensor network is still in the original wireless sensor network, and if the wireless sensor network is still in the original wireless sensor network, skipping the next step;
3) searching surrounding wireless sensing networks, and accessing the searched wireless sensing networks according to preset working parameters;
4) sending the heartbeat or alarm message to the superior node, and reporting the identity identification number of the superior node, the detected signal strength of the surrounding wireless sensing nodes and other information;
5) and entering a dormant state until the next time of timing trigger or the emergency button is pressed and returning to the first step.
A plurality of LM and LE in the same area automatically negotiate to form a mesh network according to a wireless sensor network protocol, wherein the LM is located at an end node position, the LE is located at a routing node or a gateway node position, and the gateway node reports real-time state information of a subordinate wireless sensor network to a positioning management platform at regular time through a wireless communication module. The wireless sensor network real-time state message comprises information such as network topology, adjacent node signal strength observed by each node, heartbeat messages reported by all subordinate end nodes LM, corresponding time of the state report and the like. If the gateway node receives the 'alarm' message of the subordinate LM node, the message is immediately forwarded to the positioning management platform at the first time. The positioning management platform calculates the orientation of the related LM relative to the adjacent LE according to the short-distance wireless real-time positioning technology RTLS, and further obtains the position coordinates of the LMs. Meanwhile, the positioning management platform can further correct the position coordinates of the LE around the LE with high positioning accuracy.
The location terminal LE may also set a specific button for emergency alarm, when the specific button is pressed, the location terminal LE enters an alarm state, at this time, the LE immediately sends an alarm message to the location management platform S102, after receiving the alarm message, the location management platform S102 may initiate a voice call to the LE while tracking the movement trajectory of the LE, the LE automatically answers the call from the location management platform S102, establishes and maintains the voice call, and then the location management platform S102 monitors and records any sound information returned from the LE. Obviously, these sound information from the location of the LE help to identify and emergency handle the emergency situation in which the LE is located.
The interactive messages used in the traffic flow between the location terminal LE and the location management platform are encapsulated by a predefined application layer interface protocol carried on top of SMS, TCP or UDP, as shown in fig. 8. The TCP and UDP port numbers can be used as configurable parameters and can be configured in advance or modified online. The positioning terminal LE and the positioning management platform S102 complete functions such as registration, login authentication, parameter configuration, positioning information reporting, and alarm management by analyzing and responding to a message from the other party. It should be noted that, the above describes in detail the interaction process between the location terminal LE and the location management platform S102 only by the registration process of LE, and similar mechanisms can be adopted for other processes such as login, parameter configuration, location information reporting, and alarm, and are not described in detail here.
For the positioning information reported by LE m, the processing flow of the positioning management platform is as shown in fig. 9:
1) the positioning information acquisition unit receives the timing report message from the LE and extracts the positioning information therein, including GPS positioning output information, IMU measurement information and wireless network parameters;
2) the data processing unit firstly preprocesses the positioning information and prepares for the next positioning operation:
A) for GPS positioning output information (positioning time, longitude, latitude, number of satellites used, altitude, number of GNSS satellites observed and their numbers, position, signal-to-noise ratio, ground)Information such as face velocity, ground course, date), it needs to be evaluated for confidence, the specific method is as follows: defining a confidence C _ L of GPS positioning information, which is formed by the number N _ S of satellites in GPS positioning output information and the signal-to-noise ratio SN of satellite signalsiN is calculated as follows,
in the formula SN0The unit of the signal-to-noise ratio threshold value of the satellite signal required by the GPS receiver configured for the LE to correctly demodulate the signal is dB, and the value is stored in a positioning management platform database unit as an attribute parameter of the LE in advance.
B) And calculating the LE instant speed vector and the course of each sampling moment contained in the reported data according to the IMU measurement data.
C) If the reported information contains wireless network parameters, determining the current service base station and the adjacent base stations of the LE by retrieving wireless network planning information prestored in a database according to the pseudo-random code phase offset coefficient, the pilot frequency active set, the pilot frequency candidate set and the pilot frequency adjacent set data.
3) And further performing positioning operation according to the data obtained by the second step of preprocessing to obtain reliable LE position coordinates.
A) Performing optimal estimation on GPS positioning data by adopting a Kalman (Kalman) filtering structure commonly used in the industry;
B) carrying out Dead Reckoning (Dead-Reckoning) by using IMU (inertial measurement unit) measurement data, namely obtaining the track of the LE in the reporting period by integral operation according to the instant speed and the course of each sampling time point;
C) estimating the approximate position of the LE by combining the information of the LE current service base station and the adjacent base stations with a digital map; for example, in an ideal case as shown in fig. 9, it can be determined that the LE is located in the common coverage area S904 of the three base stations by searching the positions and coverage areas of the LE neighboring base stations S901, S902, and S903 stored in the database; although the actual wireless coverage situation is much more complicated, the coverage of the base station close to the actual situation can still be obtained by the common wireless network planning method, and then the approximate position of the LE is estimated. The wireless network planning method comprises the steps of establishing a radio wave propagation model according to topographic features of a peripheral area of a base station, and calculating the wireless coverage condition of the peripheral area of the base station by using radio parameters (such as antenna hanging height, transmitting power, receiving sensitivity and the like) of the base station and a digital map of the peripheral area and adopting the radio wave propagation model;
D) querying a database to determine the type and the current motion mode of the LE, and calling the motion attitude and trajectory data before the LE for standby;
E) inquiring a database to call a digital map of an area around the LE for later use;
F) comprehensively processing the positioning information obtained from a) to e) by using an information fusion technology so as to obtain a global optimal positioning estimation, wherein the method comprises the following steps:
i. when the confidence coefficient C _ L of the GPS positioning information is less than C _ L0When the GPS positioning information is abandoned, the dead reckoning result is directly adopted, and a dead reckoning navigation timer T is started at the same time, and when T is more than T0When the system is in use, sending out a system alarm; otherwise, performing information fusion processing on the output information of a) and b) by adopting a Kalman filtering technology to obtain the optimal estimation of the LE position information; the C _ L0And T0Presetting for positioning management platformThe threshold value of the positioning service can be modified at any time according to the requirement of the corresponding positioning service on the precision and the actual use effect;
ii, for the LE position information obtained by the i, performing matching operation by using a digital map, namely, performing correlation comparison between the current motion mode, the previous motion attitude, the track data, the course change and the expected position of the LE and the nearby map features, when the track change of the LE is correlated with the change of a vector road in the digital map, further correcting the current position and the track of the LE by using the road coordinate information in the digital map, and particularly when the LE moves along the road to turn at the intersection, well correcting the position coordinate of the LE by using a map matching algorithm;
confirming the consistency of the position information of the LE and the approximate position of the LE obtained by c);
G) the process is ended after a positioning result is output, the result is sent to an IMU dead reckoning unit for feedback correction, so that the system error accumulated along with the time is clamped in a tolerable range; and updating the LE historical movement speed, track and posture recorded by the database.
After receiving the wireless sensor network status message sent by the gateway LE, the positioning management platform performs the following processing:
1) checking the positioning states of all the LEs in the wireless sensing network, comparing the confidence degrees C _ L of the GPS positioning information of all the LEs, and selecting the confidence degree C _ L > C _ L1As a location correction source for the wireless sensor network, wherein C _ L1The preset threshold value for the positioning management platform can be modified at any time according to the requirement of the corresponding positioning service on the precision and the actual use effect;
2) retrieving the attribute data of the correction source LE from a database, wherein the attribute data comprises the current position, the distance which can be effectively detected by a wireless sensing unit, the antenna directivity parameters of the wireless sensing unit and the like;
3) sequentially calculating the distance between an LE adjacent to a correction source LE and the correction source LE according to information reported by a gateway LE and attribute information of the correction source LE, wherein the calculation can be carried out according to a propagation model of electric waves in a free space, and then the position of the adjacent LE at the corresponding time t and moment of a state report is obtained through a triangulation technology;
4) retrieving the database to call out the most recent movement track data corrected by LE, and corresponding to time t of the status reportsLE position at time of day is corrected and t is updated by dead reckoning based on its IMU history datasUpdating the correction and calculation results to a database after the moment until the current LE track;
5) and 3) calculating and obtaining the position coordinate of the LM in the wireless sensor network according to the same method of the step 3).
As can be seen from the above description of the embodiments, the system of the present invention is characterized in that: the positioning management platform is connected with a plurality of positioning terminals LE through a communication network and further connected with a plurality of positioning identifiers LM through the LE; the LE has the functions of GPS positioning measurement and IMU measurement, and has the functions of wireless sensing and communication; the LM has a wireless sensing function; preferably, the communication function is based on a mobile communication network and technology, and the communication network refers to a mobile communication network, such as a GSM, GPRS, EDGE, WCDMA, TD-SCDMA, CDMA 20001 x, CDMA2000 EVDO network, and an evolved network based on the mobile network. And the LE regularly reports the positioning measurement data to a positioning management platform according to a predefined positioning strategy, and the management platform comprehensively processes GPS, IMU and wireless network data and combines a digital map matching technology to obtain the optimal estimation of the LE position. The adjacent LEs and the adjacent LMs automatically form a network wireless sensing network through the wireless sensing unit, the gateway LE reports the state of the network to the positioning management platform at regular time, the positioning management platform can calculate and obtain the position coordinates of the LMs according to the information reported by the gateway LE, and the LEs with high position reliability can be used for correcting the position coordinates of other LEs. Therefore, the positioning calculation work of the LE is mainly performed on the management platform, and the LE is only responsible for the measurement of the GPS and the IMU and reports the measurement data, so that the data processing requirement of the LE is greatly simplified, and the reduction of the power consumption of the LE is facilitated. Furthermore, different positioning strategies can be dynamically defined according to the movement state of the LE, the time intervals of positioning measurement and reporting of the LE are associated with the movement speed of the LE, when the movement speed is increased, the time intervals of positioning measurement and reporting are reduced, otherwise, the time intervals of positioning measurement and reporting are increased, and the LE can save power consumption through measures of sleeping, turning off a peripheral circuit power supply and the like during the two times of positioning measurement and reporting, so that the positioning tracking service quality of the positioning management platform on the LE is ensured, and the working time of the LE is reduced as much as possible, thereby reducing the average power consumption of the LE. And the LM adopts a ZigBee technology with low power consumption, only needs to be accessed to an adjacent wireless sensor network at regular time and report related information, and is in a dormant state most of the time, so that the power consumption can be reduced to a very low degree.
The device can provide various positioning value-added services for users, the positioning management platform can customize special service strategies for corresponding LM or LE groups according to service requirements, for example, the legal activity range and the normal motion state of the LM or LE are defined, once the management platform monitors that the position of the LM or LE exceeds the preset normal range or the motion state of the LM or LE exceeds the normal range, the management platform can send alarm information to the users, and the management platform can also predict whether the LM or LE has the trend of triggering the alarm according to the flight path of the LM or LE and the current state so as to determine whether to send the alarm information in advance.
Many changes and modifications may be made to the positioning and identification device described above without departing from the scope and spirit of the present invention, and many such changes will be apparent to those skilled in the art. The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated. The scope of the invention is determined by the appended claims.
Claims (6)
1. A mobile positioning identity, LM, wherein said LM comprises:
the wireless sensing unit detects surrounding wireless sensing network nodes by adopting a short-distance wireless communication technology and automatically accesses the wireless sensing network according to a wireless sensing network protocol;
and the main control unit completes initialization, parameter configuration and working state monitoring control of the LM, is connected to the wireless sensing network through the wireless sensing unit and sends a state message to the upper-level network node at regular time.
2. The location identity LM according to claim 1, wherein the wireless sensor units of the LM adopt ZigBee wireless technology and are configured as reduced function devices RFD as end nodes to access an adjacent wireless sensor network.
3. The location identity LM according to claim 1 or 2, wherein the configuration parameters of the LM comprise an ID-2 and a wireless sensor network ID, a node ID, an encryption mode, a key, and an operation mode, and these parameters are configured through a local configuration port and can be modified online after accessing the wireless sensor network.
4. The location identifier LM according to any of claims 1 to 3, wherein the LM sends a normal status report message to the upper level network node at a fixed time after accessing the adjacent wireless sensor network, where the normal status report message includes its own ID number ID-2, the signal strength of the adjacent network node, its node ID, and its own working status information, and the working status information includes its own remaining power and local alarm information.
5. The location identity LM according to any of claims 1-4, wherein the LM can trigger by a specific button to immediately send an alarm status report message to the upper level network node, which includes its own ID number ID-2, the signal strength of the adjacent network node and its node ID information.
6. Location identity LM according to any of claims 1-5, wherein the working flow of the LM is as follows:
A) the operation state is switched from the dormant state to the working state by the triggering of a timing mechanism or a specific button;
B) firstly, checking whether the wireless sensor network is still in the original wireless sensor network, and if the wireless sensor network is still in the original wireless sensor network, skipping the next step C);
C) searching surrounding wireless sensing networks, and accessing the searched wireless sensing networks according to preset working parameters;
D) sending a normal state report message or an alarm state report message to a superior node;
E) and entering a dormant state until the next time of timing trigger or returning to the step A) after the emergency button is pressed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105496522A CN102469406A (en) | 2010-11-18 | 2010-11-18 | Mobile location mark based on wireless sensing technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105496522A CN102469406A (en) | 2010-11-18 | 2010-11-18 | Mobile location mark based on wireless sensing technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102469406A true CN102469406A (en) | 2012-05-23 |
Family
ID=46072449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105496522A Pending CN102469406A (en) | 2010-11-18 | 2010-11-18 | Mobile location mark based on wireless sensing technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102469406A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103792908A (en) * | 2012-10-30 | 2014-05-14 | 横河电机株式会社 | Wireless device and method for setting the same, sensor unit and wireless unit, |
| CN104349338A (en) * | 2013-07-25 | 2015-02-11 | 普天信息技术有限公司 | Method and system used for monitoring sensor access gateway |
| CN105051569A (en) * | 2013-01-14 | 2015-11-11 | 微软技术许可有限责任公司 | Location determination for emergency services in wireless networks |
| CN105101368A (en) * | 2015-07-15 | 2015-11-25 | 小米科技有限责任公司 | Network access method, equipment and system |
| CN105093169A (en) * | 2015-08-25 | 2015-11-25 | 中国人民解放军总参谋部工程兵第四设计研究院 | Wireless location device |
| CN105445702A (en) * | 2015-11-26 | 2016-03-30 | 四川九洲电器集团有限责任公司 | Method and device for processing STC control object |
| CN107049524A (en) * | 2016-01-12 | 2017-08-18 | 西门子保健有限责任公司 | Position the part associated with image recording structure and/or the method and system of personnel |
| CN107408151A (en) * | 2015-03-27 | 2017-11-28 | 英特尔公司 | Use the motion tracking of electronic equipment |
| CN109282150A (en) * | 2017-07-22 | 2019-01-29 | 周尧 | A kind of running water pipe water leakage monitoring device |
| CN109951362A (en) * | 2017-12-21 | 2019-06-28 | 三星电子株式会社 | Electronic device and method for controlling nodes in a network |
| CN111308411A (en) * | 2020-03-03 | 2020-06-19 | 浙江中控技术股份有限公司 | Personnel positioning system and method |
| CN112492526A (en) * | 2014-05-28 | 2021-03-12 | 联邦快递服务公司 | Enabling node delivery notifications using elements of a wireless node network |
| CN113949992A (en) * | 2021-11-24 | 2022-01-18 | 上海瑾盛通信科技有限公司 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
| US12014318B2 (en) | 2013-11-29 | 2024-06-18 | Fedex Corporate Services, Inc. | Node-enabled logistics receptacle in a wireless node network |
-
2010
- 2010-11-18 CN CN2010105496522A patent/CN102469406A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103792908A (en) * | 2012-10-30 | 2014-05-14 | 横河电机株式会社 | Wireless device and method for setting the same, sensor unit and wireless unit, |
| CN103792908B (en) * | 2012-10-30 | 2016-09-14 | 横河电机株式会社 | Wireless device and method to set up, sensor unit and radio-cell |
| CN105051569A (en) * | 2013-01-14 | 2015-11-11 | 微软技术许可有限责任公司 | Location determination for emergency services in wireless networks |
| CN104349338A (en) * | 2013-07-25 | 2015-02-11 | 普天信息技术有限公司 | Method and system used for monitoring sensor access gateway |
| CN104349338B (en) * | 2013-07-25 | 2018-01-19 | 普天信息技术有限公司 | A kind of method and system being monitored to sensor access gateway |
| US12014318B2 (en) | 2013-11-29 | 2024-06-18 | Fedex Corporate Services, Inc. | Node-enabled logistics receptacle in a wireless node network |
| CN112492526A (en) * | 2014-05-28 | 2021-03-12 | 联邦快递服务公司 | Enabling node delivery notifications using elements of a wireless node network |
| CN112492526B (en) * | 2014-05-28 | 2023-08-04 | 联邦快递服务公司 | Enabling node delivery notification using elements of a wireless node network |
| CN107408151A (en) * | 2015-03-27 | 2017-11-28 | 英特尔公司 | Use the motion tracking of electronic equipment |
| CN105101368A (en) * | 2015-07-15 | 2015-11-25 | 小米科技有限责任公司 | Network access method, equipment and system |
| CN105093169A (en) * | 2015-08-25 | 2015-11-25 | 中国人民解放军总参谋部工程兵第四设计研究院 | Wireless location device |
| CN105445702A (en) * | 2015-11-26 | 2016-03-30 | 四川九洲电器集团有限责任公司 | Method and device for processing STC control object |
| CN105445702B (en) * | 2015-11-26 | 2018-05-04 | 四川九洲电器集团有限责任公司 | A kind of method and apparatus of STC control targes processing |
| CN107049524B (en) * | 2016-01-12 | 2020-10-30 | 西门子保健有限责任公司 | Method and system for locating components and/or persons associated with an image recording device |
| CN107049524A (en) * | 2016-01-12 | 2017-08-18 | 西门子保健有限责任公司 | Position the part associated with image recording structure and/or the method and system of personnel |
| CN109282150A (en) * | 2017-07-22 | 2019-01-29 | 周尧 | A kind of running water pipe water leakage monitoring device |
| CN109951362A (en) * | 2017-12-21 | 2019-06-28 | 三星电子株式会社 | Electronic device and method for controlling nodes in a network |
| CN109951362B (en) * | 2017-12-21 | 2022-04-19 | 三星电子株式会社 | Electronic device and method for controlling nodes in a network |
| CN111308411A (en) * | 2020-03-03 | 2020-06-19 | 浙江中控技术股份有限公司 | Personnel positioning system and method |
| CN113949992A (en) * | 2021-11-24 | 2022-01-18 | 上海瑾盛通信科技有限公司 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
| CN113949992B (en) * | 2021-11-24 | 2024-03-29 | 上海瑾盛通信科技有限公司 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102469580A (en) | mobile positioning service system based on wireless sensing technology | |
| CN102469500A (en) | Mobile positioning service method based on wireless sensing technology | |
| CN102469406A (en) | Mobile location mark based on wireless sensing technology | |
| CN102223596A (en) | Mobile positioning service method | |
| CN102223706A (en) | Mobile positioning service system | |
| CN102223597A (en) | Mobile positioning device | |
| Deng et al. | Situation and development tendency of indoor positioning | |
| TWI394976B (en) | Positioning assistance method and positioning aid using the same | |
| JP5856675B2 (en) | Method and system for providing advanced location-based information to a wireless handset | |
| CN102223707A (en) | Mobile positioning beacon device | |
| Zandbergen | Accuracy of iPhone locations: A comparison of assisted GPS, WiFi and cellular positioning | |
| KR100532589B1 (en) | Apparatus and method determining the position by integrating rfid, gps, and ins | |
| EP2613168B1 (en) | Performance and power management in direction of arrival determination by utilizing sensor information | |
| KR101099151B1 (en) | Location beacon database and server, method of building location beacon database, and location based service using same | |
| US20140274115A1 (en) | Tracking device and remote monitoring system | |
| US20130190014A1 (en) | Method and system for positional finding using rf, continuous and/or combined movement | |
| CN103180754A (en) | Position determination using measurements from past and present epochs | |
| TW200914861A (en) | Location obtained by combining last known reliable position with position changes | |
| CN108134981A (en) | For the dynamic report scheme of location based service | |
| CN102216734A (en) | Wireless-based positioning adjustments using a motion sensor | |
| EP1903349A1 (en) | Mobile communication terminal for receiving position information service and method thereof | |
| CN108885269B (en) | Navigation method, navigation device and navigation system | |
| CN101071168A (en) | Dual Mode Position Calibration System | |
| Sahoo et al. | Integrating GPS, GSM and cellular phone for location tracking and monitoring | |
| KR20050034762A (en) | Location tracing system of mobile terminal using location detecting server in wireless lan and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120523 |