CN106643776A - Navigation method, device and terminal - Google Patents
Navigation method, device and terminal Download PDFInfo
- Publication number
- CN106643776A CN106643776A CN201710165056.6A CN201710165056A CN106643776A CN 106643776 A CN106643776 A CN 106643776A CN 201710165056 A CN201710165056 A CN 201710165056A CN 106643776 A CN106643776 A CN 106643776A
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- Prior art keywords
- navigation
- networking
- condition
- module
- monitoring
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention discloses a navigation method, a navigation device and a navigation terminal. The navigation method includes: using a networking navigation module of the navigation terminal for navigation; if monitoring that running status of a vehicle where the navigation terminal is located meets inertial navigation conditions, starting an inertial navigation module, and closing the networking navigation module; if monitoring that running status of the vehicle where the navigation terminal is located meets networking navigation conditions, starting the networking navigation module, and closing the inertial navigation module. The navigation method starts or closes the networking navigation module by monitoring that the running status of the vehicle where the navigation terminal is located meets the networking navigation conditions or the inertial navigation conditions, and then closes or starts the inertial navigation module correspondingly, and thereby reduces power dissipation in navigation on the premise of guaranteeing navigation accuracy, and improves cruising ability of equipment.
Description
Technical field
The present embodiments relate to field of navigation technology, more particularly to a kind of navigation, device and terminal.
Background technology
Airmanship is the information provided using the device such as satellite and sensor, and by calculating, quick correct guiding is carried
Body reaches a kind of technology of intended destination, and popular at present is satellite navigation, inertial navigation, Star navigation system and ground magnetic conductance
The airmanships such as boat.
Now, navigation module is assembled with the equipment such as ship, automobile and mobile phone, greatly facilitates going out for people
OK.Only with single navigation module, such as GPS navigation module under the usual situation of these equipment.GPS navigation high precision, does not have
Accumulated error, good stability, but power consumption is big in navigation procedure, significantly limit the endurance of equipment.Additionally, for
It is then more urgent to the demand of low-power consumption navigation for the compact apparatus such as mobile phone.
The content of the invention
The present invention provides a kind of navigation, device and terminal, to realize the navigation of low-power consumption, improves the endurance of equipment.
In a first aspect, embodiments providing a kind of air navigation aid, the method includes：Using the networking of navigation terminal
Navigation module is navigated；
If the transport condition for monitoring navigation terminal place vehicle meets inertial navigation condition, inertial navigation mould is opened
Block, and close networking navigation module；
If the transport condition for monitoring navigation terminal place vehicle meets networking guidanuce condition, the networking navigation is opened
Module, and close the inertial navigation module.
Preferably, monitor that the transport condition of navigation terminal place vehicle meets inertial navigation condition and includes：
Monitor that vehicle follow-up travel route in navigation terminal place is the straight trip section with preseting length, and road without exception
Condition, it is determined that to meet inertial navigation condition.
Preferably, the abnormal road conditions at least include road congestion and road maintenance.
Preferably, monitor that the transport condition of navigation terminal place vehicle meets networking guidanuce condition and includes:
Monitor that the duration exceedes Preset Time after the change of current traffic direction and change of navigation terminal place vehicle,
Then it is defined as meeting networking guidanuce condition.
Preferably, whether the transport condition of monitoring navigation terminal place vehicle meets networking guidanuce condition and includes：
The traffic direction of place vehicle is monitored using the gyroscope of navigation terminal, and using the acceleration sensing of navigation terminal
Device monitors the travel speed of place vehicle；
Determine whether the transport condition of the vehicle meets networking guidanuce condition according to the traffic direction and travel speed.
Whether the transport condition of monitoring navigation terminal place vehicle meets inertial navigation condition includes：
Monitor the follow-up travel route that the navigation terminal is got by navigation module of networking；
Determine whether the transport condition of the vehicle meets inertial navigation condition according to the follow-up travel route.
Second aspect, the embodiment of the present invention additionally provides a kind of guider, including：
Navigation performing module, is navigated for the networking navigation module using navigation terminal；
Inertial navigation handover module, if the transport condition for monitoring navigation terminal place vehicle meets inertial navigation bar
Part, then open inertial navigation module, and closes networking navigation module；
Networking navigation handover module, if the transport condition for monitoring navigation terminal place vehicle meets networking navigation bar
Part, then open the networking navigation module, and closes the inertial navigation module.
Preferably, if inertial navigation handover module is specifically for monitoring the follow-up travel route of navigation terminal place vehicle
Straight trip section with preseting length, and road conditions without exception, it is determined that to meet inertial navigation condition；
If networking navigation handover module specifically for monitor navigation terminal place vehicle current traffic direction change and
The duration exceedes Preset Time after change, it is determined that to meet networking guidanuce condition.
Preferably, inertial navigation handover module specifically for：
Monitor the follow-up travel route that the navigation terminal is got by navigation module of networking；
Determine whether the transport condition of the vehicle meets inertial navigation condition according to the follow-up travel route.
The third aspect, the embodiment of the present invention additionally provides a kind of navigation terminal, including networking navigation module and inertial navigation
Module, also including the guider of above-mentioned second aspect.
The present invention is navigated using the networking navigation module of navigation terminal；If monitoring the row of navigation terminal place vehicle
The state of sailing meets inertial navigation condition, then open inertial navigation module, and closes networking navigation module；If monitoring navigation terminal
The transport condition of place vehicle meets networking guidanuce condition, then open the networking navigation module, and closes the inertial navigation
Module, by monitoring that the transport condition of navigation terminal place vehicle meets networking guidanuce condition or inertial navigation condition, opens
Or networking navigation module is closed, inertial navigation module is correspondingly turned off or on, so that it is guaranteed that reducing leading while navigation accuracy
The power consumption of boat, improves the endurance of equipment.
Description of the drawings
Fig. 1 is a kind of flow chart of the air navigation aid in the embodiment of the present invention one；
Fig. 2 is a kind of flow chart of the air navigation aid in the embodiment of the present invention two；
Fig. 3 is a kind of structural representation of the guider in the embodiment of the present invention three.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in further detail.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is a kind of flow chart of air navigation aid that the embodiment of the present invention one is provided, and the present embodiment is applicable to low-power consumption
The situation of navigation, the method can be performed by guider, and the device can be realized by hardware and/or software, for example may be used
Think the control unit or control program inside being integrated in navigator or other-end.Specifically include following steps：
Step S101, navigated using the networking navigation module of navigation terminal.
Navigated using the networking navigation module of navigation terminal, navigation terminal can be mobile phone, Wearable, vehicle-mounted
Or ship-borne equipment, wherein, navigation module of networking includes that GPS, GNSS or the Big Dipper etc. need the navigation module of networking.
If step S102, monitoring that the transport condition of navigation terminal place vehicle meets inertial navigation condition, open used
Property navigation module, and close networking navigation module.
The navigation accuracy of networking navigation is high, good stability, but needs to be networked in navigation procedure, with external equipment
Data interaction is carried out, power consumption is big；And inertial navigation is belonging to the navigation mode of autonomous type, it is not necessary to networked with external equipment
Data interaction, mainly measures three axis angular rates so as to monitor the traffic direction of navigation terminal place vehicle, acceleration by gyroscope
Sensor measures three axial velocities so as to monitor the travel speed of navigation terminal place vehicle, but the shortcoming of inertial navigation is fixed
Position precision can increase with the time and reduce.If the transport condition for monitoring navigation terminal place vehicle meets inertial navigation condition,
Inertial navigation module is then opened, and closes networking navigation module, power consumption is reduced while normal navigation is realized, improve continuation of the journey energy
Power.
Specifically, if monitoring, vehicle follow-up travel route in navigation terminal place is the straight trip section with preseting length,
And road conditions without exception, it is determined that to meet inertial navigation condition.
It is when monitoring that vehicle follow-up travel route in navigation terminal place is the straight trip section with preseting length and without exception
During road conditions, to navigate required precision it is not high, and when follow-up travel route is not the straight trip section with preseting length needs
The high navigation of precision comparison may need to re-start navigation way tune to ensure to arrive at when there are abnormal road conditions
It is whole, therefore, when monitoring that vehicle follow-up travel route in navigation terminal place is not the straight trip section with preseting length and/or goes out
Now during abnormal road conditions, service precision is not than relatively low inertial navigation.Wherein, the abnormal road conditions at least include road congestion and road
Keep in repair on road.It is pointed out that herein preseting length those skilled in the art can specifically be arranged according to actual needs,
This preseting length is not specifically limited in the present invention.
If step S103, the transport condition satisfaction networking guidanuce condition for monitoring navigation terminal place vehicle, open institute
Networking navigation module is stated, and closes the inertial navigation module.
The shortcoming of inertial navigation is that positioning precision can increase with the time and reduce, if monitoring navigation terminal place vehicle
Transport condition meets networking guidanuce condition, and inertial navigation can not meet the accuracy requirement of navigation, then open the networking navigation
Module, and close the inertial navigation module.
Specifically, if monitor navigation terminal place vehicle current traffic direction change and change after the duration exceed
Preset Time, it is determined that to meet networking guidanuce condition.
Monitor that the duration exceedes Preset Time after the change of current traffic direction and change of navigation terminal place vehicle,
Because the precision of inertial navigation increases with the time positioning may be caused inaccurate, now need to re-start navigation way
Adjustment, using the higher networking navigation of precision.It is pointed out that herein Preset Time those skilled in the art can be according to reality
Border needs specifically to be arranged, and this Preset Time is not specifically limited in the present invention.
The technical scheme of the present embodiment meets networking navigation bar by monitoring the transport condition of navigation terminal place vehicle
Part or inertial navigation condition, are turned on and off navigation module of networking, and correspondingly turn off or on inertial navigation module, so that it is guaranteed that
The power consumption of navigation is reduced while navigation accuracy, the endurance of equipment is improved.
Embodiment two
Fig. 2 is refer to, Fig. 2 is a kind of flow chart of air navigation aid that the embodiment of the present invention two is provided.It is more than the present embodiment
Based on stating embodiment scheme, improvement is optimized, in particular, provides the transport condition of monitoring navigation terminal place vehicle
Whether satisfaction networking guidanuce condition or the step of inertial navigation condition.As shown in Fig. 2 the method includes：
Step S201, navigated using the networking navigation module of navigation terminal.
Whether step S202, the transport condition of monitoring navigation terminal place vehicle meet inertial navigation condition, if so, then hold
Row step S203, if it is not, then maintaining the unlatching of current networking navigation module, maintains current networking navigation pattern constant.
Specifically, whether the transport condition of monitoring navigation terminal place vehicle meets inertial navigation condition includes：Monitoring institute
State the follow-up travel route that navigation terminal is got by navigation module of networking；The car is determined according to the follow-up travel route
Transport condition whether meet inertial navigation condition.
If step S203, monitoring that the transport condition of navigation terminal place vehicle meets inertial navigation condition, open used
Property navigation module, and close networking navigation module.
Whether step S204, the transport condition of monitoring navigation terminal place vehicle meet networking guidanuce condition, if so, then hold
Row step S205, if it is not, then maintaining the unlatching of current inertial navigation module, maintains current inertial navigation pattern constant.
Specifically, whether the transport condition of monitoring navigation terminal place vehicle meets networking guidanuce condition and includes：Using leading
The gyroscope of boat terminal monitors the traffic direction of place vehicle, and the acceleration transducer using navigation terminal monitors place vehicle
Travel speed；Determine whether the transport condition of the vehicle meets networking navigation bar according to the traffic direction and travel speed
Part.
If step S205, the transport condition satisfaction networking guidanuce condition for monitoring navigation terminal place vehicle, open institute
Networking navigation module is stated, and closes the inertial navigation module.
The technical scheme of the present embodiment meets networking navigation bar by monitoring the transport condition of navigation terminal place vehicle
Part or inertial navigation condition, are turned on and off navigation module of networking, and correspondingly turn off or on inertial navigation module, so that it is guaranteed that
The power consumption of navigation is reduced while navigation accuracy, the endurance of equipment is improved.
A kind of embodiment of the guider provided in the specific embodiment of the invention is the following is, the embodiment of device is based on
The embodiment of above-mentioned method realizes that not most description in systems refer to the embodiment of preceding method.
Embodiment three
Fig. 3 is refer to, Fig. 3 is a kind of structural representation of guider that third embodiment of the invention is provided.Such as Fig. 3 institutes
Show, the guider includes：
Navigation performing module 101, is navigated for the networking navigation module using navigation terminal；
Inertial navigation handover module 102, if the transport condition for monitoring navigation terminal place vehicle meets inertia and leads
Boat condition, then open inertial navigation module, and closes networking navigation module；
Networking navigation handover module 103, if the transport condition for monitoring navigation terminal place vehicle meets networking and leads
Boat condition, then open the networking navigation module, and closes the inertial navigation module.
On the basis of above-mentioned technical proposal, further, inertial navigation handover module 102 specifically for：If monitoring
Vehicle follow-up travel route in navigation terminal place is the straight trip section with preseting length, and road conditions without exception, it is determined that be full
Sufficient inertial navigation condition.
Networking navigation handover module 103 specifically for：If the current traffic direction for monitoring navigation terminal place vehicle changes
The duration exceedes Preset Time after becoming and changing, it is determined that to meet networking guidanuce condition.
On the basis of above-mentioned technical proposal, further, inertial navigation handover module 102 specifically for：
Monitor the follow-up travel route that the navigation terminal is got by navigation module of networking；
Determine whether the transport condition of the vehicle meets inertial navigation condition according to the follow-up travel route.
Networking navigation handover module 103 specifically for：
The traffic direction of place vehicle is monitored using the gyroscope of navigation terminal, and using the acceleration sensing of navigation terminal
Device monitors the travel speed of place vehicle；Whether the transport condition for determining the vehicle according to the traffic direction and travel speed
Meet networking guidanuce condition.
The technical scheme of the present embodiment meets networking navigation bar by monitoring the transport condition of navigation terminal place vehicle
Part or inertial navigation condition, are turned on and off navigation module of networking, and correspondingly turn off or on inertial navigation module, so that it is guaranteed that
The power consumption of navigation is reduced while navigation accuracy, the endurance of equipment is improved
Example IV
A kind of navigation terminal that example IV is provided for the present invention.The navigation terminal includes that networking navigation module and inertia are led
Model plane block, the navigation terminal is also including the guider of previous embodiment three.
The technical scheme of the present embodiment meets networking navigation bar by monitoring the transport condition of navigation terminal place vehicle
Part or inertial navigation condition, are turned on and off navigation module of networking, and correspondingly turn off or on inertial navigation module, so that it is guaranteed that
The power consumption of navigation is reduced while navigation accuracy, the endurance of equipment is improved.
The guider that the embodiment of the present invention is provided can be used to perform the navigation side that any embodiment of the present invention is provided
Method, possesses corresponding function and beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
More other Equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of air navigation aid, it is characterised in that the method includes：
Navigated using the networking navigation module of navigation terminal；
If the transport condition for monitoring navigation terminal place vehicle meets inertial navigation condition, inertial navigation module is opened, and
Close networking navigation module；
If the transport condition for monitoring navigation terminal place vehicle meets networking guidanuce condition, the networking navigation mould is opened
Block, and close the inertial navigation module.
2. method according to claim 1, it is characterised in that the transport condition for monitoring navigation terminal place vehicle meets
Inertial navigation condition includes：
Monitor that vehicle follow-up travel route in navigation terminal place is the straight trip section with preseting length, and road conditions without exception,
Then it is defined as meeting inertial navigation condition.
3. method according to claim 2, it is characterised in that the abnormal road conditions at least include that road congestion and road are tieed up
Repair.
4. method according to claim 1, it is characterised in that the transport condition for monitoring navigation terminal place vehicle meets
Networking guidanuce condition includes:
Monitor that the duration exceedes Preset Time after the change of current traffic direction and change of navigation terminal place vehicle, then really
It is set to satisfaction networking guidanuce condition.
5. method according to claim 1, it is characterised in that whether the transport condition of monitoring navigation terminal place vehicle is full
Football Association's net guidanuce condition includes：
The traffic direction of place vehicle is monitored using the gyroscope of navigation terminal, and the acceleration transducer using navigation terminal is supervised
Survey the travel speed of place vehicle；
Determine whether the transport condition of the vehicle meets networking guidanuce condition according to the traffic direction and travel speed.
6. method according to claim 1, it is characterised in that whether the transport condition of monitoring navigation terminal place vehicle is full
Sufficient inertial navigation condition includes：
Monitor the follow-up travel route that the navigation terminal is got by navigation module of networking；
Determine whether the transport condition of the vehicle meets inertial navigation condition according to the follow-up travel route.
7. a kind of guider, it is characterised in that include：
Navigation performing module, is navigated for the networking navigation module using navigation terminal；
Inertial navigation handover module, if the transport condition for monitoring navigation terminal place vehicle meets inertial navigation condition,
Inertial navigation module is then opened, and closes networking navigation module；
Networking navigation handover module, if the transport condition for monitoring navigation terminal place vehicle meets networking guidanuce condition,
The networking navigation module is then opened, and closes the inertial navigation module.
8. device according to claim 7, it is characterised in that：
If inertial navigation handover module is with setting length specifically for monitoring the follow-up travel route of navigation terminal place vehicle
The straight trip section of degree, and road conditions without exception, it is determined that to meet inertial navigation condition；
If networking navigation handover module changes and changes specifically for the current traffic direction for monitoring navigation terminal place vehicle
Afterwards the duration is more than Preset Time, it is determined that to meet networking guidanuce condition.
9. device according to claim 7, it is characterised in that inertial navigation handover module specifically for：
Monitor the follow-up travel route that the navigation terminal is got by navigation module of networking；
Determine whether the transport condition of the vehicle meets inertial navigation condition according to the follow-up travel route.
10. a kind of navigation terminal, including networking navigation module and inertial navigation module, it is characterised in that also including claim
The arbitrary described guiders of 7-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710165056.6A CN106643776A (en) | 2017-03-20 | 2017-03-20 | Navigation method, device and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710165056.6A CN106643776A (en) | 2017-03-20 | 2017-03-20 | Navigation method, device and terminal |
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| Publication Number | Publication Date |
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| CN106643776A true CN106643776A (en) | 2017-05-10 |
Family
ID=58848418
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|---|---|---|---|
| CN201710165056.6A Pending CN106643776A (en) | 2017-03-20 | 2017-03-20 | Navigation method, device and terminal |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107525504A (en) * | 2017-09-04 | 2017-12-29 | 广州杰赛科技股份有限公司 | Combinated navigation method, system and hybrid navigation equipment |
| CN108180908A (en) * | 2017-11-28 | 2018-06-19 | 青岛海通机器人***有限公司 | Robot navigation method and robot |
| CN108235292A (en) * | 2017-12-29 | 2018-06-29 | 中国平安财产保险股份有限公司 | Extend mobile terminal continuation of the journey method, apparatus, equipment and readable storage medium storing program for executing |
| CN108333612A (en) * | 2018-01-05 | 2018-07-27 | 深圳市沃特沃德股份有限公司 | Localization method, device and smartwatch |
-
2017
- 2017-03-20 CN CN201710165056.6A patent/CN106643776A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107525504A (en) * | 2017-09-04 | 2017-12-29 | 广州杰赛科技股份有限公司 | Combinated navigation method, system and hybrid navigation equipment |
| CN107525504B (en) * | 2017-09-04 | 2019-12-03 | 广州杰赛科技股份有限公司 | Combinated navigation method, system and hybrid navigation equipment |
| CN108180908A (en) * | 2017-11-28 | 2018-06-19 | 青岛海通机器人***有限公司 | Robot navigation method and robot |
| CN108180908B (en) * | 2017-11-28 | 2021-06-29 | 青岛海通机器人***有限公司 | Robot navigation method and robot |
| CN108235292A (en) * | 2017-12-29 | 2018-06-29 | 中国平安财产保险股份有限公司 | Extend mobile terminal continuation of the journey method, apparatus, equipment and readable storage medium storing program for executing |
| CN108235292B (en) * | 2017-12-29 | 2020-11-17 | 中国平安财产保险股份有限公司 | Method, device and equipment for prolonging endurance of mobile terminal and readable storage medium |
| CN108333612A (en) * | 2018-01-05 | 2018-07-27 | 深圳市沃特沃德股份有限公司 | Localization method, device and smartwatch |
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