CN104076379B - Transfer rate self-adapting intelligent power saving 4G positioning and tracking device and method - Google Patents
Transfer rate self-adapting intelligent power saving 4G positioning and tracking device and method Download PDFInfo
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- CN104076379B CN104076379B CN201410310737.3A CN201410310737A CN104076379B CN 104076379 B CN104076379 B CN 104076379B CN 201410310737 A CN201410310737 A CN 201410310737A CN 104076379 B CN104076379 B CN 104076379B
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- big dipper
- dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention relates to 4G field of locating technology, it is specifically related to a kind of transfer rate self-adapting intelligent power saving 4G positioning and tracking device, wherein, Big Dipper locating module, dead reckoning sensors, cellular localization module are all connected with core controller, and core controller is connected with monitor terminal by 4G communication module；The invention still further relates to a kind of transfer rate self-adapting intelligent power saving 4G positioning and tracing method, first pass through location fusion method and obtain carrier positions information, then utilize transfer rate self-adapting intelligent electricity saving method that carrier positions information is sent to monitor terminal.Traditional Big Dipper location, dead reckoning and three kinds of positioning means of cellular localization are merged by the present invention, accurately judged the positioning means needing to use according to current environment by core controller, position stability is high, good reliability, core controller is according to the real-time translational speed size of carrier simultaneously, the time interval that change carrier positions and velocity information are uploaded and updated, it is achieved transfer rate self adaptation, improves flying power.
Description
Technical field
The present invention relates to 4G field of locating technology, be specifically related to a kind of transfer rate self-adapting intelligent power saving 4G positioning and tracking device and
Method.
Background technology
Beidou satellite navigation system be China implementing independent research, the GPS of independent operating, be abbreviated as
BDS, the GPS shared with the Galileo system compatibility of the GPS of the U.S., Muscovite GLONASS, European Union,
And claim global four large satellite navigation system.Beidou satellite navigation system provides continuous navigation location and time service service, joins with receiver
Close the speed of service and the position that can be received airborne body.
Dead reckoning is under conditions of knowing current time position, by measuring the distance and bearing of movement, calculates subsequent time
The method of position.Dead reckoning algorithm is used primarily in the running fix of vehicle, boats and ships etc., the accelerometer that used, magnetic sieve
Dish, gyroscope cost are high, and size is big.Along with the development of micro electro mechanical system (MEMS) technology, accelerometer, digital compass, gyroscope chi
Very little, weight, cost are all substantially reduced, and make dead reckoning can be applied in pedestrian navigation.
Cellular localization is to utilize the architecture of base station of GSM network to carry out the technology positioned.The base structure of GSM network is by a series of
Cellular basestation constitute, these base stations become one or more community whole communication region partitioning.Mobile device is in GSM network
Middle communication, it is simply that access GSM network by certain base station, then carried out data transmission by GSM network.Mobile device is to base station
Between distance can be estimated by the transmission time of electric wave, estimation mobile device is to the distance of multiple base stations, it is possible to count
Calculate the Position Approximate obtaining equipment, also can position in indoor environment.
In above-mentioned three kinds of localization methods, Big Dipper positioning precision is the highest, and result is the most accurate, but is limited to the impact of satellite coverage,
Cannot use in indoor or remoter area, cellular positioning system positioning precision is worst, and result error is relatively big, but covers model
Enclosing wide, still can normally use in indoor, dead reckoning functional localization precision is between Big Dipper location and cellular localization, but boat position
Calculate that function exists cumulative error, the use time one long guarantee positioning precision that will be unable to, therefore, simple a kind of location of use mode
Carry out location and will there is the situation that orientation range is little, positioning precision is poor.
It addition, locating module and communication module are combined by traditional locating and tracking terminal, it is possible in real time by the position of terminals
Information uploads to monitor terminal with certain transfer rate, and monitor terminal processes these positional informationes and can realize location and follow the tracks of,
No matter whether carrier positions information changes, monitor terminal will receive the location information from locating module continuously,
Power consumption is big, and device flying power is poor.
Summary of the invention
For solving the deficiency in above-mentioned technical problem, it is an object of the invention to: a kind of transfer rate self-adapting intelligent power saving 4G is provided
Positioning and tracing method, controls, by the size of carrier translational speed, the time interval that data are uploaded and updated, by multiple location side
The switching of formula, carries out location and merges, improve location information and the precision of velocity information, and position stability is high, and orientation range is wide,
Good reliability；A kind of transfer rate self-adapting intelligent power saving 4G positioning and tracking device is provided, carries out location by core controller and melt
Merge and control, according to carrier translational speed, the transfer rate that carrier positions information is uploaded, energy-conservation stable, improve device flying power.
The present invention solves that the technical scheme that its technical problem is used is:
Described transfer rate self-adapting intelligent power saving 4G locating and tracking terminal, including:
Big Dipper locating module, is used for measuring carrier positions and velocity information, and exports navigation message to core controller；
Dead reckoning sensors, when Big Dipper locating module location is unavailable, starts dead reckoning sensors, positions mould with the Big Dipper
The positioning result that block can use for the last time calculates, obtains carrier positions and speed, and carrier positions and velocity information is transmitted
To core controller；
Cellular localization module, according to dead reckoning sensors certainty of measurement, determines the acceptable error accumulation time, in boat position
After dead reckoning sensor continuous firing this error accumulation time full, open cellular localization module and position；
Core controller, first is by location merges, it is judged that the locating module that should use under current environment；Second is according to load
Body translational speed adjusts the transfer rate that carrier positions information is uploaded；
4G communication module, it is achieved the communication between core controller and monitor terminal；
Monitor terminal, receives the carrier positions information transmitted by core controller, and shows；
Wherein, Big Dipper locating module, dead reckoning sensors, cellular localization module are all connected with core controller, core control
Device processed is connected with monitor terminal by 4G communication module.
In general, the location data precision of Big Dipper locating module is better than the data precision of dead reckoning, and cellular localization module
Positioning precision is worst.So, after the present invention starts, the preferential location using Big Dipper locating module and the result that tests the speed, and pass through
Whether core controller real-time judge positioning result can be used, and in the environment of the present invention is operated in and does not has satellite-signal, i.e. the Big Dipper is fixed
When position module position dilution of precision PDOP is more than or equal to 7, location data are unavailable, now enable dead reckoning sensors, with north
The positioning result that bucket locating module records for the last time calculates, obtains position and the speed of carrier, it is contemplated that dead reckoning has
Cumulative error, according to the precision of dead reckoning sensors used, determines the acceptable error accumulation time, after this time,
Position and the velocity information error of dead reckoning are excessive, can not use again, open cellular localization module and position, it is thus achieved that carrier position
Put, and the distance and time interval according to two positions calculates speed, in above process, Big Dipper locating module once detected
Available, reactivate Big Dipper locating module the most immediately and position.
After core controller obtains carrier positions and velocity information, if bearer rate is more than or equal to 0 kilometer per hour, less than 0.1
Kilometer per hour, core controller judges that 4G communication module does not upload data, and device enters electricity-saving state, and monitor terminal display carries
Body position is constant, for the position uploaded for the last time；When the slow speed of carrier moves, it is greater than the least equal to 0.1 km
Time, less than or equal to 10 kilometer per hours, position change is relatively slow, core controller judge 4G communication module with slower frequency,
I.e. with the time interval more new data of 5-10s, such as 5 seconds once, and monitor terminal display carrier positions every five seconds for example changes once；
During carrier high-speed mobile, such as velocity amplitude is more than 10 kilometer per hours, and position change is very fast, and controller judges 4G communication module
With altofrequency, i.e. with the time interval more new data of 0.1-2s, such as 1 second once, monitor terminal display carrier positions change per second
Once.
In actual applications, the corresponding relation between carrier translational speed and 4G communication module transfer rate can pass through core controller
It is set；Remote setting can also be carried out by monitor terminal, including Transmission Time Interval, the parameter such as threshold limit of speed,
The chip being capable of core controller function has a lot, more conventional for RMS3C2410 or ATMEGA16A.
Another kind of technical scheme of the present invention is:
Described transfer rate self-adapting intelligent power saving 4G positioning and tracing method, first passes through location fusion method and obtains carrier positions and speed
Degree information, then utilizes transfer rate self-adapting intelligent electricity saving method that carrier positions and velocity information are sent to monitor terminal,
Described location fusion method is:
During startup, first Big Dipper locating module runs, and is read the navigation message of Big Dipper locating module output by core controller,
Core controller reads the navigation message of Big Dipper locating module output；According to PDOP (the Position Dilution of read
Precision, position dilution of precision) judge to position whether data can be used, if detecting, PDOP numerical value is in down state,
Open dead reckoning sensors, use the position that obtains of dead reckoning and velocity information；According to dead reckoning sensors certainty of measurement,
Determine the acceptable error accumulation time, after dead reckoning sensors continuous firing this error accumulation time full, close boat position
Dead reckoning sensor, uses cellular localization module to position, and calculates speed according to location data；The most all the time sentence
Whether disconnected Big Dipper locating module can be used, if available, the most preferentially reactivates Big Dipper locating module；
Transfer rate self-adapting intelligent electricity saving method is:
When carrier translational speed more than or equal to 0 kilometer per hour less than 0.1 kilometer per hour, entering energy-saving mode, core controls
Device does not uploads data to monitor terminal；When carrier translational speed more than or equal to 0.1 less than or equal to 10 kilometer per hours, with less
Data transmission rate sends information to monitor terminal, i.e. data are uploaded to monitor terminal with the time interval of 5-10s；When carrier moves
Speed be more than 10 kilometer per hours, send information with bigger data transmission rate to monitor terminal, i.e. data with 0.1-2s time
Between interval be uploaded to monitor terminal.
In the fusion method of described location, if PDOP is less than 7, then judges that Big Dipper locating module location data can be used, i.e. use the Big Dipper
The positioning result of locating module and the result that tests the speed；If PDOP is more than or equal to 7, and keeps this state to reach 60 seconds, then judge the Big Dipper
Location data are unavailable.In described transfer rate self-adapting intelligent electricity saving method, core controller obtains carrier positions and velocity information
After, if bearer rate is more than or equal to 0 kilometer per hour less than 0.1 kilometer per hour, core controller judges 4G communication mould
Block does not upload data, enters electricity-saving state, and monitor terminal display carrier positions is constant, for the position uploaded for the last time；Work as load
Body translational speed is more than or equal to 0.1 less than or equal to 10 kilometer per hours, and position change is relatively slow, and core controller judges 4G communication
Module, with slower frequency, i.e. transmits data with the time interval of 5-10s to monitor terminal, and such as 5 seconds once, monitor terminal
Display carrier positions every five seconds for example changes once；When carrier translational speed is more than 10 kilometer per hours, and position change is very fast, controller
Judgement 4G communication module is with altofrequency, and i.e. with the time interval more new data of 0.1-2s, such as 1 second once, monitor terminal shows
Carrier positions change per second is once.Corresponding relation between carrier translational speed and 4G communication module transmission frequency can pass through core
Controller is set.
Compared with prior art, the method have the advantages that
Traditional Big Dipper location, dead reckoning and three kinds of positioning means of cellular localization are merged, by core controller root by the present invention
Accurately judge the positioning means needing to use according to current environment, position stability is high, and orientation range is wide, good reliability, it is thus achieved that
Carrier positions and translational speed are by 4G communication module transmission to monitor terminal, and core controller is according to the real-time shifting of carrier simultaneously
Dynamic velocity magnitude, the time interval that change carrier positions and velocity information are uploaded and updated, the quickening of carrier translational speed, data are more
New frequency is accelerated, and carrier stationary is motionless, and data stop updating, and enter electricity-saving state, it is achieved transfer rate self adaptation, improve continuation of the journey
Ability.
Accompanying drawing explanation
Fig. 1 principle of the invention block diagram.
Fig. 2 present invention controls program flow diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawings the embodiment of the present invention is described further:
Embodiment 1:
As it is shown in figure 1, transfer rate self-adapting intelligent power saving 4G locating and tracking terminal of the present invention, including:
Big Dipper locating module, is used for measuring carrier positions and velocity information, and exports navigation message to core controller；
Dead reckoning sensors, when Big Dipper locating module location is unavailable, starts dead reckoning sensors, positions mould with the Big Dipper
The positioning result that block can use for the last time calculates, obtains carrier positions and speed, and carrier positions and velocity information is transmitted
To core controller；
Cellular localization module, according to dead reckoning sensors certainty of measurement, determines the acceptable error accumulation time, in boat position
After dead reckoning sensor continuous firing this error accumulation time full, open cellular localization module and position；
Core controller, first is by location merges, it is judged that the locating module that should use under current environment；Second is according to load
Body translational speed adjusts the transfer rate that carrier positions information is uploaded；
4G communication module, it is achieved the communication between core controller and monitor terminal；
Monitor terminal, receives the carrier positions information transmitted by core controller, and shows；
Wherein, Big Dipper locating module, dead reckoning sensors, cellular localization module are all connected with core controller, core control
Device processed is connected with monitor terminal by 4G communication module.
In general, the location data precision of Big Dipper locating module is better than the data precision of dead reckoning, and cellular localization module
Positioning precision is worst.So, after the present invention starts, the preferential location using Big Dipper locating module and the result that tests the speed, and pass through
Whether core controller real-time judge positioning result can be used.In the environment of the present invention is operated in and does not has satellite-signal, i.e. the Big Dipper is fixed
When position module position dilution of precision PDOP is more than or equal to 7, location data are unavailable, now enable dead reckoning sensors, with north
The positioning result that bucket locating module records for the last time calculates, obtains position and the speed of carrier, it is contemplated that dead reckoning has
Cumulative error, according to the precision of dead reckoning sensors used, determines the acceptable error accumulation time, after this time,
Position and the velocity information error of dead reckoning are excessive, no longer available, open cellular localization module and position, it is thus achieved that carrier position
Put, and the distance and time interval according to two positions calculates speed, in above process, Big Dipper locating module once detected
Available, reactivate Big Dipper locating module the most immediately and position.
After core controller obtains carrier positions and velocity information, if bearer rate is more than or equal to 0 kilometer per hour, less than 0.1
Kilometer per hour, core controller judges that 4G communication module does not upload data, and device enters electricity-saving state, and monitor terminal display carries
Body position is constant, for the position uploaded for the last time；When the slow speed of carrier moves, it is greater than the least equal to 0.1 km
Time, less than or equal to 10 kilometer per hours, position change is relatively slow, core controller judge 4G communication module with slower frequency,
I.e. with the time interval more new data of 5-10s, such as 5 seconds once, and monitor terminal display carrier positions every five seconds for example changes once；
During carrier high-speed mobile, such as velocity amplitude is more than 10 kilometer per hours, and position change is very fast, and controller judges 4G communication module
With altofrequency, i.e. with the time interval more new data of 0.1-2s, such as 1 second once, monitor terminal display carrier positions change per second
Once.
In actual applications, the corresponding relation between carrier translational speed and 4G communication module transfer rate can pass through core controller
It is set；Remote setting can also be carried out by monitor terminal, including Transmission Time Interval, the parameter such as threshold limit of speed,
The chip being capable of core controller function has a lot, more conventional for RMS3C2410 or ATMEGA16A.
Embodiment 2:
As in figure 2 it is shown, transfer rate self-adapting intelligent power saving 4G positioning and tracing method of the present invention, first pass through location fusion side
Method obtains carrier positions and velocity information, then utilizes transfer rate self-adapting intelligent electricity saving method carrier positions and velocity information to be passed
Deliver to monitor terminal,
Described location fusion method is:
During startup, first Big Dipper locating module runs, and is read the navigation message of Big Dipper locating module output by core controller,
Core controller reads the navigation message of Big Dipper locating module output；According to PDOP (the Position Dilution of read
Precision, position dilution of precision) judge to position whether data can be used, if detecting, PDOP numerical value is in down state,
Open dead reckoning sensors, use the position that obtains of dead reckoning and velocity information；According to dead reckoning sensors certainty of measurement,
Determine the acceptable error accumulation time, after dead reckoning sensors continuous firing this error accumulation time full, close boat position
Dead reckoning sensor, uses cellular localization module to position, and calculates speed according to location data；The most all the time sentence
Whether disconnected Big Dipper data can be used, if available, the most preferentially reactivate Big Dipper locating module；
Transfer rate self-adapting intelligent electricity saving method is:
When carrier translational speed more than or equal to 0 kilometer per hour less than 0.1 kilometer per hour, entering energy-saving mode, core controls
Device does not uploads data to monitor terminal；When carrier translational speed more than or equal to 0.1 less than or equal to 10 kilometer per hours, with less
Data transmission rate sends information to monitor terminal, i.e. data are uploaded to monitor terminal with the time interval of 5-10s；When carrier moves
Speed be more than 10 kilometer per hours, send information with bigger data transmission rate to monitor terminal, i.e. data with 0.1-2s time
Between interval be uploaded to monitor terminal.
In the fusion method of described location, if PDOP is less than 7, then judges that Big Dipper locating module location data can be used, i.e. use the Big Dipper
The positioning result of locating module and the result that tests the speed；If PDOP is more than or equal to 7, and keeps this state to reach 60 seconds, then judge the Big Dipper
Location data are unavailable.In described transfer rate self-adapting intelligent electricity saving method, core controller obtains carrier positions and velocity information
After, if bearer rate is more than or equal to 0 kilometer per hour less than 0.1 kilometer per hour, core controller judges 4G communication mould
Block does not upload data, enters electricity-saving state, and monitor terminal display carrier positions is constant, for the position uploaded for the last time；Work as load
Body translational speed is more than or equal to 0.1 less than or equal to 10 kilometer per hours, and position change is relatively slow, and core controller judges 4G communication
Module, with slower frequency, i.e. transmits data with the time interval of 5-10s to monitor terminal, and such as 5 seconds once, monitor terminal
Display carrier positions every five seconds for example changes once；When carrier translational speed is more than 10 kilometer per hours, and position change is very fast, controller
Judgement 4G communication module is with altofrequency, and i.e. with the time interval more new data of 0.1-2s, such as 1 second once, monitor terminal shows
Carrier positions change per second is once.Corresponding relation between carrier translational speed and 4G communication module transmission frequency can pass through core
Controller is set.
Traditional Big Dipper location, dead reckoning and three kinds of positioning means of cellular localization are merged, by core controller root by the present invention
Accurately judge the positioning means needing to use according to current environment, position stability is high, and orientation range is wide, good reliability, it is thus achieved that
Carrier positions and translational speed are by 4G communication module transmission to monitor terminal, and core controller is according to the real-time shifting of carrier simultaneously
Dynamic velocity magnitude, the time interval that change carrier positions and velocity information are uploaded and updated, the quickening of carrier translational speed, data are more
New frequency is accelerated, and carrier stationary is motionless, and data stop updating, and enter electricity-saving state, it is achieved transfer rate self adaptation, improve continuation of the journey
Ability.
Claims (3)
1. a transfer rate self-adapting intelligent power saving 4G locating and tracking terminal, it is characterised in that including:
Big Dipper locating module, is used for measuring carrier positions and velocity information, and exports navigation message to core controller；
Dead reckoning sensors, when Big Dipper locating module location is unavailable, starts dead reckoning sensors, positions mould with the Big Dipper
The positioning result that block can use for the last time calculates, obtains carrier positions and speed, and described dead reckoning sensors uses and accelerates
Degree meter, digital compass or gyroscope；
Cellular localization module, according to dead reckoning sensors certainty of measurement, determines the acceptable error accumulation time, in boat position
After dead reckoning sensor continuous firing this error accumulation time full, open cellular localization module and position；
Core controller, first is by location merges, it is judged that the locating module that should use under current environment；Second is according to load
Body translational speed adjusts the transfer rate that carrier positions information is uploaded；
4G communication module, it is achieved the communication between core controller and monitor terminal；
Monitor terminal, receives the carrier positions and velocity information transmitted by core controller, and shows；
Wherein, Big Dipper locating module, dead reckoning sensors, cellular localization module are all connected with core controller, core control
Device processed is connected with monitor terminal by 4G communication module.
2. a transfer rate self-adapting intelligent power saving 4G positioning and tracing method, it is characterised in that first pass through location fusion method
Obtain carrier positions information, then utilize transfer rate self-adapting intelligent electricity saving method that carrier positions information is sent to monitor terminal,
Described location fusion method is:
During startup, first Big Dipper locating module runs, and is read the navigation message of Big Dipper locating module output by core controller,
Core controller reads the navigation message of Big Dipper locating module output；According to PDOP (the Position Dilution of read
Precision, position dilution of precision) judge to position whether data can be used, if detecting, PDOP numerical value is in down state,
Open dead reckoning sensors, use the position that obtains of dead reckoning and velocity information；According to dead reckoning sensors certainty of measurement,
Determine the acceptable error accumulation time, after dead reckoning sensors continuous firing this error accumulation time full, close boat position
Dead reckoning sensor, uses cellular localization module to position, and calculates speed according to location data；The most all the time sentence
Whether disconnected Big Dipper data can be used, if available, the most preferentially reactivate Big Dipper locating module；
Transfer rate self-adapting intelligent electricity saving method is:
When carrier translational speed more than or equal to 0 kilometer per hour less than 0.1 kilometer per hour, entering energy-saving mode, core controls
Device does not uploads data to monitor terminal；When carrier translational speed more than or equal to 0.1 less than or equal to 10 kilometer per hours, with less
Data transmission rate sends information to monitor terminal, i.e. data are uploaded to monitor terminal with the time interval of 5-10s；When carrier moves
Speed sends information with bigger data transmission rate to monitor terminal more than 10 kilometer per hours, and i.e. data are with the time of 0.1-2s
Interval is uploaded to monitor terminal.
Transfer rate self-adapting intelligent power saving 4G positioning and tracing method the most according to claim 2, it is characterised in that described
In the fusion method of location, if PDOP is less than 7, then judges that Big Dipper locating module location data can be used, i.e. use Big Dipper locating module
Positioning result and test the speed result；If PDOP is more than or equal to 7, and keeps this state to reach 60 seconds, then judge Big Dipper location data
Unavailable.
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| CN104898146A (en) * | 2015-04-28 | 2015-09-09 | 广西智通节能环保科技有限公司 | Vehicle-mounted positioning device |
| CN104898147A (en) * | 2015-04-28 | 2015-09-09 | 广西智通节能环保科技有限公司 | Self-service tracker |
| CN105137465A (en) * | 2015-08-07 | 2015-12-09 | 成都亚讯星科实业有限公司 | Multi-dimensional personnel and equipment intelligent positioning wearable device |
| EP3454614B1 (en) | 2016-05-20 | 2021-05-05 | Huawei Technologies Co., Ltd. | Positioning method and mobile device |
| CN106710204B (en) * | 2017-01-13 | 2019-12-17 | 浙江大学 | Cross positioning device and method for public transport vehicle |
| WO2019134104A1 (en) * | 2018-01-05 | 2019-07-11 | 深圳市沃特沃德股份有限公司 | Positioning method and device, and smartwatch |
| CN111077544B (en) * | 2019-12-09 | 2020-11-17 | 深圳市星火车联科技有限公司 | Positioning method and maintenance method of trailer and related devices |
| CN113835365A (en) * | 2020-06-24 | 2021-12-24 | 上海新微技术研发中心有限公司 | Control method and system of intelligent logistics positioning reporting system and intelligent logistics vehicle |
| CN113128934A (en) * | 2021-04-23 | 2021-07-16 | 北京京东振世信息技术有限公司 | Terminal track processing method and related equipment |
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| JP4702800B2 (en) * | 2006-03-23 | 2011-06-15 | アルパイン株式会社 | Position calculation device by GPS positioning |
| CN100582670C (en) * | 2007-12-04 | 2010-01-20 | 北京科技大学 | Localization subsystem of vehicle self-building net system and localization method thereof |
| CN102118687B (en) * | 2009-12-31 | 2015-05-06 | 厦门雅迅网络股份有限公司 | Base station information acquiring and processing method for base station positioning |
| KR101141984B1 (en) * | 2010-04-12 | 2012-05-07 | 주식회사 디유에이엔아이 | DR/GPS Data Fusion Method |
| CN103391506A (en) * | 2012-05-09 | 2013-11-13 | 王东林 | Global seamless positioning method based on GPS and fourth generation mobile communication network |
| CN103207593A (en) * | 2012-11-05 | 2013-07-17 | 陕西拓普索尔电子科技有限责任公司 | Vehicle ship device monitoring and dispatching system based on 4G and Beidou communication technology |
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